摘要本文在原航天密封圈智能测量与检测设备的基础上对成像方案做了改进，为了简化成像过程提出了新的成像方案。重新规划了检测路线，对光学系统的结构进行了设计与计算，根据成像方案和运动速度的要求设计了回转工作台，根据移动距离和载荷的计算确定了电动执行器的选型，完成了单工位成像系统整体结构的设计，实现了光学系统结构的简化、检测时间的缩短。运动控制方面，为了实现运动速度的优化，采用步进电机作为执行元件，对步进电机的多种运动控制算法进行了研究，将常见的速度梯形算法、速度指数型算法和S曲线算法进行了比较，然后在单轴S曲线算法的基础上研究开发了空间合成速度的S曲线算法，并将此算法运用于步进电机的运动控制，实现了测量装置定位过程启停平稳无冲击。43193

毕业论文关键词  机器视觉  光学成像  运动控制

  毕业设计说明书外文摘要

Title  Research and development of intelligent measurement and    detection equipment for aerospace seal ring structure and    motion control system                   
 Abstract In this paper, based on the intelligent measurement and detection for sealing rings used in aerospace systems, the imaging scheme is improved. In order to simplify the imaging process, a new imaging method is proposed. Re planing the route detection. Make the design and calculation of the optical system structure. Rotary table is designed according to the requirement of imaging scheme and motion speed. According to the calculation of moving distance and load, the selection of electric actuator is determined. Completed the overall structure of the single station imaging scheme. The structure of the optical system is simplified, and the detection time is reduced. In the part of electric control, in order to realize the optimization of the movement speed, the stepper motor is used as the executive component, and a variety of motion control algorithms are studied. Compared the common three algorithms： velocity trapezoidal algorithm, velocity index algorithm and the S curve algorithm. Based on the single axis S curve algorithm of space synthesis speed is developed. This algorithm is applied to step into the motor control, realizing the measuring device start and stop smoothly without impulse during the positioning process.

Keywords  machine vision  optical imaging  motion control

目   次

1  绪论 1

1.1  课题研究背景及意义 1

1.2  密封圈检测技术的研究现状 2

1.2.1  国外研究现状 2

1.2.2  国内研究现状 3

1.3  本文研究内容 4

2  航天密封圈智能测量与检测设备的结构设计 5

2.1  各项技术指标要求 5

2.2  光学成像系统设计 5

2.3  工作台设计 17

2.4  运动控制 20

2.5  检测系统整体结构设计 25

3  三坐标联动运动控制系统的设计、开发与集成调试 27

3.1  三坐标联动定位装置 27

3.1.1  实验的机械装置 27

3.1.2  执行机构及其特性