Synergetic control method of aircraft part pose alignment based on four locater

Abstract

The invention discloses a method for adjusting and synergetically controlling the position and pose of an aircraft component based on four locators. The method comprises the following steps: firstly, a global coordinate system OXYZ is established, and the current position and pose and the target position and pose of the aircraft component are calculated under the global coordinate system; secondly, the automatic adjusting path and the inch adjusting path of the aircraft component are formed; thirdly, the track of the sphere pivot wiring point between the locator and the aircraft component is planed according to the automatic adjusting path and the inch adjusting path; fourthly, the track of the sphere pivot wiring point is inverted into the driving parameter of a 12 motor axle synchronous control network; fifthly, the 12 motor axle synchronous control network is built based on a SynqNet bus, and the position servo of single motor axle adopts the full-closed loop digit controlling; and sixthly, two locators are selected, and the collocated relation between the locators is the master-slave motion mode. The method has the following advantages: firstly, the path for adjusting the position and pose of the aircraft component can be planed; secondly, the full-closed loop controlling of the single axle motion of the locator can be realized; and thirdly, the 12 axle synchronous motion of the position and pose adjusting system can be realized.

Description

technical field [0001] The invention relates to a cooperative control method for position and posture adjustment of aircraft components based on four locators. Background technique [0002] In the field of aerospace manufacturing, in order to realize the docking assembly of large parts, it is necessary to adjust the pose of large rigid parts such as the aircraft fuselage. The traditional adjustment method based on jacks and assembly jigs regards the feature points on the aircraft components as discrete points in space, rather than points on the rigid body whose mutual distance remains constant. The core idea of ​​using jacks to adjust the component pose is to make these feature points approach the assembly frame as much as possible, and when using multiple jacks for adjustment, the distance coordination between them is not considered. This adjustment method based on analog quantity coordination is simple, but it will easily cause assembly stress due to pulling or squeezing ...

AI Technical Summary

Problems solved by technology

This adjustment method based on analog quantity coordination is simple, but it will easily cause assembly stress due to pulling or squeezing of aircraft components; each component corresponds to an assembly jig, which lacks flexibility; the result of each adjustment is random The quality of assembly depends on the experience of workers, and the reliability and precision are low

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