摘要
提出了一种测量微型旋翼机桨距角及弹性连杆变形角度的新方法—高速摄像法。这种方法可以准确地测得高速旋转物体的角度,拍摄速度可达15 000帧/s。实验需要处理两个角度———桨距角和弹性连杆变形角度。实验中,首先对拍摄部位进行预处理,然后对微型飞行器在高速旋转时的不同状态进行拍摄,包括从正面拍摄桨距角和从侧面拍摄弹性连杆的变形角度,对拍摄到的图片进行筛选、存储并进行图像处理。图像处理部分是用MATLAB软件进行边缘检测,对比了四种不同的检测方法的效果,最后采用Canny算法。用最小二乘法拟和成直线,得到所需的角度;利用采集电路将角度与电压实时地对应起来,得到了电机电压和桨距角及弹性连杆变形角度的八组关系曲线,并对得到角度的精度进行了分析。实验证明这种方法在微型飞行器高速旋转时信号弱、干扰强、其动态特性难以精确测量情况下,可有效测量微型飞行器的变距角度。
In order to measure the dynamic characteristics of high rotating MAV with weak signal and big interference, a new measurement way based on the high speed camera was presented. Being different from the traditional way measured only in theory, this kind of new way can measure angle of high rotating object accurately in camera speed of 15 000 frame/s. In this experiment, two angles, the blade angle and connecting rod angle,is need to measured in four steps, the angles are disposed for the convenience of next step, then the MAV are taken pictures in two different angles, front and side. For gaining the required angles, the pictures are saved and analyzed using MATLAB software by four different kinds of detecting ways, including checking the edge of the image and fitting curve. Finally, the relationship between the motor voltage, pitch angle and the distorting angle of the connecting rod in the eight groups of curves are achieved by corresponcling to the angles and voltage. The precision of the angles is analyzed,which is proved that this way is effective.
出处
《光学精密工程》
EI
CAS
CSCD
北大核心
2007年第3期378-383,共6页
Optics and Precision Engineering
基金
国家自然科学基金项目(No.50405046)
上海市优秀青年教师培养计划项目(No.04Y0HB094)
