直升机桨叶挥舞量的全场景视觉测量及分析  

Full-scene measurement and analysis of helicopter blade flaps based on vision

作　　者：欧巧凤[1] 肖佳兵 陈垚锋 李新民[2] 熊邦书[1] Ou Qiaofeng;Xiao Jiabing;Chen Yaofeng;Li Xinmin;Xiong Bangshu(Key Laboratory of Image Processing and Pattern Recognition of Jiangxi Province,Nanchang Hangkong University,Nanchang 330063,China;Science and Technology on Rotorcraft Aeromechanics Laboratory,China Helicopter Research and Development Institute,Jingdezhen 333000,China)

机构地区：[1]南昌航空大学图像处理与模式识别江西省重点实验室,南昌330063 [2]中国直升机设计研究所直升机旋翼动力学重点实验室,景德镇333000

出　　处：《仪器仪表学报》2021年第1期146-156,共11页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(61866027);江西省高等学校科技落地计划项目(KJLD13058);航空科学基金(20185756006);学校博士科研启动基金(EA201804229);研究生创新专项资金(YC2019027)项目资助。

摘　　要：桨叶旋转时的挥舞状态反映了直升机旋翼的性能。旋转桨叶的全场景挥舞测量和分析,是直升机旋翼试验研究的热点和难点。本文提出了一种基于大视场立体视觉的桨叶挥舞量测量和挥舞模式回归分析方法。首先,构建大视场立体视觉系统并测量桨叶标记点的三维坐标;其次,在桨毂坐标系下计算桨叶标记点的挥舞量;最后,对桨叶在不同总距和周期变距下的挥舞量进行回归分析。包括,利用四阶多项式拟合分析桨叶在特定时刻的挥舞模式;利用复合正弦函数拟合桨叶旋转过程中的挥舞规律。直升机悬停状态下的桨叶挥舞测量结果验证了本文方法的有效性,在4.6 m×4.6 m场景中测量的挥舞量均方根误差小于1 mm;挥舞模式和规律回归分析的模型拟合度好,其均方根误差小于1 mm。The blade flaps during the rotation reflect the performance of the helicopter rotor. The measurement and analysis of the blade flaps in the whole rotation field is a difficult problem in the helicopter rotor test. To address this issue, a new method is proposed, which is based on stereo vision with large field of view(FOV). Firstly, a stereo vision system with large FOV is constructed and the 3 D coordinates of the markers on the blades are measured. Secondly, the blade flaps of the markers are resolved in the hub coordinate system. Finally, the flapping modes of the blade at each azimuth are obtained by using the fourth-order polynomial regression model. The flapping law of the blade during the rotation is achieved by utilizing the regression model of compound sine functions. The proposed method is evaluated by the measurement experiments on the blade flaps of the hovering helicopter. In the 4.6 m × 4.6 m scene, the root mean square error of the blade flap measurement is less than 1 mm, and the regression models of the flap mode fit the blade flap data with the root mean square error less than 1 mm.

关 键 词：桨叶挥舞量 大视场立体视觉 桨毂坐标系 回归模型 测量误差 

分 类 号：TH89[机械工程—仪器科学与技术]