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

CHEN Wenliang; PAN Guowei; WANG Min

doi:10.7527/S1000-6893.2018.22403

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2019 , Vol. 40 >Issue 2: 522403 - 522403

DOI: https://doi.org/10.7527/S1000-6893.2018.22403

Material Engineering and Mechanical Manufacturing

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

CHEN Wenliang ,
PAN Guowei ,
WANG Min

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

Online published: 2018-08-16

Supported by

Funding of Jiangsu Innovation Program for Graduate Education (KYLX15_0299)

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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

Cite this article

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 . DOI: 10.7527/S1000-6893.2018.22403

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