基于高速视觉的静电悬浮控制系统  

Control system of electrostatic levitation based on high-speed vision

作　　者：陈东阳 郭清远 董文博[1] 贺欢 余建定[3] 张东伟 梁学锋 CHEN Dong-yang;GUO Qing-yuan;DONG Wen-bo;HE Huan;YU Jian-ding;ZHANG Dong-wei;LIANG Xue-feng(Key Laboratory of Space Utilization,Technology and Engineering Center for Space Utilization,Chinese Academy of Sciences,Beijing 100094,China;University of Chinese Academy of Sciences,Beijing 100049,China;State Key Laboratory of High Performance Ceramics and Superfine Microstructure,Shanghai Institute of Ceramics,Chinese Academy of Sciences,Shanghai 200050,China;Beijing UCAS Technology Company Limited,Beijing 100080,China)

机构地区：[1]中国科学院空间应用工程与技术中心中国科学院空间应用重点实验室,北京100094 [2]中国科学院大学,北京100049 [3]中国科学院上海硅酸盐研究所高性能陶瓷和超微结构国家重点实验室,上海200050 [4]北京国科环宇科技股份有限公司,北京100080

出　　处：《光学精密工程》2019年第11期2343-2353,共11页Optics and Precision Engineering

基　　金：载人航天工程-空间应用系统项目

摘　　要：静电悬浮是一种无接触式研究材料深过冷等特性的重要方法之一,为此设计了一套地面静电悬浮控制系统。基于双GPU建立图像采集和位置解算系统,使用实时检测算法完成对目标的实时检测。对样品带电以及动力学建模,通过开环-赋初值PID的控制策略,实现材料的融化悬浮等实验,省去了深紫外灯进行电荷补充的装置。实验证明,图像处理速度在304×304像素达到了700 frame/s,同时规则球体控制精度约在±0.02 mm以内。模型仿真控制结果和实际实验控制结果的相关参数基本一致。加入900 V(该电压引起材料的加速度约为1.274 m/s^2)的人工扰动下,静电悬浮约340 ms即可稳定,证明了基于高速视觉的静电悬浮控制系统的可行性与可靠性和静电悬浮动力学建模的准确性。Electrostatic levitation is one of the most important methods used to study the properties of materials without having to collide them against the wall of a chamber.A dynamic,ground electrostatic levitation control system model is designed and built using two Graphics Processing Units(GPUs)to process the image sequence and calculate the position of the material.In addition,a real-time detection algorithm is proposed for quick real-time visual detection of the targets.The melting experiment of the material is realized with an open-loop and Proportional-Integral-Derivative(PID)controller.This eliminates the charge supplement device of the deep ultraviolet lamp,and an image processing speed of 700 frames per second at the resolution of 304 pixels×304 pixels and control precision of approximately±0.02 mm are achieved.Furthermore,the relevant parameters concerning the control effects between the simulation model and experiments are consistent.For a disturbance of 900 V,which causes the acceleration of the material to reach approximately 1.274 m/s^2,the system can stabilize in 340 ms.Therefore,the feasibility and reliability of an electrostatic levitation control system based on high-speed vision and the accuracy of its dynamic model were proved.

关 键 词：静电悬浮 高速视觉 实时控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]