基于卧式容器罐容标定和变位识别系统建模与分析.pdfVIP

1 R , , l l r . , 1 2 d ,H . 1(a) , (a) O −yz (b) O −xy 1:O −yz O −xy : x 2 +y 2 +(z +d +l −r )2 r2 1 : x 2 +y 2 +(z −d −l2 + r )2 r2 H ,z =−l −d 1 1(b),(f (t) arcsin t +t 1−t2 ): 2 2 H −R R −y 2 2 2 V( H) [2 r =−x −y +2d +l +l −2r ] ⋅dxdy ∫ ∫ 2 2 1 2 −R − R −y R 2 =⋅(2d +l +l −2r)[π +f (−1+H R)] +2 H −R (r2 −y 2 )f ( (R 2 −y 2 ) (r2 −y 2 ) )dy (1) 1 2 2 ∫−R 2.1 ,α V . 2(a), 2 :x 2 +y 2 +(z +d +l −r )2 r2 1 :x 2 +y 2 +(z −d −l2 + r )2 r2 π H , : y y (z ) =−R +H −z ⋅tan α (2) , 2(a) . (a) O −yz (b)z −l1 −d 2:O −yz z −l −d 1 π (1)0 ≤H ≤l2 ⋅tan α,O −yz : z =−l −d (0, y (−l −d ), −l −d ) ,y (−l −d ) −R +H +(l +d ) tan α . 1 1 1 1