基于视觉的长柔梁振动抑制算法设计与验证  

Design and Verification of Vision-Based Vibration Suppression Algorithm for Long Flexible Beam

作　　者：叶光伟 张泽 崔龙[2] 杜昊 YE Guang-wei;ZHANG Ze;CUI Long;DU Hao(College of Mechanical Engineering,Guizhou University,Guiyang 550025,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China)

机构地区：[1]贵州大学机械工程学院,贵阳550025 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016

出　　处：《组合机床与自动化加工技术》2023年第5期143-147,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：贵州省科技计划项目(黔科合基础[2019]1126)。

摘　　要：针对视觉抑振控制中,存在相机标定操作复杂,需添加标志物等问题,提出了一种简便新型的视觉振动测量和控制方法。该方法基于OpenCV,通过C++的多线程机制实现了图像处理与控制算法的并行运行。图像的处理过程包括截取、灰度化、二值化、区域信息提取(ROI)、坐标中值滤波等关键步骤,通过仿激光位移传感器的方式获取振动信号,并保证采样的稳定性,为抑振算法的实施提供了条件。相较于以往的研究,本方法简单可靠,不需要进行相机标定等复杂操作,可以同时测量多个点的振动数据,并且用于振动控制中亦可保证数据采样的稳定,为振动抑制算法提供可靠的数据。通过对比实验验证了信号采集的合理性,采用自抗扰算法实现了柔性梁的振动抑制。实验结果表明,在梁的顶端受到100 mm位移的扰动后,主模态的抑振程度最大可以达到4 dB。Aiming at the problems of complex camera calibration operation and adding markers in visual vibration suppression control,a simple and new vibration measurement method is proposed in this paper.this method is based on OpenCV,and realizes the parallel operation of image processing and control algorithm through the multi-thread mechanism of C++.The process of image processing includes interception,graying,binarization,region of interest(ROI),coordinate median filtering and other key steps.The vibration signal is obtained by imitating the laser displacement sensor,and the stability of sampling is ensured,which provides the conditions for the implementation of the vibration suppression algorithm.Compared with previous studies,this method is simple and reliable,and does not require complex operations such as camera calibration.It can simultaneously measure the vibration data of multiple points,and can also ensure the stability of data sampling in vibration control,providing reliable data for vibration suppression algorithms.Moreover,the rationality of signal acquisition is verified by comparative experiments,and the vibration suppression of flexible beams is realized by using the active disturbance rejection control(ADRC) algorithm.After the top of the beam was disturbed by a 100 mm displacement,the experimental results show that the maximum vibration reduction of the main mode can reach 4 dB.

关 键 词：柔性梁 振动抑制 机器视觉 自抗扰控制 

分 类 号：TH161[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]