基于非周期正弦条纹的直线电机动子位置测量
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摘要
为了从目标拍摄源上提高直线电机动子位置检测的精度和抗干扰性,构造了一种非周期正弦条纹图像,并引入一种基于梯度法的图像亚像素测量方法,实现对动子位置的高精度测量。首先,改变正弦条纹的条纹周期,得到一系列非周期正弦条纹,并生成非周期正弦条纹图像;其次,采用图像的Pnatt熵优选出具有强鲁棒性的非周期正弦条纹图像;最后采用基于Barron算子的梯度法计算相邻目标图像的亚像素位移,结合标定系统物像标定系数,获得直线电机动子的实际位移。仿真和实验结果表明,对比于非周期栅栏图像,本文构造的非周期正弦条纹图像具有较强的鲁棒性,且测量精度达到0.02pixel。
To improve the accuracy and anti-interference of the position detection of a linear motor mover from a target shooting source,an aperiodic sinusoidal stripe image was constructed and a subpixel measurement method based on the gradient method was introduced to achieve high-precision measurement of the mover position.First,by changing the stripe cycle of the sinusoidal stripe,an aperiodic sinusoidal stripe image was generated.Second,an aperiodic sinusoidal stripe image with strong robustness was selected by using the Pnatt entropy of the image.Finally,the subpixel displacement of the adjacent target image was calculated using the gradient method based on the Barron operator,and the actual displacement of the linear motor mover was obtained by combining the calibration coefficients of the calibration system.Simulation and experimental results show that when compared to the aperiodic fence image,the aperiodic sinusoidal stripe image has strong robustness and a measurement accuracy of 0.02 pixels.
To improve the accuracy and anti-interference of the position detection of a linear motor mover from a target shooting source,an aperiodic sinusoidal stripe image was constructed and a subpixel measurement method based on the gradient method was introduced to achieve high-precision measurement of the mover position.First,by changing the stripe cycle of the sinusoidal stripe,an aperiodic sinusoidal stripe image was generated.Second,an aperiodic sinusoidal stripe image with strong robustness was selected by using the Pnatt entropy of the image.Finally,the subpixel displacement of the adjacent target image was calculated using the gradient method based on the Barron operator,and the actual displacement of the linear motor mover was obtained by combining the calibration coefficients of the calibration system.Simulation and experimental results show that when compared to the aperiodic fence image,the aperiodic sinusoidal stripe image has strong robustness and a measurement accuracy of 0.02 pixels.
引文
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[18]王辉,赵静,赵吉文,等.基于SVD的直线电机动子位置的高精度测量方法[J].仪器仪表学报,2016,37(9):2101-2107.WANG H,ZHAO J,ZHAO J W,et al..An ultraprecision measurement method based on the SVDfor the linear motor mover position[J].Chinese Journal of Scientific Instrument,2016,37(9):2101-2107.(in Chinese)
[19]邓辉,谢俊,孟广月,等.基于机器视觉的重复定位精度测量技术[J].电子测量技术,2014,37(12):45-48.DENG H,XIE J,MENG G Y,et al..Repeat positioning accuracy measurement technology based on machine vision[J].Electronic Measurement Technology,2014,37(12):45-48.(in Chinese)
[2]彭兵,宋得雪,张囡,等.V-型端齿削弱永磁直线电机端部磁阻力波动方法[J].中国电机工程学报,2016,36(14):3940-3946.PENG B,SONG D X,ZHANG N,et al..An end effect detent force reduction method of v-shaped end teeth in permanent magnet linear motors[J].Proceeding of the CSEE,2016,36(14):3940-3946.(in Chinese)
[3]LIU J Z,HAO S H,CHEN T.Design of absolute magnetic grid displacement sensor based on encoding principle[J].Applied Mechanics&Materials,2011,88-89:336-340.
[4]刘华,卢振武,熊峥,等.绝对式光栅尺母尺刻划曝光系统[J].光学精密工程,2014(7):1814-1819.LIU H,LU ZH W,XIONG ZH,et al..Exposure optical system in lithographic main scale of absolute optical encoder[J].Opt.Precision Eng.,2014(7):1814-1819.(in Chinese)
[5]葛朋祥,叶沛,李桂华.基于遗传算法的数字图像相关法在微位移测量中的应用[J].光学学报,2018,38(6):206-211.GE P X,YE P,LI G H.Application of digital image correlation method based on genetic algorithm in micro-displacement measurement[J].Acta Optica Sincal,2018,38(6):206-211.(in Chinese)
[6]赵吉文,黄彪,王荔枝,等.基于图像求逆相位相关算法检测电机转子位置[J].光学精密工程,2013,21(6):1613-1620.ZHAO J W,HUANG B,WANG L ZH,et al..Detection of motor rotor position based on image reversible phase-correlation algorithm[J].Opt.Precision Eng.,2013,21(6):1613-1620.(in Chinese)
[7]孙辉,李志强,孙丽娜,等.一种空域和频域相结合的运动图像亚像素配准技术[J].中国光学,2011,4(2):154-160.SUN H,LI ZH Q,SUN L N,et al..Sub-pixel registration of special and frequency domains for video sequences[J].Chinese Optics,2011,4(2):154-160.(in Chinese)
[8]赵吉文,窦少昆,赵静,等.散斑运动模糊复原的直线电机动子位置检测[J].光学精密工程,2018,26(2):363-370.ZHAO J W,DOU SH K,ZHAO J,et al..Linear electric motor rotor position measurement based on restoration of motion blur speckle[J].Opt.Precision Eng.,2018,26(2):363-370.(in Chinese)
[9]LEE B,KIM E H,KIM H,et al..Profilometry without phase unwrapping using multi-frequency and four-step phase-shift sinusoidal fringe projection[J].Optics Express,2009,17(10):7818-7830.
[10]WANG H,ZHAO J,ZHAO J,et al..A new rapid-precision position measurement method for linear motor mover based on 1-D EPCA[J].IEEETransactions on Industrial Electronics,2017,(99):7485-7494.
[11]WANG H,ZHAO J,ZHAO J,et al..Position detection method of linear motor mover based on extended phase correlation algorithm[J].IETScience,Measurement&Technology,2017,11(7):921-928.
[12]ZHAO H,QIN G,WANG X.Improvement of canny algorithm based on pavement edge detection[C].International Congress on Image and Signal Processing.IEEE,2010:964-967.
[13]WAN X,LIU J,YAN H.The Illumination robustness of phase correlation for image alignment[J].IEEE Transactions on Geoscience and Remote Sensing,2015,53(10):5746-5759.
[14]张凯,董菲,赵吉文,等.基于图像熵的直线电机动子位置精密测量方法[J].仪器仪表学报,2015,36(12):2821-2827.ZHANG K,DONG F,ZHAO J W,et al..Precise measurement of linear motor position using an improved digital image correlation based image entropy[J].Chinese Journal of Scientific Instrument,2015,36(12):2821-2827.(in Chinese)
[15]朱铮涛,黎绍发,陈华平.基于图像熵的自动聚焦函数研究[J].光学精密工程,2004(5):537-542.ZHU ZH T,LI SH F,CHEN H P.Research on autofocused function based on the image entropy[J]Opt.Precision Eng.,2004(5):537-542.(in Chinese)
[16]潘兵,续伯钦,李克景.梯度算子选择对基于梯度的亚像素位移算法的影响[J].光学技术,2005(1):26-31.PAN B,XU B Q,LI K J.Performance of gradient operators in algorithm of gradient-based subpixel registration[J].Optical Technique,2005(1):26-31.(in Chinese)
[17]刘红亮,陈维义,许中胜.曲面拟合法和梯度法相结合的图像亚像素配准算法[J].国防科技大学学报,2015,37(5):180-185.LIU H L,CHEN W Y,XU ZH SH.An image sub-pixel registration algorithm based on combination of curved surface fitting method and gradient method[J].Journal of National University of Defense Technology,2015,37(5):180-185.(in Chinese)
[18]王辉,赵静,赵吉文,等.基于SVD的直线电机动子位置的高精度测量方法[J].仪器仪表学报,2016,37(9):2101-2107.WANG H,ZHAO J,ZHAO J W,et al..An ultraprecision measurement method based on the SVDfor the linear motor mover position[J].Chinese Journal of Scientific Instrument,2016,37(9):2101-2107.(in Chinese)
[19]邓辉,谢俊,孟广月,等.基于机器视觉的重复定位精度测量技术[J].电子测量技术,2014,37(12):45-48.DENG H,XIE J,MENG G Y,et al..Repeat positioning accuracy measurement technology based on machine vision[J].Electronic Measurement Technology,2014,37(12):45-48.(in Chinese)
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