Driving force optimization method for large aircraft component assembly based on force-position coordinated measurement

Abstract

The present invention relates to the technical field of aircraft assembly. In order to solve the problem of unreasonable driving force distribution during the posture adjustment process of large aircraft components, a method for optimizing the driving force of large aircraft component assembly based on force-position coordinated measurement is disclosed, which specifically includes: firstly, using three laser trackers to continuously measure the corresponding reflective target balls on the large aircraft components and calculate the real-time spatial posture of the large components, and using a three-dimensional force sensor installed below the ball joint used to connect the large aircraft components and the positioner to measure the driving force of the positioner on the large aircraft components in real time; then, according to the obtained spatial posture of the large aircraft components and the assembly driving force, the resultant force and torque of the positioner on the large aircraft components at any time are calculated; finally, according to the general solution of the maximum driving force in the X / Y direction of the positioner, a particle swarm algorithm is used to optimize the assembly driving force. The method of this scheme can calculate the optimal driving force when assembling large aircraft components, and thus optimize the posture adjustment driving force, which can improve the posture adjustment accuracy of large aircraft components and the service life of the equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft assembly, and specifically to an optimization method for the driving force of aircraft large-component assembly based on force-position collaborative measurement. Background Technique

[0002] Currently, the posture adjustment mechanism for aircraft large-component assembly usually consists of three or more positioners. These positioners and the aircraft large-component together form a redundantly driven parallel posture adjustment mechanism. Since the number of drive shafts of the redundantly driven posture adjustment mechanism is more than the degrees of freedom of the mechanism, the distribution of the driving force during the posture adjustment (abbreviation: posture adjustment) of the aircraft large-component is uncertain. An unreasonable driving force distribution method may lead to a relatively large posture adjustment driving force of the positioner, which is extremely likely to cause deformation or damage of the positioner, affecting the posture adjustment and positioning accuracy of the aircraft large-component and the service life of the equipment. For this reason, the present invention accurately obtains the resultant driving force and resultant moment of the positioner on the aircraft large-component through force-position collaborative measurement, and optimizes the assembly driving force according to the general solution of the maximum assembly driving force in the X / Y directions of the positioner, so as to achieve weak-stress posture adjustment of the aircraft large-component. Summary of the Invention

[0003] The purpose of the present invention is to provide an optimization method for the driving force of aircraft large-component assembly based on force-position collaborative measurement to solve the problems raised in the above background technique. First, three laser trackers are used to continuously measure the corresponding retroreflective target balls on the aircraft large-component and calculate the real-time spatial posture of the aircraft large-component. The driving force of the positioner on the aircraft large-component is measured in real time through a three-dimensional force sensor installed under the ball joint. Then, the resultant force and resultant moment of the positioner on the aircraft large-component at any moment are accurately calculated according to the obtained spatial posture of the aircraft large-component and the driving force measurement data. Finally, the assembly driving force is optimized according to the general solution of the maximum driving force in the X / Y directions of the positioner to achieve weak-stress precise posture adjustment of the aircraft large-component.

[0004] To achieve the above purpose, the present invention provides the following technical solution: An optimization method for the driving force of aircraft large-component assembly based on force-position collaborative measurement, including the following steps:

[0005] S1: Measure the spatial posture and assembly driving force of the aircraft large-component in real time;

[0006] S2: Calculate the resultant force and resultant moment of the positioner on the aircraft large-component at any moment;

[0007] S3: Calculate the optimal driving force of the positioner on the aircraft large-component, and calculate the assembly driving force when the maximum driving force is the smallest.

[0008] Preferably, in S1, it specifically includes the following content:

[0009] S21: Install 3 reflective target balls on the large aircraft component, and arrange 3 laser trackers at the assembly site. It is necessary to ensure that each laser tracker can continuously measure the corresponding reflective target ball during the attitude adjustment process of the large aircraft component;

[0010] S22: According to the coordinates of the reflective target ball in the local coordinate system and the coordinates in the global coordinate system, the spatial attitude matrix of the large aircraft component relative to the global coordinate system can be calculated by using the singular value decomposition (SVD) method as R ;

[0011] S23: The large aircraft component and the locator are connected by a ball joint composed of a ball head and a ball socket. A three-dimensional force sensor is installed below the ball joint. The X / Y / Z axes of the locator and the X / Y / Z directions of the three-dimensional force sensor are all consistent with the X / Y / Z directions of the global coordinate system. The real-time driving force of the locator on the large aircraft component in the global coordinate system can be measured through the three-dimensional force sensor as j For , where .

[0012] Preferably, the specific content in S2 is:

[0013] According to the spatial attitude matrix of the large aircraft component R and the real-time driving force of the locator on the large aircraft component , calculate the resultant force of the locator on the large aircraft component at any time as , and the resultant moment of the locator on the large aircraft component as , where is the coordinate of the ball joint center in the local coordinate system of the large aircraft component.

[0014] Preferably, the specific content in S3 is:

[0015] S31: Let the driving force of the locator j on the large aircraft component at a certain moment be . Under the conditions of the same spatial six-degree-of-freedom velocity and acceleration of the large aircraft component, the resultant force F and the resultant moment M of the locator on the large aircraft component remain unchanged. Therefore, there is:

[0016] (Equation 1)

[0017] S32: Let , , , then there is , where is the third-order identity matrix. Therefore, the general solution of the locator driving force is:

[0018] (Formula 2)

[0019] Wherein, is a 9th-order identity matrix;

[0020] S33: Let , represents the general solution of the maximum driving force in the X / Y direction of the locator, then there is:

[0021] (Formula 3)

[0022] S34: It can be found from Formula 2 that the general solution of the maximum driving force in the X / Y direction of the locator is a function of λ , so let , construct an optimization model of the maximum driving force of the locator on the large aircraft component , and use the particle swarm optimization algorithm to solve . The number of iterations is 60, and can be calculated. Therefore, the optimal driving force of the locator on the large aircraft component is:

[0023] (Formula 4).

[0024] The present invention has at least the following beneficial effects:

[0025] 1. By the method of force-position collaborative measurement, directly calculate the resultant force F and resultant moment M of the locator on the large aircraft component, which can improve the accuracy of the optimization of the assembly driving force.

[0026] 2. By the method of this solution, the optimal driving force during the assembly of the large aircraft component can be calculated. In this way, the posture adjustment driving force can be optimized, the deformation of the locator caused by excessive driving force can be reduced, and thus the posture adjustment and positioning accuracy of the large aircraft component and the service life of the equipment can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of the calculation and optimization process in the present invention;

[0028] Figure 2 is a schematic diagram of the position of the large aircraft component and the locator in the present invention;

[0029] Figure 3 is a schematic diagram of the locator structure in the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Example 1

[0032] Please refer to Figures 1 - 3 , the driving force optimization method for large aircraft component assembly based on force-position coordinated measurement, including:

[0033] Step 1: Real-time measurement of the spatial posture and assembly driving force of large aircraft components

[0034] If Figure 2 As shown in the aircraft large parts assembly system, the global coordinate system O g-xyz is the reference coordinate system in the entire assembly space; the local coordinate system O g-xyz It is a coordinate system that is fixed to the aircraft's large components, representing the spatial position and attitude of the aircraft's large components; three reflective target balls are installed on the aircraft's large components, and three laser trackers are arranged at the assembly site. It is necessary to ensure that each laser tracker can continuously measure the corresponding reflective target ball during the aircraft's large component attitude adjustment process.

[0035] Assume that the reflective target sphere is in the local coordinate system O of the aircraft large component t-xyz The coordinates under are , , the laser tracker is used to measure the reflective target ball in the global coordinate system O g-xyz The coordinates under are . According to the coordinate system conversion principle, the coordinates of the reflective target sphere in the local coordinate system and coordinates in the global coordinate system The following relations are satisfied:

[0036] (1)

[0037] The singular value decomposition (SVD) method can be used to calculate the spatial attitude matrix of the aircraft's large components relative to the global coordinate system R and position vector T . According to the rigid body rotation principle, the spatial attitude matrix of the aircraft's large components relative to the global coordinate system R and position vector T can be expressed as:

[0038] (2)

[0039] (3)

[0040] Therefore, the attitude angles of the large aircraft component relative to the global coordinate system can be expressed as .

[0041] As Figure 3 shown, the large aircraft component and the locator are connected by a ball joint composed of a ball head and a ball socket, and a three-dimensional force sensor is installed below the ball joint. The X / Y / Z axes of the locator and the X / Y / Z directions of the three-dimensional force sensor are all consistent with the X / Y / Z directions of the global coordinate system. The real-time driving force of the locator j on the large aircraft component in the global coordinate system can be measured by the three-dimensional force sensor as . Among them, , , , respectively represent the driving forces of the locator j on the large aircraft component in the X, Y, and Z directions measured by the three-dimensional force sensor.

[0042] Step 2: Calculate the resultant force F and resultant moment M of the locator on the large aircraft component.

[0043] Assume that the mass of the large aircraft component is m , and the acceleration due to gravity is g . According to Newton's law, for the attitude adjustment mechanism composed of three locators, the motion equation of the large aircraft component in the global coordinate system is:

[0044] (4)

[0045] Among them, is the acceleration of the large aircraft component. The resultant force of the locator on the large aircraft component at this time can be calculated as

[0046] (5)

[0047] Assume that the center of gravity position of the large aircraft component is , the coordinates of the ball joint center in the local coordinate system are , and the inertia matrix of the large aircraft component is . According to Euler's equation, the dynamic equation of the large aircraft component in the local coordinate system is:

[0048] (6)

[0049] Among them, is the angular velocity of the large aircraft component relative to its own coordinate system, is the angular acceleration.

[0050] (7)

[0051] The resultant moment of the locator on the large aircraft component at this time can be calculated as:

[0052] (8)

[0053] In equation (8), the spatial attitude matrix R is a function of the attitude angles A .

[0054] From equations (5) and (8) it can be found that, based on the real-time spatial attitude angles A of the large aircraft component measured by the laser tracker and the real-time driving force j of the locator measured by the three-dimensional force sensor on the large aircraft component, the resultant driving force F and resultant moment M of the locator on the large aircraft component at any moment can be calculated.

[0055] It should be noted that, theoretically, based on the center-of-gravity position of the large aircraft component, the inertia matrix and the six-degree-of-freedom velocity and acceleration of the large aircraft component in space, the resultant force and resultant moment of the locator on the large aircraft component can be indirectly calculated using dynamic methods. However, since it is relatively difficult to accurately obtain the center-of-gravity position and inertia matrix of the large aircraft component, in order to improve the accuracy of optimizing the assembly driving force, the present invention uses a force-position collaborative measurement method to directly calculate the resultant force F and resultant moment M of the locator on the large aircraft component.

[0056] Step 3: Calculate the optimal driving force of the locator on the large aircraft component

[0057] Suppose that at a certain moment, the driving force of the locator j on the large aircraft component is , where , and represent the driving force of the locator j in the X direction, the driving force in the Y direction, and the driving force in the Z direction, respectively. According to Newton-Euler equations, there is

[0058] (9)

[0059] The system of equations (9) contains 6 equations and 9 unknowns. Therefore, under the condition of the same six-degree-of-freedom velocity and acceleration of the large aircraft component in space, the driving force of the locator on the large aircraft component is uncertain. Let represent the vector For an anti-symmetric matrix, there is:

[0060] (10)

[0061] Let , , , then there is . Among them, is a third-order identity matrix. Therefore, the general solution of the locator driving force is:

[0062] (11)

[0063] Among them, is a 9th-order identity matrix.

[0064] Since the Z-axis of the locator needs to support large aircraft components, and the stiffness of the locator in the Z direction is much higher than that in the X / Y direction, the maximum driving force in the X / Y direction of the locator should be minimized when optimizing the assembly driving force.

[0065] Let , represents the general solution of the maximum driving force in the X / Y direction of the locator, then there is:

[0066] (12)

[0067] It can be found from equation (11) that the general solution of the maximum driving force in the X / Y direction of the locator is a function of λ . Therefore, let , and construct an optimization model of the maximum driving force of the locator on the large aircraft component. Use the particle swarm algorithm to solve , and the number of iterations is 60. It can be calculated that .

[0068] Therefore, the optimal driving force of the locator on the large aircraft component is:

[0069] (13)

[0070] In order to reduce the resource consumption of the control system, the control system collects the spatial attitude and driving force data of the large aircraft component every 0.1 seconds and uses the particle swarm algorithm to optimize the assembly driving force, so as to reduce the driving force of the locator on the large aircraft component.

[0071] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0072] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention.

Claims

1. A method for optimizing the driving force of large aircraft component assembly based on force-position coordinated measurement, characterized in that: The following steps are involved: S1: Real-time measurement of the spatial posture and assembly driving force of large aircraft components; S2: Calculate the resultant force and moment of the positioner on the large parts of the aircraft at any time; S3: Calculate the optimal driving force of the positioner on the large aircraft components and calculate the assembly driving force when the maximum driving force is the minimum; S1 specifically includes the following: S21: Three reflective target balls are installed on the aircraft's large parts, and three laser trackers are arranged at the assembly site. It is necessary to ensure that each laser tracker can continuously measure the corresponding reflective target ball during the attitude adjustment process of the aircraft's large parts; S22: Based on the coordinates of the reflective target sphere in the local coordinate system and the coordinates in the global coordinate system, the singular value decomposition (SVD) method can be used to calculate the spatial attitude matrix of the large aircraft component relative to the global coordinate system: R ; S23: The large aircraft components and the positioner are connected by a ball joint consisting of a ball head and a ball socket. A three-dimensional force sensor is installed under the ball joint. The X / Y / Z axis of the positioner and the X / Y / Z direction of the three-dimensional force sensor are consistent with the X / Y / Z direction of the global coordinate system. The three-dimensional force sensor can measure the positioner in the global coordinate system. j The real-time driving force for large aircraft components is ,in, ; The specific content of S2 is: According to the spatial attitude matrix of large aircraft components R and real-time driving force of positioners on large aircraft components , calculate the resultant force of the locator on the large parts of the aircraft at any time: , the total moment of the positioner on the large aircraft components is ,in is the coordinate of the center of the spherical joint in the local coordinate system of the aircraft large component; The specific content in S3 is: S31: Assume a locator at a certain moment j The driving force on the large aircraft components is , the resultant force of the positioner on the large aircraft components under the same six-degree-of-freedom speed and acceleration conditions F sum moment M unchanged, so we have: (Formula 1) S32: Order , , , then ,in, is a third-order identity matrix, so the locator driving force The general solution is: (Formula 2) in, is the 9th-order identity matrix; S33: Order , The general solution for the maximum driving force in the X / Y direction of the positioner is: (Formula 3) S34: From formula 2, we can find that the maximum driving force of the positioner in the X / Y direction is the general solution About λ function, so let , build an optimization model for the maximum driving force of the positioner on large aircraft components , using particle swarm optimization Solve it, the number of iterations is 60, and we can calculate , therefore, the optimal driving force of the positioner on the large aircraft components is: (Formula 4).

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