Vibration measurement and control device and method based on two-degree-of-freedom magnetic coupling linear motion

Abstract

The application discloses a flexible arm vibration measurement and control device and method based on two-degree-of-freedom magnetic coupling linear motion, which comprises a magnetic coupling part, a flexible arm structure part, a vibration excitation part, a vibration detection part and a driving control part. The magnetic coupling structure is excited by the vibration excitation part to generate vibration, and the driven structures are affected by magnetic force to generate vibration. The driven structures are connected through springs, the flexible arm structure is installed on the driven structures to generate vibration, the whole platform can perform linear motion, and a multi-body coupling structure is formed. A three-camera vision system synchronously shoots a high-frequency image sequence of a vibration detection mark point area, performs image processing and visual processing, and obtains vibration information of the flexible arm.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rigid-flexible coupling structure vibration measurement, and particularly relates to a flexible arm vibration measurement and control device and method based on two-degree-of-freedom magnetic coupling linear motion. BACKGROUND

[0002] Rigid-flexible coupling motion systems are widely used in the fields of aerospace, rotating machinery, vehicle engineering and robots. Each flexible component in such systems has a large range of rigid body motion, and also produces elastic deformation due to external excitation, which involves the problem of coupling between rigid body motion and elastic deformation of the structural components. As rigid-flexible coupling multi-body systems become larger in scale, more complex in structure and faster in operation, how to accurately grasp the running process of the system under different constraints, different forces and control links, etc. becomes a major problem in engineering research and design.

[0003] In the field of aerospace, most spacecraft belong to rigid-flexible coupling systems. Modern spacecraft are usually composed of flexible structures such as beams, plates and trusses, and are equipped with large-span solar panels and carrier manipulators and other complex structures. During operation, the flexible components will produce large amplitude vibrations due to the influence of inertial forces and other factors brought by the rigid body motion of the structural components. Only the coupling analysis of elastic deformation and rigid body motion can achieve high-precision control.

[0004] Non-contact measurement has many advantages over traditional contact sensor measurement. Non-contact measurement does not affect the dynamic performance of the measured object, does not affect its normal operation due to the addition of mass to the measured object, is non-destructive to the measured object and has strong anti-interference ability. However, the accuracy of non-contact measurement is generally lower than that of contact measurement. Non-contact measurement is a simple and effective vibration measurement method. Common methods include laser vibration meters, laser sensors, binocular vision systems and multi-view vision systems. With the development and maturity of image processing and analysis technology, the binocular vision system composed of two high-speed cameras has become a simple and convenient vibration measurement method with high value. Multi-view vision systems can overcome the limitations of binocular vision and increase the coverage of camera field of view. High-speed camera vibration measurement is a multi-point measurement method. Compared with some single-point measurement methods, high-speed camera vibration measurement has great advantages when measuring the modal changes of multiple points. As long as the resolution and shooting frequency of the high-speed camera are high enough and the shooting range is large enough, only a few marker points need to be placed in the measured range. The high-speed camera can accurately measure the vibration of multiple points in a range and obtain the modal information of multiple points. Finally, the binocular vision system can decouple the multi-order modal of the measured object, simplify the complex multi-order modal into the superposition of multiple first-order modal, and make the vibration information more intuitive. SUMMARY

[0005] In order to overcome the above-mentioned shortcomings and deficiencies of the prior art, the purpose of the present application is to provide a flexible arm vibration measurement and control device and method based on two-degree-of-freedom magnetic coupling linear motion.

[0006] The purpose of the present application is achieved by the following technical solutions:

[0007] A flexible arm vibration measurement and control device based on two-degree-of-freedom magnetic coupling linear motion, comprising:

[0008] A magnetic coupling structure part, comprising three groups of magnetic coupling structures, each group of magnetic coupling structures comprising a U-shaped bracket, a T-shaped bracket, a cylindrical magnet, a linear guide rail and a spring, the T-shaped bracket being installed in the middle of the U-shaped bracket, the cylindrical magnet being arranged at both ends of the U-shaped bracket and on the T-shaped bracket, the U-shaped bracket and the T-shaped bracket being fixed on two parallel linear guide rails through a sliding block, the magnetic coupling structure being installed on a ball screw module through a motion platform, the ball screw module being fixedly connected with an experimental table;

[0009] A flexible arm structure part, comprising a first flexible arm, a second flexible arm and a third flexible arm, the three flexible arms being respectively installed in the three groups of magnetic coupling structures;

[0010] The fixed end of the first flexible arm is installed on the T-shaped bracket, and its free end is connected with a first flexible arm bracket, and the free end of the first flexible arm is installed with a square magnet;

[0011] The fixed end of the second flexible arm is installed on the T-shaped bracket, and its free end is connected with a second flexible arm bracket through a spring;

[0012] The fixed end of the third flexible arm is installed on the T-shaped bracket, and its free end is connected with a third flexible arm bracket through three hinges, the free end of the third flexible arm and the end of the third flexible arm bracket are installed with square magnets, and the opposite surfaces are of the same polarity;

[0013] A vibration excitation part, comprising a vibration exciter, the vibration exciter being installed on the motion platform and connected with the U-shaped bracket through a top rod, the excitation direction of the top rod being horizontal;

[0014] A vibration detection part, comprising a three-eyed vision system for detecting the vibration of the flexible arm structure part;

[0015] A drive control part for receiving the detection signal of the three-eyed vision system, processing the detection signal to obtain a control signal, and further controlling the vibration of each flexible arm.

[0016] Further, the end of the first flexible arm bracket is connected with two metal plates on both sides through two parallel springs, and an external square magnet is installed on the metal plates, and the opposite surfaces of the first flexible arm magnet and the external square magnet are of the same polarity.

[0017] Further, the three -eye vision system includes three high -speed cameras, the three high -speed cameras are installed on three sliders through three gimbals, three sliders move on three guide rails respectively, the detection end face is located in the middle position of the field of view of the high -speed camera when the flexible arm structure is static.

[0018] Further, the optical axis of the high-speed camera is perpendicular to the measuring surface of the flexible arm structure, so that the high-speed camera can shoot the surface of the flexible arm directly.

[0019] Further, adjacent U-shaped supports are rigidly connected by aluminum support columns, adjacent T-shaped supports are flexibly connected by hanging ring bolts and springs, and the T-shaped supports at both ends are connected to the moving floor through springs.

[0020] Further, the drive control part includes a charge amplifier, a terminal plate, a servo motor driver, a computer, a motion control card and a piezoelectric ceramic actuator, the piezoelectric ceramic actuator is arranged at the fixed end of each flexible arm, the charge amplifier is connected with the piezoelectric ceramic actuator, the servo motor driver, the charge amplifier and the motion control card are connected with the terminal plate respectively, and the computer is connected with the motion control card; The computer receives the detection signal of the three -eye vision system, processes to obtain the control signal, outputs to the charge amplifier through the motion control card and the terminal plate, and controls the vibration of each flexible beam through the piezoelectric ceramic actuator.

[0021] Further, the free end of the second flexible arm and the end of the second flexible arm support are connected through a hinge spring.

[0022] Further, the signal generator sends signals corresponding to different vibrations, which are amplified by a power amplifier and then transmitted to the exciter, the U-shaped support is excited by the top rod, the T-shaped support and the flexible arm structure are vibrated through the action of magnetic coupling, and different forms of modal vibration of the T-shaped support and the flexible arm structure can be generated by changing the phase difference of the sinusoidal signal of the vibration.

[0023] Further, the cylindrical magnets repel each other, and the distance between the adjacent surfaces is 30mm.

[0024] A method based on the flexible arm vibration measurement and control device, comprising

[0025] In the first step, the signal generator sends a vibration signal, which is amplified by a power amplifier and then sent to the exciter, the U-shaped support is excited by the top rod of the exciter, and the T-shaped support and the flexible arm structure are vibrated through the action of magnetic coupling;

[0026] In the second step, during the vibration of the magnetically coupled flexible arm structure, the three -eye vision system synchronously and high -frequency shoots the vibration detection mark point area on the flexible arm, collects the image sequence and sends it to the computer.

[0027] The third step is that the computer reads the image taken by the high-speed camera, extracts the image spot features, calculates the coordinates of the marker points, further processes the vibration information of the flexible structure, and performs visualization processing.

[0028] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0029] (1) The three-camera vision system is used for measurement, which avoids the disadvantages of some traditional contact measurement methods, such as causing additional effects, being sensitive to noise, and having low measurement accuracy. The three-camera vision system composed of three high-speed cameras is used for non-contact measurement of the flexible arm, which has strong robustness, can be used in various complex environments, and has high measurement accuracy.

[0030] (2) The high-speed camera can monitor the vibration of multiple points of the vibration body. The flexible arm has a large volume and complex high-order modal vibration mode, and single-point measurement instruments cannot economically and effectively measure it accurately. The three-camera vision system composed of high-speed cameras can monitor the vibration of all marker points sprayed on the body, which solves the above problems well.

[0031] (3) The measurement system is composed of high-speed cameras, and the highest shooting frequency of the high-speed camera is large enough to measure multiple orders of the flexible arm. The exciter excites the high-order modal vibration of the flexible arm, and the vibration is coupled with multiple orders. By changing the number of marker points and the distribution position on the surface of the flexible arm, the measurement system can realize the decoupling of the vibration. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a general structure schematic diagram of a flexible arm vibration measurement and control device based on two-degree-of-freedom magnetic coupling linear motion;

[0033] Figure 2 It is a front view of a flexible arm vibration measurement and control device based on two-degree-of-freedom magnetic coupling linear motion;

[0034] Figure 3 It is a top view of a flexible arm vibration measurement and control device based on two-degree-of-freedom magnetic coupling linear motion;

[0035] Figure 4 It is a right view of a flexible arm vibration measurement and control device based on two-degree-of-freedom magnetic coupling linear motion;

[0036] Figure 5 It is a structure schematic diagram of a first flexible arm of a flexible arm vibration measurement and control device based on two-degree-of-freedom magnetic coupling linear motion;

[0037] Figure 6It is a structure schematic view of a second flexible arm of a flexible arm vibration measurement and control device based on two-degree-of-freedom magnetic coupling linear motion.

[0038] Figure 7 It is a structure schematic view of a third flexible arm of a flexible arm vibration measurement and control device based on two-degree-of-freedom magnetic coupling linear motion.

[0039] Figure 8 It is a structure schematic view of a servo motor of a flexible arm vibration measurement and control device based on two-degree-of-freedom magnetic coupling linear motion.

[0040] Figure 9 It is a structure schematic view of a ball screw module of a flexible arm vibration measurement and control device based on two-degree-of-freedom magnetic coupling linear motion.

[0041] Figure 10 It is a structure schematic view of an exciter of a flexible arm vibration measurement and control device based on two-degree-of-freedom magnetic coupling linear motion.

[0042] Figure 11 It is a control flowchart of a flexible arm vibration measurement and control device based on two-degree-of-freedom magnetic coupling linear motion. DETAILED DESCRIPTION

[0043] The application will be further described in conjunction with the embodiments, but the embodiments of the application are not limited thereto.

[0044] As shown in the drawings, Figures 1-10 A flexible arm vibration measurement and control device based on two-degree-of-freedom magnetic coupling linear motion comprises:

[0045] The magnetic coupling structure part comprises three groups of magnetic coupling structures, each group of magnetic coupling structure comprises a T-shaped support 3, a U-shaped support 4, a cylindrical magnet 5, a linear guide rail 6 and a spring 7, and the specific installation mode is as follows:

[0046] The adjacent U-shaped supports 4 are rigidly connected through aluminum support columns with a spacing of 40 mm, the T-shaped supports are installed in the middle of the U-shaped supports 4, the T-shaped supports are flexibly connected through hanging ring bolts and springs, and the two ends of the T-shaped supports 3 are fixedly connected with the motion platform 21 through the springs 7. The cylindrical magnets 5 are installed on the two ends of the U-shaped supports 4 and the T-shaped supports 3, respectively, the cylindrical magnets 5 repel each other, the distance between the adjacent surfaces is 30 mm, the U-shaped supports 4 and the T-shaped supports 3 are connected and installed on the two parallel linear guide rails 6 through screws and sliding blocks, and the linear guide rails 6 are fixedly connected with the motion platform 21 through screws. The magnetic coupling structure is installed on the ball screw module 28 through the motion platform 21, the ball screw module 28 is fixedly connected with the experimental table 27, the experimental table 27 is built by aluminum profiles and angle pieces, and the experimental table plate is installed through screws.

[0047] Further, the vertical part of the T-shaped support is located in the middle of the U-shaped support. Three groups of magnetic coupling structures are arranged at equal distances on the experimental table.

[0048] In this embodiment, the experimental table is assembled from four aluminum profiles with lengths of 1560 mm, 350 mm, 160 mm, and 110 mm. The table top is a stainless steel plate with dimensions of 1640 mm x 500 mm x 10 mm, which is connected to the profiles by screws. Each connection of the profiles is fixed by an angle iron. The moving base plate is an aluminum plate with dimensions of 1200 mm x 450 mm x 10 mm. The cylindrical magnet is a D50 x 20 mm cylindrical magnet, which is a neodymium iron boron magnet with a grade of N35. The spring 7 has a wire diameter of 3 mm and an original length of 96 mm. The aluminum support columns are equally distributed on the surface of the U-shaped support 4.

[0049] The maximum size of the magnetic coupling structure is 2950 mm x 1200 mm.

[0050] The flexible arm structure part is composed of three different flexible arms. Different magnets are placed on different flexible arms to make the vibration of the three flexible arm structures asymmetric under the action of magnetic coupling, and to be compressed by different degrees of variable magnetic force during vibration, showing unique motion characteristics.

[0051] Specific structure: including a first flexible arm 16, a second flexible arm 18, and a third flexible arm 20, which are respectively installed in three groups of magnetic coupling structures; the flexible arms have the same size, mainly different in the structure of the free end.

[0052] The fixed end of the first flexible arm 16 is installed on the T-shaped support by screws. The free end of the first flexible arm is connected to the first flexible arm support, and a square magnet 19 is installed on the free end of the first flexible arm. The ends of the first flexible arm support are connected to two metal plates 15 on both sides through springs 14. External magnets are installed on the metal plates corresponding to the flexible arms. The external magnets are square magnets 19, and the opposite surfaces of the flexible beam magnets are of the same type.

[0053] Further, the spring 14 is two, and due to the different compression of the two springs under the action of the variable magnetic force, the two external magnets can move along the compression direction of the spring and rotate around the center of the metal plate.

[0054] The fixed end of the second flexible arm 18 is installed on the T-shaped support by screws. The free end of the second flexible arm is connected to the second flexible arm support through the spring 17, so that the structural stiffness is nonlinear, and multiple stability of the flexible arm can be realized.

[0055] The fixed end of the third flexible arm 20 is installed on the T-shaped support through screw connection, the free end of the third flexible arm is connected with the third flexible arm support through three hinges, the free end of the third flexible arm and the end of the third flexible arm support are installed with square magnets, and the opposite surfaces are of the same kind, and the third flexible arm is subjected to the action of variable magnetic force in the vibration process.

[0056] The flexible arm support and the magnet installed on the free end of the flexible arm correspond to each other in position, the structure composed of different flexible arms is an epoxy resin plate with a size of 400*80*2mm.

[0057] The vibration excitation part comprises a vibration exciter 2, which is installed on the moving platform 21 through screw connection, so that the vibration excitation position of the vibration exciter 2 is located at the right end of the magnetic coupling structure, and the vibration excitation part is connected with the U-shaped support 4 through a top rod, and the vibration excitation direction of the top rod is the horizontal direction; the working principle of the vibration excitation part is that different vibration corresponding signals are sent by a signal generator 31, amplified by a power amplifier 1, and then transmitted to the vibration exciter 2, so as to excite the U-shaped support 4 through the top rod, and make the T-shaped support 3 and the flexible arm structure vibrate through the action of magnetic coupling, and different forms of modal vibration of the T-shaped support 3 and the flexible arm structure can be generated by changing the phase difference of the sine signal of the vibration.

[0058] In the embodiment, the vibration exciter is a type 4824 electric modal vibration exciter produced by HBK company, the rated force (sine peak value / random RMS) of the vibration exciter is 100 / 70 N, the maximum rated stroke is 25.4mm, the maximum speed (sine peak value / random RMS) is 1.5 / 1.5m / s, the maximum acceleration (sine peak value / random RMS) is 432 / 305 m / s 2 , the rated current is 5.5A, the suspension stiffness is 4 N / mm, the effective moving mass is 0.23 kg, the main resonance frequency is >6000 Hz, the frequency range is DC-5000Hz, the outer dimension is 226mm*220mm*241.5, and the output mode is that the force is transmitted from the vibration exciter top rod to the magnetic coupling structure. The power amplifier is a type 50WD1000 power amplifier produced by AR company in the United States, and the working frequency is DC-1000MHz.

[0059] The vibration detection part comprises:

[0060] The vibration detection part body is composed of three high-speed cameras 11 forming a three-vision system, the high-speed cameras 11 of the three-vision system are fixedly connected with the sliding block 8 through the cloud platform 10, the guide rail 9 is fixed on the camera support 12, and the sliding block 8 can freely slide on the guide rail 9. The vibration detection device can adapt to different shapes and sizes of the to-be-detected objects by adjusting the position relationship between the camera support 12 and the motion platform 21 and the mutual position relationship among the high-speed cameras 11, and better camera calibration can be performed; the lens of the high-speed camera 11 of the three-vision system should face the upper plane of the flexible arm, and the distance and height of the camera support 12 should make the lens of the three-vision system be at the center position of the flexible arm structure, so that the three-vision system can shoot the whole magnetic coupling flexible arm structure.

[0061] The three-vision system is composed of three high-speed cameras 11, the optical axes of the three high-speed cameras 11 are at certain angles, and the three high-speed cameras 11 can be regarded as three binocular vision models, and simultaneously perform image acquisition work on the same target, obtain the images of the target in the left and right two cameras, and then calculate the spatial coordinates of the target by using the binocular vision parallax principle according to the difference between the visual angles. The binocular vision measurement system is divided into two types according to the placement form: one is an ideal measurement model in which two cameras are absolutely parallel; and the other is a measurement model in which two cameras are placed in a non-parallel manner. In actual application, absolute parallelism does not exist, so the non-parallel placement model is used in the application of binocular vision measurement. At present, the calibration method of industrial computer vision measurement mostly uses Zhang Zhengyou plane calibration method, and only a simple and accurate calibration template is needed during calibration, and the calibration precision is high.

[0062] In the embodiment, the high-speed camera 11 is selected from the high-speed camera Memrecam HX-3E of Wuhan Zhongchuanglian Da Technology Co., Ltd., has 5 million pixels, and has a frame rate of 2000 frames / s under the resolution, a frame rate of 4670 frames / s under full high-definition pixels, a frame rate of 9220 frames / s under 1 million pixels, an internal memory of 64 GB, a working temperature range of 0-40 degrees Celsius, a weight of about 5.9 kilograms, a required power supply of 100-240VAC-1.5A, and 50-60Hz.

[0063] The driving control part includes:

[0064] The charge amplifier 22, the terminal plate 23, the servo motor driver 24, the computer 25, the motion control card 26 and the piezoelectric ceramic actuator 27 are arranged on the fixed end of each flexible arm, the charge amplifier 22 is connected with the piezoelectric ceramic actuator 27, the servo motor driver 24, the charge amplifier 22 and the motion control card 26 are connected with the terminal plate 23 respectively, and the computer 25 is connected with the motion control card 26; the computer 25 receives a detection signal of the three-vision system, processes the detection signal to obtain a control signal, outputs the control signal to the charge amplifier 22 through the motion control card 26 and the terminal plate 23, and controls the vibration of each flexible beam through the piezoelectric ceramic actuator 27.

[0065] As shown in Figure 11 A vibration measurement and control device of a flexible arm based on two-degree-of-freedom magnetic coupling linear motion, the method comprises the following steps:

[0066] The first step signal generator 31 sends a vibration signal, which is amplified by the power amplifier 1 and then sent to the exciter 2, the exciter 2 excites the U-shaped support 4 through the exciter top rod, and different frequency vibrations are generated in the flexible arm structure connected with the T-shaped support 3 through the magnetic coupling effect;

[0067] The second step is to synchronously and high-frequencyly shoot the vibration detection mark point area on the flexible arm by the three-vision system composed of three high-speed cameras 11 during the vibration of the magnetic coupling flexible arm structure, collect the image sequence and send the image sequence to the computer 25;

[0068] The third step is that the computer reads the image shot by the high-speed camera 11, calibrates the three industrial cameras through the Zhang Zhengyou calibration method, extracts the image spot features to calculate the coordinates of the mark points, further processes the vibration information of the flexible structure and performs visual processing.

[0069] Figure 1 The dashed lines in the figure indicate the connection relationship between the devices, and the direction arrows indicate the transmission direction of the detection and control signal flow.

[0070] In the embodiment, the material of the flexible arm can be selected as an epoxy resin material sheet, the geometric size of which is 400mm*80mm*2mm, the Poisson's ratio of the epoxy resin is 0.33, the density is 1980kg / m3, and the Young's modulus is 26.3Gpa.

[0071] The piezoelectric actuator is installed on the two sides of the flexible arm at a distance of 10mm from the upper and lower end faces, and two pieces of the flexible plate are installed on the two sides of the upper and lower arms according to the attitude angle of 0°, and the double-sided installation is adopted, and a total of 12 pieces are installed.

[0072] The two linear guides of the magnetic coupling structure adopt the LM rolling guide of the THK company, and the model is SHS25C2SS.

[0073] The ball screw module adopts the product produced by THK company, the model is TH20-BS, the corresponding screw block base is selected to be the slide table and the steel plate connected, the screw guide is selected to be SHS-V guide.

[0074] The matching guide rail of the ball screw module slide table adopts the LM rolling guide of THK company, the model is SHS45C2SS.

[0075] The servo motor adopts the product produced by Mitsubishi company, the model of the servo motor is HG-KN23J-S100, the power is 200W, the maximum rotating speed is 3000r / min, the resolution is 131072 pulses / turn.

[0076] The charge amplifier selects the YE5850 type charge amplifier of Jiangsu Lianeng Electronics Co., Ltd.; the piezoelectric amplification circuit selects the piezoelectric amplifier with the model APEX-PA241DW, the amplification multiple can reach 52 times, and can amplify-5V~+5V to-260V~+260V.

[0077] The motion control card selects the control card with the model GUC-800-TPV-M23-L2-F8G of Gukong company, the 8-way controllable shafts can provide the analog quantity input and output with the range of-10V~+10V; the CPU model of the selected computer is Pentium G620 2.6GHz, the memory is 4G, the mainboard has PCI interface, and the motion control card can be installed.

[0078] The above embodiment is the preferred embodiment of the present application, but the embodiment of the present application is not limited by the above embodiment, any change, modification, substitution, combination, simplification made without departing from the spirit and principle of the present application should be the equivalent replacement mode, and all are included in the protection scope of the present application.

Claims

1. A flexible arm vibration measurement and control device based on two-degree-of-freedom magnetic coupling linear motion, characterized in that, include: The magnetic coupling structure includes three sets of magnetic coupling structures. Each set of magnetic coupling structures includes a U-shaped bracket, a T-shaped bracket, a cylindrical magnet, a linear guide rail, and a spring. The T-shaped bracket is installed in the middle of the U-shaped bracket, and the cylindrical magnet is set at both ends of the U-shaped bracket and on the T-shaped bracket. The U-shaped bracket and the T-shaped bracket are fixed on two parallel linear guide rails by sliders. The magnetic coupling structure is installed on a ball screw module through a motion platform, and the ball screw module is fixedly connected to the experimental table. The flexible arm structure includes a first flexible arm, a second flexible arm, and a third flexible arm, which are respectively installed in three sets of magnetic coupling structures. The fixed end of the first flexible arm is mounted on a T-shaped bracket, and a square magnet is mounted on the free end of the first flexible arm. The end of the first flexible arm bracket is connected to both sides of a metal plate by two parallel springs. An external square magnet is mounted on the metal plate at the position corresponding to the first flexible arm, and the opposite surface of the magnet at the free end of the first flexible arm is the same polarity. The fixed end of the second flexible arm is mounted on the T-shaped bracket, and its free end is connected to the second flexible arm bracket by a spring. The fixed end of the third flexible arm is mounted on a T-shaped bracket, and its free end is connected to the third flexible arm bracket through three hinges. A square magnet is mounted on the free end of the third flexible arm and the end of the third flexible arm bracket, and the opposite surfaces are of the same polarity. The vibration excitation part includes a vibrator, which is mounted on the motion platform and connected to the U-shaped bracket via a push rod. The excitation direction of the push rod is horizontal. The vibration detection section includes a tri-vision system for detecting vibrations in the flexible arm structure. The drive control section receives the detection signals from the tri-vision system, processes them to obtain control signals, and further controls the vibration of each flexible arm.

2. The flexible arm vibration monitoring and control device of claim 1, wherein, The tri-vision system includes three high-speed cameras, which are mounted on three sliders via three gimbals. The three sliders move on three guide rails respectively. When the flexible arm structure is stationary, the detection end face is located in the middle of the field of view of the high-speed cameras.

3. The flexible arm vibration monitoring device according to any one of claims 1-2, wherein, Adjacent U-shaped supports are rigidly connected by aluminum support columns, while adjacent T-shaped supports are flexibly connected by eye bolts and springs. The T-shaped supports at both ends are connected to the motion platform by springs.

4. The flexible arm vibration monitoring and control device of claim 3, wherein, The drive control unit includes a charge amplifier, a terminal board, a servo motor driver, a computer, a motion control card, and piezoelectric ceramic actuators. The piezoelectric ceramic actuators are located at the fixed end of each flexible arm. The charge amplifier is connected to the piezoelectric ceramic actuators. The servo motor driver, charge amplifier, and motion control card are respectively connected to the terminal board. The computer is connected to the motion control card. The computer receives the detection signals from the tri-vision system, processes them to obtain control signals, and outputs the control signals to the charge amplifier through the motion control card and the terminal board. The piezoelectric ceramic actuators then control the vibration of each flexible arm.

5. The flexible arm vibration monitoring and control device of claim 1, wherein, The free end of the second flexible arm and the end of the second flexible arm support are connected by a hinge spring.

6. The flexible arm vibration monitoring and control device of claim 1, wherein, The signal generator sends different vibration signals, which are amplified by the power amplifier and then transmitted to the exciter, which excites the U-shaped support through the top rod. Through the action of magnetic coupling, the T-shaped support and the flexible arm structure produce vibration. By changing the phase difference of the sine signal of the vibration, the T-shaped support and the flexible arm structure produce different forms of modal vibration.

7. The flexible arm vibration monitoring and control device of claim 1, wherein, The same type of cylinder magnets repel each other, and the distance between the surfaces of adjacent cylinder magnets is 30 mm.

8. A method based on the flexible arm vibration measurement and control device according to any one of claims 1-7, characterized in that, In the first step, the signal generator sends a vibration signal, which is amplified by the power amplifier and then sent to the exciter. The exciter excites the U-shaped support through the top rod of the exciter. Through the action of magnetic coupling, the T-shaped support and the flexible arm structure produce different frequency vibrations. In the second step, during the vibration of the magnetically coupled flexible arm structure, the three-eye vision system synchronously takes high-frequency pictures of the vibration detection marker point area on the flexible arm, collects image sequences, and sends them to the computer. In the third step, the computer reads the images taken by the high-speed camera, extracts the image spot features to calculate the coordinates of the marker points, further processes the vibration information of the flexible arm, and performs visual processing.

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