飞机数字化装配系统目标捕获智能控制算法
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摘要
针对飞机数字化装配系统中目标的人工引导捕获、机械导向捕获等现状和捕获精度低等问题,提出基于位移引导和力引导相结合的智能捕获控制算法。首先通过激光跟踪仪测量目标的位置信息,采用位移引导控制算法驱动捕获定位器进行大尺寸的捕获运动;然后结合目标几何尺寸和力传感器采集的目标接触力信息,采用力位混合引导控制算法驱动捕获定位器进行小尺寸的捕获运动;最后通过对目标接触力的分析,采用力引导控制算法驱动捕获定位器进行微细尺寸的运动,直至运动定位器中捕获定位器精确捕获目标。试验表明:目标捕获智能控制算法的捕获精度优于0.02 mm,接触应力低于5 N,捕获时间少于2min,该控制算法为飞机数字化装配系统提供了高精度、高自动化、高效率和性能稳定的目标捕捉方法。
Aiming at the reality of the target manual guidance capture and mechanical guidance capture in the aircraft digital assembly system and the problems of low capture precision, etc, an intelligent capture control algorithm based on displacement guidance and force guidance is proposed. Firstly, the position information of the target is measured by the laser tracker, and the displacement guidance control algorithm is used to drive the capture locator to conduct large-scale capture motion. Then, combined with the target geometric dimension and the target contact force information collected by the force sensor, the force and displacement hybrid guidance control algorithm is adopted to drive the capture locator to conduct small-scale capture motion. Finally, by analyzing the contact force of the target, the force guidance control algorithm is adopted to drive the capture locator to move in a small size until the target is accurately captured by the capture locator in the motion locator. Experiments show that the accuracy of target capture intelligent control algorithm is better than 0.02 mm, contact stress is lower than 5 N, the capture time is less than 2 min. The control algorithm for aircraft digital assembly system provides a high precision, high automation, high efficiency and stable performance of the method of target capture.
Aiming at the reality of the target manual guidance capture and mechanical guidance capture in the aircraft digital assembly system and the problems of low capture precision, etc, an intelligent capture control algorithm based on displacement guidance and force guidance is proposed. Firstly, the position information of the target is measured by the laser tracker, and the displacement guidance control algorithm is used to drive the capture locator to conduct large-scale capture motion. Then, combined with the target geometric dimension and the target contact force information collected by the force sensor, the force and displacement hybrid guidance control algorithm is adopted to drive the capture locator to conduct small-scale capture motion. Finally, by analyzing the contact force of the target, the force guidance control algorithm is adopted to drive the capture locator to move in a small size until the target is accurately captured by the capture locator in the motion locator. Experiments show that the accuracy of target capture intelligent control algorithm is better than 0.02 mm, contact stress is lower than 5 N, the capture time is less than 2 min. The control algorithm for aircraft digital assembly system provides a high precision, high automation, high efficiency and stable performance of the method of target capture.
引文
[1]巴晓甫,赵安安,郝巨,等.模块化柔性飞机装配生产线设计[J].航空制造技术,2018(9):72-77.
[2]邱宝贵,蒋君侠,毕运波,等.大型飞机机身调姿与对接试验系统[J].航空学报,2011,5(32):909-912.
[3]朱永国,黄翔,方伟,等.机身自动调姿方法及误差分析[J].南京航空航天大学学报,2011(4):229-234.
[4]马志强,李泷杲,方伟,等.随动式并联机翼调姿机构误差建模与分析[J].机床与液压,2014(11):6-9.
[5]郭洪杰,赵建国,李云飞,等.基于WMPS的飞机大部件对接测控技术[J].测控技术,2016(1):149-151.
[6]杜宝瑞,王勃,赵璐,等.航空智能工厂的基本特征与框架体系[J].航空制造技术,2015(8):26-31.
[7]姚艳彬,邹方,刘华东.飞机智能装配技术[J].航空制造技术,2014(23):57-59.
[8]巴晓甫,赵安安,郝巨,等.模块化柔性飞机装配生产线设计[J].航空制造技术,2018(9):75-77.
[2]邱宝贵,蒋君侠,毕运波,等.大型飞机机身调姿与对接试验系统[J].航空学报,2011,5(32):909-912.
[3]朱永国,黄翔,方伟,等.机身自动调姿方法及误差分析[J].南京航空航天大学学报,2011(4):229-234.
[4]马志强,李泷杲,方伟,等.随动式并联机翼调姿机构误差建模与分析[J].机床与液压,2014(11):6-9.
[5]郭洪杰,赵建国,李云飞,等.基于WMPS的飞机大部件对接测控技术[J].测控技术,2016(1):149-151.
[6]杜宝瑞,王勃,赵璐,等.航空智能工厂的基本特征与框架体系[J].航空制造技术,2015(8):26-31.
[7]姚艳彬,邹方,刘华东.飞机智能装配技术[J].航空制造技术,2014(23):57-59.
[8]巴晓甫,赵安安,郝巨,等.模块化柔性飞机装配生产线设计[J].航空制造技术,2018(9):75-77.