基于单目视觉技术的智能交流接触器三维动态测试与空间运动重构

发布时间：2018-08-11 19:02

【摘要】：交流接触器是工业自动化控制系统中的重要组成电器元件,保证其可靠运行对整个系统的稳定性极为重要。通过综合对比分析交流接触器的优缺点,提出了其不足的解决方法和智能控制方案及其电器智能化概念。随着工业自动化各项技术的不断进步,要求交流接触器能够达到可通信、可编程、智能控制。因此,需对交流接触器运动过程的智能控制、动态特性进行综合研究,进而优化结构参数和电气参数,提高其性能和融入更多的智能控制功能。本课题自主研制了智能交流接触器机械机构空间三维动态过程测试系统。该系统一方面实现了智能交流接触器在不同条件下的合闸与分断,另一方面实现智能采集智能交流接触器机械机构三维运动过程的序列图像数据。在分析高速摄像机成像原理及其成像过程三维坐标变化关联因素的基础上,首次提出了在平面镜辅助成像下单目摄像机采集智能交流接触器机构三维运动过程序列图像的方法,准确获取其各运动部件的空间三维运动过程数据。从序列图像中提取与智能交流接触器各运动部件固连的特征标记点的二维坐标值,通过算法得到运动部件的序列三维运动坐标值,动态跟踪智能交流接触器机械机构三维空间位姿变化过程。通过测试系统得到不控制参数下大量的铁心、触头空间三维运动数据,综合分析智能交流接触器机械机构三维空间运动过程。通过综合比较不同条件下智能交流接触器机械机构的空间运动曲线,获取其最佳稳定工作条件。建立了智能交流接触器机械机构空间三维运动虚拟样机模型,实现其机械机构三维空间运动过程的重构。运用Proe构建智能交流接触器的样机模型然后导入到仿真环境中,以及导入测试系统测量所得到的机械机构运动部件刚体上三点运动规律曲线数据,在ADAMS运动学仿真平台中,重构智能交流接触器机构中铁心、触头运动部件空间三维运动过程。通过测量与分析智能交流接触器运动部件上其他点的运动规律及刚体的姿态变化,改变观察视角、消隐外围遮挡部件,全面深入探究智能交流接触器机械机构空间三维运动特性和位姿的变化过程。该方法有效的复现智能交流接触器各运动部件的空间三维运动过程,对样机的结构参数与电气参数的优化有着重要的意义。
[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.
【学位授予单位】：福州大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM572.2

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