Aircraft component butt joint attitude optimization method based on simulated annealing

Abstract

The invention discloses an aircraft component docking attitude optimization method based on simulated annealing, which comprises the following steps: acquiring feature point spatial position information representing component attitude after optimal fitting of a current attitude adjusting system for aircraft component docking, and forming an initial position matrix M; based on the component initial position matrix M and the attitude adjustment parameter matrix C, calculating a new position matrix P after attitude adjustment of the component; according to the component attitude multi-parameter test data, constructing a component attitude comprehensive evaluation index F; and constructing a component attitude optimization model based on the comprehensive evaluation index F, and searching an optimal attitude adjustment parameter matrix C by using a simulated annealing method to obtain an optimal component attitude. According to the technical scheme provided by the invention, the problem that the aircraft attitude is caught in local optimum due to the fact that an optimal fitting attitude adjusting method is adopted for aircraft butt-joint assembly at present is solved, the optimization model is constructed based on the aircraft attitude judgment standard, automatic attitude adjustment in the aircraft butt-joint assembly process is achieved, and the butt-joint assembly efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of, but is not limited to, the technical field of aircraft component docking, assembly, and posture adjustment, and in particular to an aircraft component docking posture optimization method based on simulated annealing. Background Art

[0002] Aircraft component docking is a critical step in aircraft manufacturing, and its quality directly impacts flight safety and overall aircraft performance. Currently, the alignment mechanism for component docking uses the spatial position of the product's key features as a benchmark. The least-squares fitting method is used to obtain the pose that minimizes the error between the measured and theoretical values ​​of the key features. This is considered acceptable. However, during delivery of the docked, assembled product, the pose is verified not based on the absolute spatial position of the key features, but rather on the relative position of the key features to determine whether the pose is acceptable.

[0003] From the above-mentioned existing posture adjustment mechanism, it can be seen that the traditional posture adjustment based on best fitting in the component docking assembly process has low robustness to the influence of product manufacturing errors, deformation, etc. When the product deformation and manufacturing tolerance are small, the optimal posture can be obtained through best fitting. However, when there is a certain amount of deformation, the posture adjustment through best fitting cannot meet the requirement of minimum relative position of feature points. As a result, after the posture adjustment, further manual posture adjustment based on human experience is required to finally meet the posture requirements, resulting in poor product consistency and low product assembly efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide an aircraft component docking posture optimization method based on simulated annealing in an embodiment of the present invention to solve the problem that traditional best-fit posture adjustment algorithms cannot achieve the global optimal posture. Since the assessment of the product posture during the component docking process is based on the relative spatial position of the product feature points, when the traditional posture adjustment is performed by best fitting the spatial position of the feature points, the relative position cannot be optimized, and thus the optimal posture requirement cannot be achieved.

[0005] The present invention provides a method for optimizing the docking posture of aircraft components, comprising:

[0006] Step 1: Obtain the spatial position information of the feature points that characterize the posture of the aircraft component after the optimal fitting of the aircraft component docking attitude adjustment system, and form an initial position matrix M;

[0007] Step 2: Based on the initial position matrix M of the component and the attitude adjustment parameter matrix C, calculate the new position matrix P of the component after attitude adjustment;

[0008] Step 3: Based on the multi-parameter inspection data of the component posture and the new position matrix P, a comprehensive evaluation index F of the component posture is constructed;

[0009] Step 4: Based on the comprehensive evaluation index F, a component posture optimization model is constructed, and the simulated annealing method is used to find the optimal posture adjustment parameter matrix C to obtain the optimal component posture.

[0010] Optionally, in step 1, the component docking posture adjustment initial position matrix M includes the spatial position coordinates of the feature points of the left and right component postures:

[0011]

[0012] Among them, n represents the number of posture feature points of a single-side component, m xi ,m yi ,m zi , i=1,2,...n represents the coordinate values ​​of the X, Y and Z directions of the n feature points of the left component posture; m xi ,m yi ,m zi ,i=n+1,n+2,...2n represents the coordinate values ​​of the n feature points of the right component posture in the X, Y and Z directions.

[0013] Optionally, the component pose adjustment parameter matrix is ​​expressed as follows:

[0014] C=[α z β z γ z α y β y γ y Δx z Δy z Δz z Δx y Δy y Δz y ];

[0015] Among them, α z ,β z ,γ z Respectively represent the rotation angles of the left component around the X, Y, and Z directions; Δx z ,Δy z ,Δz z Respectively represent the translation of the left component in the X, Y, and Z directions; similarly, α y ,β y ,γ y Respectively represent the rotation angles of the right component around the X, Y, and Z directions; Δx y ,Δy y ,Δz y Respectively represent the translation of the right component in the X, Y, and Z directions; the above parameters contain positive and negative values, indicating the direction of rotation / translation.

[0016] Optionally, in step 2, the new position matrix P after the component posture is adjusted by the posture adjustment parameters is obtained by a spatial rotation and translation motion based on a specific rotation center, and the rotation center calculation process includes:

[0017] Step 21: According to the component attitude adjustment mechanism, obtain the support point spatial position information OP required for attitude adjustment and rotation on the left and right sides. z and OP y , whose matrix representation is as follows:

[0018]

[0019] Among them, OP z Indicates the support point of the left component, x z1 ,y z1 ,z z1 Indicates the left support point OP z1 The spatial position of x z2 ,y z2 ,z z2 Indicates the left support point OP z2 The spatial position of OP y Indicates the support point of the right component, x y1 ,y y1 ,z y1 Indicates the support point OP on the right y1 The spatial position of x y2 ,y y2 ,z y2 Indicates the right support point OP y2 spatial location;

[0020] Step 22: Adjust the position of the support points according to the left and right sides. z and OP y , calculate the spatial position information of the rotation center on the left and right sides. The calculation formula is as follows:

[0021]

[0022] Among them, OP zo Indicates the rotation center of the left component; OP yo Indicates the center of rotation of the right component.

[0023] Optionally, in step 2, the new position matrix P after the component posture is adjusted by the posture adjustment parameters is obtained by a spatial rotation and translation motion based on a specific rotation center, and the rotation matrix calculation process is as follows:

[0024] Step 23: Based on the rotation angles in the pose adjustment parameter matrix C, calculate the rotation matrices of the left component in the X, Y, and Z directions, as shown below:

[0025]

[0026] Among them, R zx Represents the rotation matrix of the left component in the X direction; R zy Represents the rotation matrix of the left component in the Y direction; R zz Represents the rotation matrix of the left component in the Z direction;

[0027] Step 24: Based on the rotation angles in the pose adjustment parameter matrix C, calculate the rotation matrices of the right component in the X, Y, and Z directions, as shown below:

[0028]

[0029]

[0030] Among them, R yx Represents the rotation matrix of the right component in the X direction; R yy Represents the rotation matrix of the right component in the Y direction; R yz Represents the rotation matrix of the right component in the Z direction;

[0031] Step 25: Based on the rotation matrices of the left and right components in the X, Y, and Z directions, calculate the spatial rotation matrices of the left and right components respectively. The calculation formula is as follows:

[0032]

[0033] Among them, R z Represents the rotation matrix of the left component in space; R y Represents the rotation matrix of the right component in space.

[0034] Optionally, in step 2, the new position matrix P after the component posture is adjusted by the posture adjustment parameters is obtained by a spatial rotation and translation motion based on a specific rotation center. The calculation formula of the new position matrix P is as follows:

[0035] Step 26: According to the rotation center, rotation matrix, and translation in the attitude adjustment parameter matrix C, calculate the new position matrix P after the attitude adjustment operation of the left and right parts. z P y ], the calculation formula is as follows:

[0036] P z =R z *(M(:,1:n)-P zx ′)+P zx ′+U z ;

[0037] Py =R y *(M(:,n+1:2n)-P yx ′)+P yx ′+U y ;

[0038] in, Indicates the new spatial position information of the left component after rotation in space; P y Indicates the new spatial position information of the right component after rotation in space; P zx ' represents the transpose of the rotation center matrix of the left component; P yx ′ represents the transpose of the rotation center matrix of the right component; P represents the new posture matrix of the left and right sides of the component after the posture adjustment operation with the initial position M.

[0039] Optionally, the construction of the component posture comprehensive evaluation index F in step 3 is calculated based on the posture inspection parameters of the left and right sides, and the calculation process includes:

[0040] The calculation formula of the comprehensive evaluation index F is as follows:

[0041]

[0042] Among them, η1, η2, and η3 represent the means of the first, second, and third groups of test parameters respectively; K1 represents the weight of the mean of the first group of test parameters; K2 represents the weight of the mean of the second group of test parameters; K3 represents the weight of the mean of the third group of test parameters;

[0043]

[0044] in, Including three categories: left posture parameters, right posture parameters and left-right symmetry parameters; Indicates the posture parameters of the left component; Indicates the posture parameters of the right component; represents the left-right symmetry parameter; a represents the number of each type of test parameters; a1, a2, a3 represent the number of the first, second and third groups of test parameters respectively, which satisfy: a1+a2+a3=a.

[0045] Optionally, the component docking assembly posture inspection parameters are calculated based on the posture spatial positions of the left and right sides. The calculation formula is as follows:

[0046]

[0047] in, Indicates the theoretical value of the left posture parameter; Indicates the theoretical value of the right posture parameter; Represents the functional relationship between left and right spatial position information and posture parameters.

[0048] Optionally, the functional relationship between the left and right spatial position information and the posture parameters is calculated using different formulas according to different groups of test parameters. The calculation process is as follows:

[0049] The functional relationship of the first set of test parameters is as follows:

[0050]

[0051] The functional relationship of the second set of test parameters is as follows:

[0052]

[0053] The functional relationship of the third set of test parameters is as follows:

[0054]

[0055] in, It represents the coordinate values ​​of the k'th feature point in the X, Y, and Z directions after the aircraft attitude is adjusted by the attitude adjustment parameters. k' takes an empirical value based on different k.

[0056] Optionally, the component posture optimization model in step 4 is a minimum value optimization model constructed based on the comprehensive evaluation index F, and the model is represented as follows:

[0057] find

[0058] C=[α z β z γ z α y β y γ y Δx z Δy z Δz z Δx y Δy y Δz y ]

[0059]

[0060] The beneficial effects of the present invention are as follows: in view of the problem that the current best-fit attitude adjustment method for aircraft docking assembly causes the aircraft attitude adjustment process to easily fall into local optimality, an embodiment of the present invention proposes an aircraft component docking attitude optimization method based on simulated annealing. The method calculates the spatial position after attitude adjustment by using the spatial Rodrigues rotation formula through the spatial position and attitude adjustment parameters of the current aircraft feature points, and constructs a comprehensive attitude evaluation standard based on the spatial position. The attitude comprehensive evaluation standard is used to minimize the objective function, and based on the simulated annealing algorithm, the optimal attitude adjustment parameters and the optimal spatial attitude are found, thereby solving the problems of reliance on manual fine-tuning, multiple adjustments and multiple measurements caused by local optimality of attitude, and improving the attitude adjustment efficiency of the docking assembly process. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 This is the comparison curve of posture indicators after traditional algorithm and simulated annealing optimization. DETAILED DESCRIPTION

[0062] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 making any creative work are within the scope of protection of the present invention.

[0063] The features and illustrative embodiments of various aspects of the present invention will be described in detail below. In the detailed description below, many specific details are proposed in order to provide a comprehensive understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention. The present invention is in no way limited to any specific arrangement and method proposed below, but rather encompasses any improvements, replacements, and modifications to structures, methods, and devices without departing from the spirit of the present invention. In the accompanying drawings and the following description, well-known structures and techniques are not shown to avoid unnecessary ambiguity in the present invention.

[0064] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" are based on the directions or positional relationships described in the accompanying drawings and are intended only to facilitate and simplify the description of the present invention and should not be construed as limiting the present invention. Furthermore, the use of ordinal numbers (e.g., "first and second," etc.) is intended to distinguish between objects and is not limited to this order, and should not be construed as indicating or implying relative importance.

[0065] In the description of the present invention, it should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may refer to direct connection or indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention.

[0066] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other, and the embodiments can refer to and quote each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0067] The present invention will be described in further detail below with reference to the embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0068] As explained in the above background technology, the existing aircraft docking assembly attitude adjustment method is a method based on the optimal fitting of the spatial position of feature points. When there are manufacturing tolerances and product deformation in the product, the attitude adjustment result of this method cannot meet the aircraft attitude requirements, and there are problems such as reliance on manual labor and multiple adjustments and measurements.

[0069] In response to the above problems, how to find the globally optimal attitude adjustment parameters and explore suitable optimization models and optimization algorithms to ensure that the aircraft attitude reaches the final state, reduce manual adjustment operations, and improve docking and assembly efficiency are key issues that need to be urgently solved in the aircraft docking and assembly process.

[0070] Based on the above analysis, the embodiment of the present invention provides an aircraft component docking posture optimization method based on simulated annealing, such as Figure 1 As shown, the following steps are included:

[0071] Step 1: Obtain the spatial position information of the feature points that characterize the posture of the aircraft component after the optimal fitting of the aircraft component docking attitude adjustment system, and form an initial position matrix M;

[0072] Step 2: Based on the initial position matrix M of the component and the attitude adjustment parameter matrix C, calculate the new position matrix P of the component after attitude adjustment;

[0073] Step 3: Based on the multi-parameter inspection data of the component posture and the new position matrix P, a comprehensive evaluation index F of the component posture is constructed;

[0074] Step 4: Based on the comprehensive evaluation index F, a component posture optimization model is constructed, and the simulated annealing method is used to find the optimal posture adjustment parameter matrix C to obtain the optimal component posture.

[0075] Optionally, the above-mentioned aircraft component docking posture optimization method is characterized in that, in step 1, the component docking posture adjustment initial position matrix includes the spatial position coordinates of the feature points of the left and right component postures:

[0076]

[0077] Where n represents the number of component posture feature points, m xi ,m yi ,m zi , i=1,2,...n represents the coordinate values ​​of the X, Y and Z directions of the n feature points of the left component posture; m xi ,m yi ,m zi ,i=n+1,n+2,...2n represents the coordinate values ​​of the n feature points of the right component posture in the X, Y and Z directions;

[0078] Optionally, the above-mentioned aircraft component docking posture optimization method is characterized in that the component posture adjustment parameter matrix is ​​expressed as follows:

[0079] C=[α z β z γ z α y β y γ y Δx z Δy z Δz z Δx y Δy y Δz y ];

[0080] Among them, α z ,β z ,γ z Respectively represent the rotation angles of the left component around the X, Y, and Z directions; Δx z ,Δy z ,Δz z Respectively represent the translation of the left component in the X, Y, and Z directions; similarly, α y ,β y ,γ y Respectively represent the rotation angles of the right component around the X, Y, and Z directions; Δx y ,Δy y ,Δz y Respectively represent the translation of the right component in the X, Y, and Z directions; the above parameters contain positive and negative values, indicating the direction of rotation / translation.

[0081] Optionally, the above-mentioned method for optimizing the docking posture of aircraft components is characterized in that the new position matrix P after the component posture is adjusted by the posture adjustment parameters in step 2 is obtained by a spatial rotation and translation motion based on a specific rotation center, and the rotation center calculation process includes:

[0082] Step 21: According to the component attitude adjustment mechanism, collect the spatial position information OP of the support points required for attitude adjustment and rotation on the left and right sides z and OP y , whose matrix representation is as follows:

[0083]

[0084] Among them, OP z Indicates the support point of the left component, x z1 ,y z1 ,z z1 Indicates the left support point OP z1 The spatial position of x z2 ,y z2 ,z z2 Indicates the left support point OP z2 The spatial position of OP y Indicates the support point of the right component, x y1 ,y y1 ,z y1 Indicates the support point OP on the right y1 The spatial position of x y2 ,y y2 ,z y2 Indicates the right support point OP y2 spatial location;

[0085] Step 22: Adjust the position of the support points according to the left and right sides. z and OP y , calculate the spatial position information of the rotation center on the left and right sides. The calculation formula is as follows:

[0086]

[0087] Among them, OP zo Indicates the rotation center of the left component; OP yo Indicates the center of rotation of the right component;

[0088] Optionally, the above-mentioned method for optimizing the docking posture of aircraft components is characterized in that the new position matrix P after the component posture is adjusted by the posture adjustment parameters in step 3 is obtained by a spatial rotation and translation motion based on a specific rotation center, and the rotation matrix calculation process is as follows:

[0089] Step 23: Based on the rotation angle in the pose adjustment parameter C, calculate the rotation matrix of the left component in the X, Y, and Z directions, as shown below:

[0090]

[0091]

[0092] Among them, R zx Represents the rotation matrix of the left component in the X direction; R zy Represents the rotation matrix of the left component in the Y direction; R zz Represents the rotation matrix of the left component in the Z direction;

[0093] Step 24: Based on the rotation angle in the pose adjustment parameter C, calculate the rotation matrix of the right component in the X, Y, and Z directions, as shown below:

[0094]

[0095] Among them, R yx Represents the rotation matrix of the right component in the X direction; R yy Represents the rotation matrix of the right component in the Y direction; R yz Represents the rotation matrix of the right component in the Z direction;

[0096] Step 25: Based on the rotation matrices of the left and right components in the X, Y, and Z directions, calculate the spatial rotation matrices of the left and right components respectively. The calculation formula is as follows:

[0097]

[0098] Among them, R z Represents the rotation matrix of the left component in space; R y Represents the rotation matrix of the right component in space;

[0099] Optionally, the above-mentioned method for optimizing the docking posture of aircraft components is characterized in that the new position matrix P after the component posture is adjusted by the posture adjustment parameters in step 2 is obtained by a spatial rotation and translation motion based on a specific rotation center, and the calculation formula of the new position matrix P is as follows:

[0100] Step 26: According to the rotation center, rotation matrix, and translation in the attitude adjustment parameter matrix C, calculate the new position matrix P after the attitude adjustment operation of the left and right parts. z P y ], the calculation formula is as follows:

[0101] P z =R z *(M(:,1:n)-P zx ′)+P zx ′+U z

[0102] P y =R y *(M(:,n+1:2n)-P yx′)+P yx ′+U y

[0103] in, Indicates the new spatial position information of the left component after rotation in space; P y Indicates the new spatial position information of the right component after rotation in space; P zx ' represents the transpose of the rotation center matrix of the left component; P yx ′ represents the transpose of the rotation center matrix of the right component; P represents the new posture matrix of the left and right sides of the component after the posture adjustment operation with the initial position M.

[0104] Optionally, the above-mentioned aircraft component docking posture optimization method is characterized in that the construction of the component posture comprehensive evaluation index F in the step 3 is calculated based on the left and right side posture inspection parameters, and the calculation process includes:

[0105] The calculation formula of the comprehensive evaluation index F is as follows:

[0106]

[0107] Among them, η1, η2, and η3 represent the means of the first, second, and third groups of test parameters respectively; K1 represents the weight of the mean of the first group of test parameters; K2 represents the weight of the mean of the second group of test parameters; K3 represents the weight of the mean of the third group of test parameters;

[0108]

[0109] in, Including three categories: left posture parameters, right posture parameters and left-right symmetry parameters; Indicates the posture parameters of the left component; Indicates the posture parameters of the right component; represents the left-right symmetry parameter; a represents the number of each type of test parameters; a1, a2, a3 represent the number of the first, second and third groups of test parameters respectively, which satisfy: a1+a2+a3=a.

[0110] Optionally, the above-mentioned aircraft component docking posture optimization method is characterized in that the component docking assembly posture inspection parameters are obtained based on the posture spatial positions of the left and right sides, and the calculation formula is as follows:

[0111]

[0112] in, Indicates the theoretical value of the left posture parameter; Indicates the theoretical value of the right posture parameter; Represents the functional relationship between left and right spatial position information and posture parameters.

[0113] Optionally, the above-mentioned method for optimizing the docking posture of aircraft components is characterized in that the functional relationship between the left and right spatial position information and the posture parameters is calculated using different formulas according to different groups of inspection parameters, and the calculation process is as follows:

[0114] The functional relationship of the first set of test parameters is as follows:

[0115]

[0116] The functional relationship of the second set of test parameters is as follows:

[0117]

[0118] The functional relationship of the third set of test parameters is as follows:

[0119]

[0120] in, It represents the coordinate values ​​of the k'th feature point in the X, Y, and Z directions after the aircraft attitude is adjusted by the attitude adjustment parameters. k' takes an empirical value based on different k.

[0121] Optionally, the component posture optimization model in step 4 is a minimum value optimization model constructed based on the comprehensive evaluation index F, and the model is represented as follows:

[0122] find C=[α z β z γ z α y β y γ y Δx z Δy z Δz z Δx y Δy y Δz y ]

[0123]

[0124] Application Cases

[0125] This embodiment provides a simulated annealing-based method for optimizing the docking posture of aircraft components. This application case uses the posture adjustment process of large aircraft components as an example. This application case uses the spatial position data of aircraft feature points to construct a comprehensive attitude evaluation index based on spatial position. A simulated annealing algorithm is used to find the optimal posture adjustment parameters, thereby obtaining the optimal aircraft posture. The specific algorithm includes the following steps:

[0126] Step 1: Obtain the spatial position information of the feature points that characterize the component posture after the optimal fitting of the aircraft component docking attitude adjustment system, and form the initial position matrix M, whose matrix representation is as follows:

[0127]

[0128] Step 2: Based on the initial position matrix M of the component and the attitude adjustment parameter matrix C, calculate the new position matrix P of the component after attitude adjustment;

[0129] The component posture adjustment parameter matrix C and the initialization posture adjustment parameters are as follows;

[0130] C=[0.126,0.162,-0.149,0.165,0.053,-0.161,-1.329,0.281,2.75,2.790,-2.054,2.824]

[0131] Step 21: According to the component attitude adjustment mechanism, collect the spatial position information OP of the support points required for attitude adjustment and rotation on the left and right sides z and OP y , whose matrix representation is as follows:

[0132]

[0133] Step 22: Adjust the position of the support points according to the left and right sides. z and OP y , calculate the spatial position information of the rotation center on the left and right sides, and the calculation results are as follows:

[0134]

[0135]

[0136] Step 23: Based on the rotation angle in the pose adjustment parameter C, calculate the rotation matrix of the left component in the X, Y, and Z directions, as shown below:

[0137]

[0138] Step 24: Based on the rotation angle in the pose adjustment parameter C, calculate the rotation matrix of the right component in the X, Y, and Z directions, as shown below:

[0139]

[0140] Step 25: Based on the rotation matrices of the left and right components in the X, Y, and Z directions, calculate the spatial rotation matrices of the left and right components respectively. The calculation formula is as follows:

[0141]

[0142] Step 26: Based on the rotation center, rotation matrix, and translation matrix, calculate the new position matrix P after the spatial position adjustment operation of the left and right components. The calculation formula is as follows:

[0143]

[0144] P=[P z P y ]

[0145] The translation matrices of the components on both sides are as follows:

[0146]

[0147] Step 3: Based on the multi-parameter inspection data of component posture, a comprehensive evaluation index F of component posture is constructed;

[0148] Based on the mean of each inspection parameter, weights are assigned to each mean according to the assembly requirements, K1 = 1, K2 = 2, K3 = 1, and the comprehensive evaluation index F is calculated. The calculation results are as follows:

[0149] F=17.58

[0150] Among them, the posture parameters of the left and right sides are expressed as follows:

[0151]

[0152] Three sets of data are collected and the mean of each set is calculated as follows:

[0153] η1=36.72

[0154] η2=4.45

[0155] η3=29.15

[0156] A component posture optimization model is constructed based on the comprehensive evaluation index F, and the simulated annealing method is used to find the optimal posture adjustment parameter matrix C to obtain the optimal component posture.

[0157] Parameter initialization, Markov chain length L = 200, decay parameter K = 0.98, step factor S = 0.2, initial temperature T = 100 and termination temperature Tf = 0.01;

[0158] The simulated annealing optimization algorithm is used to find the optimal posture adjustment parameters for the posture adjustment results. The comprehensive evaluation value of the posture after adjustment is compared with the posture of the existing best fitting method, such as Figure 1 The corresponding optimal posture adjustment parameters are shown in Table 1.

[0159] Table 1

[0160]

[0161] In this application implementation case, the docking and attitude adjustment process of large aircraft components is taken as the object. Based on the spatial position data of the product feature points in the attitude adjustment process, the spatial Rodrigues rotation formula is used to obtain the latest position of the product based on the attitude adjustment parameters. According to the key parameters of the assembly process, a comprehensive evaluation index of the product attitude is constructed. A posture optimization algorithm based on simulated annealing is proposed, and the algorithm is used to optimize the parameters of 6 groups of sample attitude adjustment data in the docking and attitude adjustment process of large aircraft components. The optimization results are shown in the figure. Figure 1 As shown in the figure, it can be seen that the comprehensive posture evaluation indicators of the product calculated by this algorithm are smaller than those of the traditional posture adjustment algorithm, which proves the effectiveness of the optimization algorithm over the traditional posture adjustment algorithm. It can completely obtain the posture adjustment parameters through the initial position of the product during the posture adjustment process, thereby solving the local optimal problem of the posture adjustment process and effectively reducing the dependence of the posture adjustment process on manual experience.

[0162] The above specific implementation methods are detailed descriptions of the present invention. It cannot be considered that the specific implementation methods of the present invention are limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, they can make several simple deductions and substitutions without departing from the concept of the present invention, which should be regarded as falling within the scope of protection of the present invention.

Claims

1. A method for optimizing the docking posture of aircraft components based on simulated annealing, characterized in that: include: Step 1: Obtain the spatial position information of the feature points that characterize the posture of the aircraft component after the optimal fitting of the aircraft component docking attitude adjustment system, and form an initial position matrix M; Step 2: Based on the initial position matrix M of the component and the attitude adjustment parameter matrix C, calculate the new position matrix P of the component after attitude adjustment; Step 3: Based on the multi-parameter inspection data of the component posture and the new position matrix P, a comprehensive evaluation index F of the component posture is constructed; Step 4: Based on the comprehensive evaluation index F, a component posture optimization model is constructed, and the simulated annealing method is used to find the optimal posture adjustment parameter matrix C to obtain the optimal component posture.

2. The method for optimizing the docking posture of aircraft components according to claim 1, characterized in that: In step 1, the initial position matrix M of the component docking posture adjustment includes the spatial position coordinates of the feature points of the left and right component postures: Among them, n represents the number of posture feature points of a single-side component, m xi ,m yi ,m zi , i=1,2,...n represents the coordinate values ​​of the X, Y and Z directions of the n feature points of the left component posture; m xi ,m yi ,m zi ,i=n+1,n+2,...2n represents the coordinate values ​​of the n feature points of the right component posture in the X, Y and Z directions.

3. The method for optimizing the docking posture of aircraft components according to claim 1, characterized in that: The component posture adjustment parameter matrix is ​​expressed as follows: C=[a z b z c z a y b y c y Δx z Δy z Δz z Δx y Δy y Δz y ]; Among them, α z ,β z ,γ z Respectively represent the rotation angles of the left component around the X, Y, and Z directions; Δx z ,Δy z ,Δz z Respectively represent the translation of the left component in the X, Y, and Z directions; similarly, α y ,β y ,γ y Respectively represent the rotation angles of the right component around the X, Y, and Z directions; Δx y ,Δy y ,Δz y Respectively represent the translation of the right component in the X, Y, and Z directions; the above parameters contain positive and negative values, indicating the direction of rotation / translation.

4. The method for optimizing the docking posture of aircraft components according to claim 1, characterized in that: The new position matrix P after the component posture is adjusted by the posture adjustment parameters in step 2 is obtained by a spatial rotation and translation motion based on a specific rotation center. The rotation center calculation process includes: Step 21: According to the component attitude adjustment mechanism, obtain the support point spatial position information OP required for attitude adjustment and rotation on the left and right sides. z and OP y , whose matrix representation is as follows: Among them, OP z Indicates the support point of the left component, x z1 ,y z1 ,z z1 Indicates the left support point OP z1 The spatial position of x z2 ,y z2 ,z z2 Indicates the left support point OP z2 The spatial position of OP y Indicates the support point of the right component, x y1 ,y y1 ,z y1 Indicates the support point OP on the right y1 The spatial position of x y2 ,y y2 ,z y2 Indicates the right support point OP y2 spatial location; Step 22: Adjust the position of the support points according to the left and right sides. z and OP y , calculate the spatial position information of the rotation center on the left and right sides. The calculation formula is as follows: Among them, OP zo Indicates the rotation center of the left component; OP yo Indicates the center of rotation of the right component.

5. The method for optimizing the docking posture of aircraft components according to claim 4, characterized in that: The new position matrix P after the component posture is adjusted by the posture adjustment parameters in step 2 is obtained through a spatial rotation and translation motion based on a specific rotation center. The rotation matrix calculation process is as follows: Step 23: Based on the rotation angles in the pose adjustment parameter matrix C, calculate the rotation matrices of the left component in the X, Y, and Z directions, as shown below: Among them, R zx Represents the rotation matrix of the left component in the X direction; R zy Represents the rotation matrix of the left component in the Y direction; R zz Represents the rotation matrix of the left component in the Z direction; Step 24: Based on the rotation angles in the pose adjustment parameter matrix C, calculate the rotation matrices of the right component in the X, Y, and Z directions, as shown below: Among them, R yx Represents the rotation matrix of the right component in the X direction; R yy Represents the rotation matrix of the right component in the Y direction; R yz Represents the rotation matrix of the right component in the Z direction; Step 25: Based on the rotation matrices of the left and right components in the X, Y, and Z directions, calculate the spatial rotation matrices of the left and right components respectively. The calculation formula is as follows: Among them, R z Represents the rotation matrix of the left component in space; R y Represents the rotation matrix of the right component in space.

6. The method for optimizing the docking posture of aircraft components according to claim 5, characterized in that: The new position matrix P after the component posture is adjusted by the posture adjustment parameters in step 2 is obtained by a spatial rotation and translation motion based on a specific rotation center. The calculation formula of the new position matrix P is as follows: Step 26: According to the rotation center, rotation matrix, and translation in the attitude adjustment parameter matrix C, calculate the new position matrix P after the attitude adjustment operation of the left and right parts. z P y ], the calculation formula is as follows: P z =R z *(M(:,1:n)-P zx ′)+P zx ′+U z ; P y =R y *(M(:,n+1:2n)-P yx ′)+P yx ′+U y ; in, P z Indicates the new spatial position information of the left component after rotation in space; P y Indicates the new spatial position information of the right component after rotation in space; P zx ' represents the transpose of the rotation center matrix of the left component; P yx ′ represents the transpose of the rotation center matrix of the right component; P represents the new posture matrix of the left and right sides of the component after the posture adjustment operation with the initial position M.

7. The method for optimizing the docking posture of aircraft components according to claim 1, characterized in that: The construction of the component posture comprehensive evaluation index F in step 3 is calculated based on the posture inspection parameters on the left and right sides, and the calculation process includes: The calculation formula of the comprehensive evaluation index F is as follows: Among them, η1, η2, and η3 represent the means of the first, second, and third groups of test parameters respectively; K1 represents the weight of the mean of the first group of test parameters; K2 represents the weight of the mean of the second group of test parameters; K3 represents the weight of the mean of the third group of test parameters; in, Including three categories: left posture parameters, right posture parameters and left-right symmetry parameters; Indicates the posture parameters of the left component; Indicates the posture parameters of the right component; represents the left-right symmetry parameter; a represents the number of each type of test parameters; a1, a2, a3 represent the number of the first, second and third groups of test parameters respectively, which satisfy: a1+a2+a3=a.

8. The method for optimizing the docking posture of aircraft components according to claim 7, characterized in that: The component docking assembly posture inspection parameters are calculated based on the posture spatial positions of the left and right sides. The calculation formula is as follows: in, Indicates the theoretical value of the left posture parameter; Indicates the theoretical value of the right posture parameter; Represents the functional relationship between left and right spatial position information and posture parameters.

9. The method for optimizing the docking posture of aircraft components according to claim 8, characterized in that: The functional relationship between the left and right spatial position information and the posture parameters is calculated using different formulas according to the different groups of test parameters. The calculation process is as follows: The functional relationship of the first set of test parameters is as follows: The functional relationship of the second set of test parameters is as follows: The functional relationship of the third set of test parameters is as follows: in, It represents the coordinate values ​​of the k'th feature point in the X, Y, and Z directions after the aircraft attitude is adjusted by the attitude adjustment parameters. k' takes an empirical value based on different k.

10. The method for optimizing the docking posture of aircraft components according to claim 1, characterized in that: The component posture optimization model in step 4 is a minimum value optimization model constructed based on the comprehensive evaluation index F. The model is represented as follows: find C=[a z b z c z a y b y c y Δx z Δy z Δz z Δx y Δy y Δz y ]

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