摘要
球形转子方位测量是构成永磁球形电动机闭环控制系统的重要组成部分,传统的非接触式测量方法算法复杂且实时性差,针对该问题提出了基于单目视觉的球形电动机转子二自由度方位测量方法。通过球形电机的机械结构确定了视觉测量装置的构成,在电机转子表面与输出轴固联位置喷涂圆形标记,电机启动后圆形标记与输出轴一起运动。分析相机获取的当前球形转子图像得到具有转子方位信息的特征点坐标,从而利用空间几何关系计算出特征点在实际空间中所对应的转子方位。利用滑轨支架测量系统进行实验验证,实验结果表明该方法的有效性。
The orientation measurement of spherical rotor is an important part of the closed loop control system for spherical motor.And the traditional non-contact measurement methods are complex and poor in real time.In order to solve this problem,this paper presents a method for measuring rotor orientation of spherical motor with two degrees of freedom based on monocular vision.A circular mark is sprayed on the rotor surface of the motor at the fixed position of the output shaft,and the circular mark moves with the output shaft after the motor starts.,the coordinates of the feature points with the rotor orientation information are obtained by analyzing the current spherical rotor images by the camera,and the rotor orientation corresponding to the characteristic points in the actual space is calculated by using the spatial geometric relations.The experimental results are verified by the test system of the slide rail support measurement system,which show the effectiveness of the proposed method.
作者
魏章波
吴凤英
席金强
张冰娇
张宗楠
Wei Zhangbo;Wu Fengying;Xi Jinqiang;Zhang Bingjiao;Zhang Zongnan(Tianjin Key Laboratory for Control Theory and Application in Complicated Systems,Tianjin University of Technology,Tianjin 300384,China)
出处
《电测与仪表》
北大核心
2019年第22期95-102,共8页
Electrical Measurement & Instrumentation
基金
天津市应用基础与前沿技术研究计划资助项目(14JCYBJC18400)
关键词
球形电机
转子方位测量
单目视觉
二自由度
spherical motor
orientation measuring of rotor
monocular vision
two degrees of freedom
