基于單目視覺技術的智能交流接觸器三維動態(tài)測試與空間運動重構
發(fā)布時間：2018-08-11 19:02
【摘要】：交流接觸器是工業(yè)自動化控制系統(tǒng)中的重要組成電器元件,保證其可靠運行對整個系統(tǒng)的穩(wěn)定性極為重要。通過綜合對比分析交流接觸器的優(yōu)缺點,提出了其不足的解決方法和智能控制方案及其電器智能化概念。隨著工業(yè)自動化各項技術的不斷進步,要求交流接觸器能夠達到可通信、可編程、智能控制。因此,需對交流接觸器運動過程的智能控制、動態(tài)特性進行綜合研究,進而優(yōu)化結構參數(shù)和電氣參數(shù),提高其性能和融入更多的智能控制功能。本課題自主研制了智能交流接觸器機械機構空間三維動態(tài)過程測試系統(tǒng)。該系統(tǒng)一方面實現(xiàn)了智能交流接觸器在不同條件下的合閘與分斷,另一方面實現(xiàn)智能采集智能交流接觸器機械機構三維運動過程的序列圖像數(shù)據(jù)。在分析高速攝像機成像原理及其成像過程三維坐標變化關聯(lián)因素的基礎上,首次提出了在平面鏡輔助成像下單目攝像機采集智能交流接觸器機構三維運動過程序列圖像的方法,準確獲取其各運動部件的空間三維運動過程數(shù)據(jù)。從序列圖像中提取與智能交流接觸器各運動部件固連的特征標記點的二維坐標值,通過算法得到運動部件的序列三維運動坐標值,動態(tài)跟蹤智能交流接觸器機械機構三維空間位姿變化過程。通過測試系統(tǒng)得到不控制參數(shù)下大量的鐵心、觸頭空間三維運動數(shù)據(jù),綜合分析智能交流接觸器機械機構三維空間運動過程。通過綜合比較不同條件下智能交流接觸器機械機構的空間運動曲線,獲取其最佳穩(wěn)定工作條件。建立了智能交流接觸器機械機構空間三維運動虛擬樣機模型,實現(xiàn)其機械機構三維空間運動過程的重構。運用Proe構建智能交流接觸器的樣機模型然后導入到仿真環(huán)境中,以及導入測試系統(tǒng)測量所得到的機械機構運動部件剛體上三點運動規(guī)律曲線數(shù)據(jù),在ADAMS運動學仿真平臺中,重構智能交流接觸器機構中鐵心、觸頭運動部件空間三維運動過程。通過測量與分析智能交流接觸器運動部件上其他點的運動規(guī)律及剛體的姿態(tài)變化,改變觀察視角、消隱外圍遮擋部件,全面深入探究智能交流接觸器機械機構空間三維運動特性和位姿的變化過程。該方法有效的復現(xiàn)智能交流接觸器各運動部件的空間三維運動過程,對樣機的結構參數(shù)與電氣參數(shù)的優(yōu)化有著重要的意義。
[Abstract]:Ac contactor is an important component of industrial automation control system. It is very important for the stability of the whole system to ensure the reliable operation of AC contactor. By comparing and analyzing the merits and demerits of AC contactor, this paper puts forward the solution of its deficiency, intelligent control scheme and intelligent concept of electrical apparatus. With the development of industrial automation technology, AC contactors are required to achieve communication, programmable and intelligent control. Therefore, the intelligent control and dynamic characteristics of AC contactor should be studied synthetically, so as to optimize the structure parameters and electrical parameters, improve its performance and incorporate more intelligent control functions. In this paper, a three-dimensional dynamic process testing system for mechanical mechanism of intelligent AC contactor is developed. On the one hand, the system realizes the switching and breaking of the intelligent AC contactor under different conditions, on the other hand, it can intelligently collect the sequence image data of the 3D motion process of the mechanical mechanism of the intelligent AC contactor. On the basis of analyzing the principle of high speed camera imaging and the correlation factors of 3D coordinate change in the imaging process, a method of collecting 3D motion sequence images of intelligent AC contactor mechanism by plane mirror assisted imaging ordering camera is put forward for the first time. The spatial 3D motion process data of its moving parts are obtained accurately. The 2D coordinate values of feature points attached to each moving component of the intelligent AC contactor are extracted from the sequence image, and the three-dimensional motion coordinates of the moving components are obtained by the algorithm. Dynamic tracking of the three-dimensional position and attitude change process of the mechanical mechanism of intelligent AC contactor. A large number of three-dimensional motion data of iron core and contact space without controlled parameters are obtained by the test system, and the three-dimensional motion process of mechanical mechanism of intelligent AC contactor is analyzed synthetically. By synthetically comparing the space motion curves of the mechanical mechanism of intelligent AC contactor under different conditions, the best stable working conditions are obtained. The 3D motion virtual prototype model of the intelligent AC contactor is established to reconstruct the 3D motion process of the mechanical mechanism. The prototype model of intelligent AC contactor is constructed by using Proe and imported into the simulation environment, and the curve data of three points motion law on rigid body of mechanical mechanism are obtained from the measurement of testing system. In the kinematics simulation platform of ADAMS, the model of intelligent AC contactor is constructed and imported into the simulation environment. To reconstruct the 3D motion process of the core and contact parts in the intelligent AC contactor. By measuring and analyzing the motion law of other points on the moving parts of intelligent AC contactor and the change of rigid body attitude, the observation angle is changed, and the shading part of the outer part is eliminated. The change process of three-dimensional motion characteristics and pose of intelligent AC contactor mechanical mechanism is studied in detail. This method can effectively reproduce the three-dimensional motion process of the moving parts of the intelligent AC contactor, which is of great significance to the optimization of the structural and electrical parameters of the prototype.
【學位授予單位】：福州大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TM572.2
本文編號：2177942
[Abstract]:Ac contactor is an important component of industrial automation control system. It is very important for the stability of the whole system to ensure the reliable operation of AC contactor. By comparing and analyzing the merits and demerits of AC contactor, this paper puts forward the solution of its deficiency, intelligent control scheme and intelligent concept of electrical apparatus. With the development of industrial automation technology, AC contactors are required to achieve communication, programmable and intelligent control. Therefore, the intelligent control and dynamic characteristics of AC contactor should be studied synthetically, so as to optimize the structure parameters and electrical parameters, improve its performance and incorporate more intelligent control functions. In this paper, a three-dimensional dynamic process testing system for mechanical mechanism of intelligent AC contactor is developed. On the one hand, the system realizes the switching and breaking of the intelligent AC contactor under different conditions, on the other hand, it can intelligently collect the sequence image data of the 3D motion process of the mechanical mechanism of the intelligent AC contactor. On the basis of analyzing the principle of high speed camera imaging and the correlation factors of 3D coordinate change in the imaging process, a method of collecting 3D motion sequence images of intelligent AC contactor mechanism by plane mirror assisted imaging ordering camera is put forward for the first time. The spatial 3D motion process data of its moving parts are obtained accurately. The 2D coordinate values of feature points attached to each moving component of the intelligent AC contactor are extracted from the sequence image, and the three-dimensional motion coordinates of the moving components are obtained by the algorithm. Dynamic tracking of the three-dimensional position and attitude change process of the mechanical mechanism of intelligent AC contactor. A large number of three-dimensional motion data of iron core and contact space without controlled parameters are obtained by the test system, and the three-dimensional motion process of mechanical mechanism of intelligent AC contactor is analyzed synthetically. By synthetically comparing the space motion curves of the mechanical mechanism of intelligent AC contactor under different conditions, the best stable working conditions are obtained. The 3D motion virtual prototype model of the intelligent AC contactor is established to reconstruct the 3D motion process of the mechanical mechanism. The prototype model of intelligent AC contactor is constructed by using Proe and imported into the simulation environment, and the curve data of three points motion law on rigid body of mechanical mechanism are obtained from the measurement of testing system. In the kinematics simulation platform of ADAMS, the model of intelligent AC contactor is constructed and imported into the simulation environment. To reconstruct the 3D motion process of the core and contact parts in the intelligent AC contactor. By measuring and analyzing the motion law of other points on the moving parts of intelligent AC contactor and the change of rigid body attitude, the observation angle is changed, and the shading part of the outer part is eliminated. The change process of three-dimensional motion characteristics and pose of intelligent AC contactor mechanical mechanism is studied in detail. This method can effectively reproduce the three-dimensional motion process of the moving parts of the intelligent AC contactor, which is of great significance to the optimization of the structural and electrical parameters of the prototype.
【學位授予單位】：福州大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TM572.2
【參考文獻】
相關期刊論文 前10條
1 宋磊;鄭金芳;;虛擬樣機技術研究進展及發(fā)展趨勢[J];河南科技;2013年07期
2 李學相;安學慶;;基于Murkowski距離連續(xù)的非剛體三維運動恢復算法研究[J];計算機科學;2012年11期
3 劉昶;朱楓;夏仁波;;基于共面二點一線特征的單目視覺定位[J];計算機應用研究;2012年08期
4 陳震;許強;閆軍;江少鋒;;基于直線光流場的三維檢測新方法[J];儀器儀表學報;2012年05期
5 卜浩民;;交流接觸器的現(xiàn)狀與發(fā)展趨勢[J];電工文摘;2011年05期
6 佟帥;徐曉剛;易成濤;邵承永;;基于視覺的三維重建技術綜述[J];計算機應用研究;2011年07期
7 劉麗華;徐美;邱紅梅;;關于力學系統(tǒng)的自由度的討論[J];物理與工程;2011年02期
8 鮑光海;張培銘;;交流接觸器智能化技術研究[J];低壓電器;2011年03期
9 陳靜;尚雅層;田軍委;;快速多項式擬合亞像素邊緣檢測算法的研究[J];應用光學;2011年01期
10 張恒康;何玉明;張耿耿;朱杰兵;楊文俊;;一種單相機測量三維運動軌跡的方法[J];固體力學學報;2010年S1期
相關博士學位論文 前2條
1 曹萬鵬;基于立體視覺的三維運動測量若干關鍵技術研究[D];哈爾濱工業(yè)大學;2007年
2 董新偉;電力電子系統(tǒng)集成中控制技術相關問題研究[D];浙江大學;2006年
相關碩士學位論文 前2條
1 王俊昌;基于二維圖像的三維重構技術的研究與開發(fā)[D];華中科技大學;2009年
2 張林;基于單目視頻的頭部三維運動模擬算法的研究與實現(xiàn)[D];東北師范大學;2009年
，本文編號：2177942
本文鏈接：http://sikaile.net/kejilunwen/dianlilw/2177942.html
