本文選題：柔性繩索　切入點(diǎn)：物質(zhì)點(diǎn)跟蹤　出處：《航空學(xué)報》2017年12期

【摘要】：空間柔性繩索在航天航空領(lǐng)域有著廣泛的應(yīng)用,柔性繩索具有結(jié)構(gòu)大、剛度低、大變形的特t點(diǎn),在做大范圍運(yùn)動時位移、轉(zhuǎn)動與彈性變形相互耦合,增大了其動力學(xué)建模的難度。為驗(yàn)證柔性繩索動力學(xué)模型的準(zhǔn)確性,采用非接觸式的視覺測量方法進(jìn)行實(shí)驗(yàn)驗(yàn)證,利用背景建模、差分、平滑與二值化一系列圖像預(yù)處理方法提取繩索目標(biāo)區(qū)域,并基于距離變換的多尺度連通骨架算法計算出繩索中心線,通過求解相機(jī)外參數(shù)矩陣計算出繩索中心線的平面位置。由于柔索自身灰度均勻,圖像特征不明顯,無法對繩索上特定位置進(jìn)行跟蹤,現(xiàn)有方法都在測量對象上粘貼或噴涂特征點(diǎn),對于質(zhì)量輕、彎曲剛度小的柔索,這種方法會影響柔索自身的動力學(xué)特性,因此提出一種適應(yīng)繩索彎曲及縱向彈性形變的物質(zhì)點(diǎn)跟蹤算法,能夠不借助外加特征的情況下,對繩索上任意給定物質(zhì)點(diǎn)進(jìn)行跟蹤計算。以基于絕對節(jié)點(diǎn)坐標(biāo)方法建立的柔索動力學(xué)模型為例驗(yàn)證其模型的準(zhǔn)確性,結(jié)果表明,該繩索動力學(xué)模型仿真結(jié)果與實(shí)驗(yàn)結(jié)果具有較強(qiáng)的一致性。相比于其他測量方法,物質(zhì)點(diǎn)跟蹤算法能夠降低柔索測量過程中的外干擾因素,為動力學(xué)模型驗(yàn)證提供準(zhǔn)確的實(shí)驗(yàn)參考結(jié)果。
[Abstract]:Space flexible rope is widely used in the aerospace field, with flexible rope structure, low stiffness, large deformation characteristics of T, to expand the scope of movement displacement, rotation and deformation of elastic coupling, increases the difficulty of modeling. In order to verify the accuracy of dynamics of flexible rope model, using the visual measurement the method of non-contact experiments, the use of background modeling, differential, smoothing and binarization of a series of image preprocessing method to extract the rope target area, and based on the multi-scale distance transform connected skeletonization algorithm to calculate the center line of rope, calculated by solving the camera parameter matrix of plane position. Due to the center line of rope cable in their gray uniform, image features are not obvious, not for tracking the specific position of the rope, the existing methods are pasted on the measuring object or spray feature points for light weight, bending Bending stiffness of small cable, this method will affect the dynamic characteristics of the cable, so put forward a rope bending and longitudinal elastic deformation of the material point tracking algorithm, can not by means of external characteristics of the circumstances, for any given material point on the rope track calculation. To verify the accuracy of model as an example the establishment of the absolute nodal coordinate method based on the dynamic model of the cable. The results show that the good consistency between simulation results of the rope kinetic model and experimental results. Compared with other methods, material tracking algorithm can reduce cable interference factors in the measurement process, and provide experimental reference for accurate dynamic model validation.

【作者單位】： 哈爾濱工業(yè)大學(xué)航天學(xué)院;中國空間技術(shù)研究院總體部;
【基金】：國家“973”計劃(2013CB73004) 國家自然科學(xué)基金(11772102)~~
【分類號】：TP391.41;V414
，

本文編號：1729283