CN106323587B - The monocular video high-precision measuring method of wing model in wind tunnel flexible deformation - Google Patents
The monocular video high-precision measuring method of wing model in wind tunnel flexible deformation Download PDFInfo
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Abstract
The invention discloses a kind of monocular video high-precision measuring methods of wing model in wind tunnel flexible deformation, utilize the characteristic of relative deformation category linear elasticity small deformation between the adjacent two sections of wing model in wind tunnel, the present invention is based on principle of stackings, the Y-coordinate value of mark point when calculating corner and the deformation in each section successively from wing root, again with existing monocular video measurement method, it brings the Y-coordinate value of mark point when deformation into collinearity equation, obtains the deformation data of mark point on each section successively.The present invention greatly reduces the monocular video measurement error of wing model in wind tunnel flexible deformation, single camera only need to be used, the precision of more mesh video measurings can be obtained, both the hardware cost of measuring apparatus had been reduced, the homotopy mapping of cumbersome more mesh video measurings is avoided to work again, it is used particularly suitable in camera installation site constrained environment, therefore there is huge future in engineering applications.
Description
Technical Field
The invention relates to the technical field of wind tunnel tests of machine vision and photogrammetry, in particular to a monocular video high-precision measurement method for elastic deformation of a wing wind tunnel test model.
Background
Along with the increase of the size of the wind tunnel test section, the corresponding size of the model and the pneumatic load are increased, and the elastic deformation of the model and the supporting system thereof in the test is increasingly obvious. For example, when a 2.4 m transonic wind tunnel test is carried out, the aerodynamic load borne by the model is as high as several tons, even high-strength steel wings can generate obvious elastic deformation, and a large number of researches show that: complex flow phenomena such as transition, separation and shock wave/boundary layer interference are very sensitive to shape change, and the slight change of the model shape can cause great change of aerodynamic characteristics.
Therefore, wing torsion and bending deformation of the test model are accurately measured, the corresponding relation between the actually measured aerodynamic data and the aerodynamic shape of the test model is mastered, the premise that the high-speed wind tunnel test data achieve model elastic influence correction is provided, and the inevitable requirement for verifying the CFD numerical simulation result based on the test data is also provided.
Although the laser raster method andthe optical commercial measurement system has high measurement accuracy, but a grating sensor or a MARKER point needs to be embedded on the test model in a flush manner, so that not only is the pneumatic appearance of the model damaged, but also a hole needs to be formed in the test model for wiring to supply power to the MARKER point, and the wing wind tunnel test model is difficult to design and manufacture and has high manufacturing cost; and alsoThe overall dimension is up to 1 meter, the interval between 3 linear array CCDs is up to 0.45 meter, and a measuring object must be placed away from the measuring objectThe observation window of the existing domestic and foreign high-speed wind tunnel is difficult to have the measurement condition within 1.5-6 meters.
In view of the fact that the Video Measurement (VM) technology has no special requirements on the design of a test model, only mark points are needed to be pasted on the test model, and the three-dimensional coordinates of the mark points can be solved by utilizing a collinear equation to obtain the deformation data of the wing wind tunnel test model, so that the method is favored by wind tunnel test mechanisms at home and abroad.
As shown in fig. 1, however, the number of observation windows of the existing domestic and foreign high-speed wind tunnel is limited, which makes it difficult to apply the mature commercial software for multi-vision machine vision and multi-view photogrammetry in the market. Especially, in transonic wind tunnels, the size of an optical observation window is small and the number of the optical observation windows is small due to the requirement of ensuring the smooth quality of the transonic wind tunnel, and in addition, the appearance difference of various aircraft test models is large, so that the situation that two cameras cannot cover a measurement area at the same time often occurs, and at the moment, a monocular video measurement method of a single camera has to be adopted.
The collinear equation describes a mathematical model of the video measuring camera, the point to be measured and the image point thereof which are pasted and printed on the test model, and the expression is
In the formula (x)0,y0) Respectively as the center of the camera image plane, f is the focal length of the camera, xuAnd yuFor the distortion correction by camera calibration, (X)s,Ys,Zs) The position coordinates of the camera under a wind tunnel coordinate system are respectively (X, Y) and (X, Y, Z), the image plane coordinates of the sticking point and the coordinates under the wind tunnel coordinate system are respectively (a)1,a2,a3,b1,b2,b3,c1,c2,c3And) are 9 direction cosines in a rotation matrix R composed of camera attitude angles (phi, omega, kappa).
Therefore, for the monocular video measuring method, when the pose parameters of the camera, the image plane coordinates (X, Y) of the mark point to be measured and the Y coordinate values (namely, wingspan direction coordinate values) in the coordinates (X, Y, Z) under the wind tunnel coordinate system are known, the other two coordinate values (X, Z) under the wind tunnel coordinate system can be obtained by the formula (1).
However, as shown in fig. 1, in the wing test model, due to the cantilever beam structure, under aerodynamic load, a significant bending deformation occurs, so that the Y coordinate value (i.e. along the wingspan direction) is reduced, especially the Y coordinate value is reduced more and more near the wing tip, thereby causing an error in the (X, Z) coordinate value obtained by equation (1) in the monocular video measurement method.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a monocular video high-precision measurement method for the elastic deformation of a wing wind tunnel test model, which comprises the steps of establishing a Y coordinate calculation model of a marking point in the wingspan direction when the wing model is elastically deformed, obtaining a new Y coordinate value of the marking point after deformation is considered, taking the new Y coordinate value and an image plane coordinate of the marking point during deformation as known conditions, and substituting a collinearity equation to measure the (X, Z) coordinate value of the marking point on the upper cover of the wing model so as to ensure the accuracy of monocular video measurement of the deformation of the wing wind tunnel test model, and has huge engineering application prospect.
The technical scheme adopted by the invention for solving the technical problem comprises the following steps:
firstly, fixedly installing a camera outside a wind tunnel observation window, and adjusting the pose parameters and the focal length of the camera to cover the measurement area of the whole wing test model;
step two, marking points are drawn on the upper surface of a neutral axis of the wing test model, each marking point determines a section, and the marking point on the upper surface of the neutral axis of the 0 th section is arranged at a wing root where the wing is connected with the fuselage;
step three, calculating the rotation angle theta of the ith cross section relative to the (i-1) th cross section after elastic deformationi：
In the formula: piIs the intersection of the ith cross-section with the neutral axis,is Pi-1The Z coordinate value after the deformation is obtained,is PiZ coordinate value of (β)i-1Is Pi-1At an angle of the tangent to the neutral axis relative to the Y coordinate axis, liIs the length of the neutral axis between the ith cross section and the (i-1) th cross section;
determining thetaiIf the temperature is less than or equal to 1 degree, entering the next step if the temperature is less than or equal to 1 degree, otherwise shortening liRecalculating θiUp to thetaiLess than or equal to 1 degree;
step four, calculating PiAngle β of neutral axis tangent to Y coordinate axisi：
βi＝βi-1+θi
Step five, calculating the elastic deformation PiZ coordinate value of
Step six, calculating P after elastic deformationiY coordinate value of
Step seven, calculating the Y coordinate values of the marking points on the upper surface and the lower surface of the neutral axis of the ith deformed section:
(1) calculate the upper surface mark point Pi surfaceY coordinate value of (a):
wherein, tau is Pi surfaceTo PiThe distance of (d);
(2) calculating the lower surface mark point Pi surface-downY coordinate value of (a):
step eight, calculating the deformation of the upper surface mark point and the lower surface mark point:
(1) amount of deformation of upper surface marker points:
marking point P on upper surface when camera shooting is deformedi surfaceImage space coordinate and its Y coordinate valueTaking the internal and external parameters of the camera as known parameters, substituting the known parameters into a collinearity equation to calculate Pi surfaceX coordinate value ofAnd Z coordinate valueWhen it is not pneumatically loaded, Pi surfaceRespectively subtracting the Z coordinate values from the X coordinate values to obtain Pi surfaceThe amount of deformation of (a);
(2) calculating the deformation of the lower surface mark points:
lower surface mark point P when camera shooting is deformedi surface-downImage space coordinate and its Y coordinate valueTaking the internal and external parameters of the camera as known parameters, substituting the known parameters into a collinearity equation to calculate Pi surface-downX coordinate value ofAnd Z coordinate valueWhen it is not pneumatically loaded, Pi surface-downRespectively subtracting the Z coordinate values from the X coordinate values to obtain Pi surface-downThe amount of deformation of (a).
Compared with the prior art, the invention has the following positive effects:
different from the existing monocular video measuring method, the recursion relation of the turning angle and the Y coordinate value of the ith (i is more than or equal to 1) section of the wing relative to the (i-1) section is established by utilizing the boundary condition that the turning angle and the deflection of the 0 th section arranged at the wing root are zero, namely, the turning angle and the Y coordinate value of a mark point during deformation of each section are calculated in sequence from the wing root by utilizing the characteristic that the relative deformation between two adjacent sections of the wing wind tunnel test model belongs to the elastic small deformation of a line and on the basis of the superposition principle; and then, the Y coordinate value of the marking point during deformation is substituted into a collinear equation by using the existing monocular video measuring method, so that deformation data of the marking point on each section is obtained.
Therefore, compared with the existing monocular video measurement method for calculating the deformation data of the mark point by directly substituting the Y coordinate value of the mark point when the wing is not deformed into a collinearity equation, the method takes the reduction of the Y coordinate of the mark point caused by the deformation of the wing under the aerodynamic load into consideration, calculates the new Y coordinate value of the mark point when the wing is deformed by establishing a Y coordinate calculation model of the mark point in the wingspan direction when the wing model is subjected to bending elastic deformation, and then substitutes the new Y coordinate value into the collinearity equation to measure the (X, Z) coordinate value of the mark point on the wing model so as to ensure the accuracy of monocular video measurement of the deformation of the wing wind tunnel test model.
The invention can obtain the accuracy of multi-view video measurement by only adopting a single camera, thereby not only reducing the hardware cost of the measuring equipment, but also avoiding the complex same-name point matching work of multi-view video measurement, and being particularly suitable for being used in the environment with limited installation position of the camera, thereby having huge engineering application prospect.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic view of a high-speed wind tunnel wing test model elastic deformation video measurement;
FIG. 2 is a schematic view of monocular video measurement of the elastic deformation of a wing test model;
FIG. 3 is a schematic drawing of surface marker points on the neutral axis of a test model of an airfoil;
FIG. 4 is a schematic illustration of a calculation of the angle of rotation recursion for the ith section of the airfoil.
Detailed Description
A monocular video high-precision measurement method for elastic deformation of a wing wind tunnel test model comprises the following steps:
firstly, as shown in fig. 2, fixedly installing a camera outside a wind tunnel observation window, and adjusting the pose parameters and the focal length of the camera to cover the measurement area of the whole wing test model;
secondly, obtaining distortion parameters of a camera optical system and pose parameters of the camera optical system under a wind tunnel coordinate system yoz shown in FIG. 2 by adopting a mature machine vision and photogrammetry method;
step three, as shown in fig. 3, marking points are drawn on the upper surface of the neutral axis of the wing test model, each marking point determines a section, wherein the marking point on the upper surface of the neutral axis of the 0 th section is arranged at the wing root where the wing is connected with the fuselage, and no deformation is generated at the position, namely the marking points are drawnDeformed Z coordinate valueAnd Z coordinate value when it is not deformedAre equal. It is clear that according to the coordinate system of fig. 2, the upper surface mark point P of the neutral axis of the i-th section of fig. 3 when undeformedi surfaceThe point P of intersection of the ith cross section and the neutral axisiThe Y coordinate values of (a) are equal.
Step four, establishing the intersection point P of the corner of the ith cross section and the neutral axisiAnd (3) a recursive formula of the Y coordinate value. The specific calculation method is as follows:
①, the wind tunnel test has the lift force of the wing larger than the resistance force, and the rigidity of the wing in the lift force bending deformation direction is much smaller than that in the resistance force bending deformation direction, so the resistance force bending deformation can be ignored, and only the lift force bending deformation as shown in FIG. 2 is considered;
② corner recursion calculation formula of the ith section of the wing, using the characteristic that the relative deformation between two adjacent sections of the wing wind tunnel test model belongs to linear elasticity and small deformation, even for the geometric non-linear problem (large deformation and small strain effect) of the wing model with large aspect ratio, the stress-strain relation still satisfies linear elasticity, thereby satisfying the superposition principle of the material mechanics about cantilever beam elastic deformation, namely the corner of the ith section of the wing relative to the (i-1) section
Wherein dZ is the intersection point P of the ith cross section and the neutral axisiThe point P of intersection of the (i-1) th cross section and the neutral axisi-1Z-coordinate difference of liIs the length of the neutral axis between the ith cross section and the (i-1) th cross section.
③ intersection point P of ith cross section and neutral axisiAnd (3) a recursive formula of the Y coordinate value. As shown in fig. 4, the point P of intersection of the ith section of the airfoil test model and the neutral axisiThe Y coordinate value of (2) is denoted as YiAfter elastic deformation PiIs noted as Y coordinateThenThe calculation method of (2) is as follows:
formula (III) βi-1Is Pi-1The included angle of the tangent of the neutral axis relative to the Y coordinate axis,andare respectively Pi-1The deformed Y and Z coordinate values, thetaiIs the angle of the ith section relative to the (i-1) th section after deformation. ThreadWhen the elasticity is small, the deformation is equivalent to a mark point P on the neutral axis of the ith cross sectioniFrom the solid circle point of FIG. 4, with Pi-1As the center of a circle, liTurning to the dotted circle point of fig. 4 for radius, there is according to equation (2):
in the formulaThe calculation method comprises the following steps: p when deformation occurs in camera shootingiImage space coordinates, camera internal and external parameters, and PiY coordinate value ofCalculation of P by taking formula (1)iZ coordinate value ofI.e. based on considering the influence of preceding cross-sectional deformationsiDerived fromAnd P in FIG. 4iThe difference in Z coordinate values at the solid circle point divided by liThe rotation angle theta of the i-th cross section with respect to the i-1-th cross section is calculated according to the formula (2)i. Through the comparison experiment with the binocular video measurement result, it is found that: when theta isiWhen the degree is less than or equal to 1 degree, the error caused by the approximation based on the superposition principle is negligible, if thetaiWhen the temperature is more than 1 degree, l can be shortenediRecalculating θiUp to thetaiLess than or equal to 1 degree.
④PiAngle β of neutral axis tangent to Y coordinate axisiRecursion calculation formula
βi＝βi-1+θi
⑤PiZ coordinate value ofThe recurrence calculation formula of (2):
⑥ marking point P on neutral axis of 0 th section of wing wind tunnel test model0At the root constraint where the wing is connected to the fuselage, where there is no deformation, so P0The method comprises the following steps:β0＝θ0＝0，
step five, calculating an upper surface mark point P of the neutral axis of the ith cross sectioni surfaceY coordinate value of (a). Will Pi surfaceTo PiIs denoted as τ (i.e., the neutral axis is at PiAt a distance from the upper surface of the wing model), then Pi surfaceY coordinate value of
Marking point P on the lower surface of neutral axis of ith cross sectioni surface-downY coordinate value of
Sixthly, marking point P when deformation occurs in the shooting of the camerai surfaceImage space coordinate and its Y coordinate valueTaking the internal and external parameters of the camera as known parameters, carrying out formula (1), and calculating Pi surfaceX coordinate value ofAnd Z coordinate valueWhen it is not pneumatically loaded, Pi surfaceThe X and Z coordinate values are respectively subtracted to obtain the measured Pi surfaceThe amount of deformation of (a); similarly, the lower surface mark point P when the camera takes a picture and deformsi surface-downImage space coordinates of andthe internal and external parameters of the camera are used as known parameters, and P can be calculatedi surface-downX coordinate value ofAnd Z coordinate valueWhen it is not pneumatically loaded, Pi surface-downThe X and Z coordinate values are respectively subtracted to obtain the measured Pi surface-downThe amount of deformation of (a).
Claims (3)
1. A monocular video high-precision measurement method for elastic deformation of a wing wind tunnel test model is characterized by comprising the following steps:
firstly, fixedly installing a camera outside a wind tunnel observation window, and adjusting the pose parameters and the focal length of the camera to cover the measurement area of the whole wing test model;
step two, marking points are drawn on the upper surface of a neutral axis of the wing test model, each marking point determines a section, and the marking point on the upper surface of the neutral axis of the 0 th section is arranged at a wing root where the wing is connected with the fuselage;
step three, calculating the rotation angle theta of the ith cross section relative to the (i-1) th cross section after elastic deformationi：
In the formula: piIs the intersection of the ith cross-section with the neutral axis,is Pi-1The Z coordinate value after the deformation is obtained,is PiZ coordinate value of (β)i-1Is Pi-1At an angle of the tangent to the neutral axis relative to the Y coordinate axis, liIs the length of the neutral axis between the ith cross section and the (i-1) th cross section;
determining thetaiIf the temperature is less than or equal to 1 degree, entering the next step if the temperature is less than or equal to 1 degree, otherwise shortening liRecalculating θiUp to thetaiLess than or equal to 1 degree;
step four, calculating PiAngle β of neutral axis tangent to Y coordinate axisi：
βi＝βi-1+θi
Step five, calculating the elastic deformation PiZ coordinate value of
Step six, calculating P after elastic deformationiY coordinate value of
Wherein,is Pi-1The deformed Y coordinate value;
step seven, calculating the Y coordinate values of the marking points on the upper surface and the lower surface of the neutral axis of the ith deformed section:
(1) calculate the upper surface mark point Pi surfaceY coordinate value of (a):
wherein, tau is Pi surfaceTo PiThe distance of (d);
(2) calculating the lower surface mark point Pi surface-d0wnY coordinate value of (a):
step eight, calculating the deformation of the upper surface mark point and the lower surface mark point:
(1) amount of deformation of upper surface marker points:
marking point P on upper surface when camera shooting is deformedi surfaceImage space coordinate and its Y coordinate valueTaking the internal and external parameters of the camera as known parameters, substituting the known parameters into a collinearity equation to calculate Pi surfaceX coordinate value ofAnd Z coordinate valueWhen it is not pneumatically loaded, Pi surfaceX and Z ofThe coordinate values are respectively subtracted to obtain Pi surfaceThe amount of deformation of (a);
(2) calculating the deformation of the lower surface mark points:
lower surface mark point P when camera shooting is deformedi surface-downImage space coordinate and its Y coordinate valueTaking the internal and external parameters of the camera as known parameters, substituting the known parameters into a collinearity equation to calculate Pi surface-downX coordinate value ofAnd Z coordinate valueWhen it is not pneumatically loaded, Pi surface-downRespectively subtracting the Z coordinate values from the X coordinate values to obtain Pi surface-downThe amount of deformation of (a).
2. The method for measuring the high-precision monocular video of the elastic deformation of the wing wind tunnel test model according to claim 1, characterized in that: the above-mentionedThe calculation method comprises the following steps: p when deformation occurs in camera shootingiImage space coordinates, camera internal and external parameters, and PiY coordinate value ofiAnd substituting the collinearity equation to obtain the target.
3. The method for measuring the high-precision monocular video of the elastic deformation of the wing wind tunnel test model according to claim 2, characterized in that: said yiCalculated according to the following formula:
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| CN107490344B (en) * | 2017-07-07 | 2020-04-28 | 中国航空工业集团公司西安飞机设计研究所 | Real-time measuring method for deformation of free end of test piece in wind tunnel test |
| CN110806300B (en) * | 2019-10-12 | 2021-02-09 | 北京临近空间飞行器系统工程研究所 | A measuring point arrangement method suitable for transition study of hypersonic flight test |
| CN113237629B (en) * | 2021-07-08 | 2021-09-21 | 中国空气动力研究与发展中心低速空气动力研究所 | Method for measuring control plane angle of low-speed wind tunnel free flight model |
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