基于力位协同控制的大飞机机身壁板装配调姿方法

doi:10.7527/S1000-6893.2018.22403

材料工程与机械制造

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基于力位协同控制的大飞机机身壁板装配调姿方法

陈文亮, 潘国威, 王珉

南京航空航天大学机电学院, 南京 210016

出版日期:2019-02-15 发布日期:2018-08-16
通讯作者: 陈文亮 E-mail:cwlme@nuaa.edu.cn
基金资助:
江苏省研究生培养创新工程（KYLX15_0299）

High precision positioning method for aircraft fuselage panel based on force/position control

CHEN Wenliang, PAN Guowei, WANG Min

College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Online:2019-02-15 Published:2018-08-16
Supported by:
Funding of Jiangsu Innovation Program for Graduate Education (KYLX15_0299)

摘要/Abstract

摘要： 为校正中机身壁板由于重力和调姿内力产生的变形，提高中机身壁板装配调姿精度，提出了一种基于力位协同控制的装配调姿方法。通过将调姿机构等效为并联机构，推导了调姿机构的解析正反解模型；根据螺旋理论，建立了力传感器测量值与重力、调姿内力之间的映射关系，实现重力补偿值的动态计算，基于局部刚体-弹性连接假设，通过多元线性回归方法构建了调姿内力转化为位置补偿量的模型；根据Clamped-Free变形协调原理，简化了定位器调姿内力之间的协调关系，在此基础上提出了重力前馈补偿和调姿内力转化为位置补偿的力位协同控制策略，并对其进行了理论分析与设计。最后，对所提出的控制策略进行了仿真分析，结果表明采用力位协同控制方法，调姿定位精度提高35.3%，调姿内力降低77.8%，通过应用实验，说明了该方法的可行性和有效性。

关键词: 飞机装配, 调姿, 变形, 并联机构, 重力补偿, 力位协同控制

Abstract: To correct the deformation caused by the internal forces of gravity and posture in the fuselage panel and improve the alignment accuracy of the fuselage panel assembly, an assembly posture adjustment method based on force/position control is proposed. By equating the pose adjustment mechanism as a parallel mechanism, the analytical forward and inverse solution model for the pose adjustment mechanism is deduced; based on the screw theory, the mapping relationship between the force sensor measurement value and gravity and the internal force is established, then the dynamic compensation of gravity is calculated. Based on the hypothesis of local rigid body-spring connection, the model of converting internal force to position compensation is constructed by a multiple linear regression method. The internal force of the positioner is simplified according to the Clamped-Free deformation coordination principle. Then, a control strategy contains gravity feedforward compensation and force converted to position compensation is proposed, and the theoretical analysis and design are carried out. Finally, the simulation results of the proposed control strategy show that the force/position control strategy can increase the position accuracy by 35.3% and reduce internal force by 77.8%. The feasibility and effectiveness of the proposed method are verified by an example of the position system.

Key words: aircraft assembly, posture adjustment, deformation, parallel mechanism, gravity compensation, force/position control

中图分类号:

V262.4

陈文亮, 潘国威, 王珉. 基于力位协同控制的大飞机机身壁板装配调姿方法[J]. 航空学报, 2019, 40(2): 522403-522403.

CHEN Wenliang, PAN Guowei, WANG Min. High precision positioning method for aircraft fuselage panel based on force/position control[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(2): 522403-522403.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

基于力位协同控制的大飞机机身壁板装配调姿方法

High precision positioning method for aircraft fuselage panel based on force/position control

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