Analog-simulated annealing-based method for optimizing docking attitude of aircraft components

Abstract

The application discloses an aircraft part butt joint attitude optimization method based on simulated annealing, which comprises the following steps: acquiring characteristic point space position information of an aircraft part butt joint current attitude adjustment system best fitting part attitude representation, and forming an initial position matrix M; based on the part initial position matrix M and an attitude adjustment parameter matrix C, a new position matrix P of the part after attitude adjustment is calculated; according to part attitude multi-parameter inspection data, a part attitude comprehensive evaluation index F is constructed; a part attitude optimization model is constructed based on the comprehensive evaluation index F, and the simulated annealing method is used to find the optimal attitude adjustment parameter matrix C to obtain the optimal part attitude. The technical scheme provided by the application solves the problem that the best fitting attitude adjustment method used in the current aircraft butt joint assembly leads to the aircraft attitude falling into local optimization, an optimization model is constructed based on the aircraft attitude evaluation standard, the automatic adjustment of the aircraft attitude in the butt joint assembly process is realized, and the butt joint assembly efficiency is improved.

Description

Technical Field

[0001] This invention relates to, but is not limited to, the field of aircraft component docking and assembly attitude adjustment technology, and specifically to a method for optimizing the docking attitude of aircraft components based on simulated annealing. Background Technology

[0002] The docking of aircraft components is a critical step in aircraft manufacturing, and its quality directly affects flight safety and overall aircraft performance. Currently, the attitude adjustment mechanism in the component docking process is based on the spatial position of the product's feature points. By using least squares fitting, the attitude with the smallest error between the measured and theoretical values ​​of the feature points is considered to meet the component's attitude adjustment requirements. However, during product docking, assembly, and delivery, the attitude is not checked based on the absolute spatial position of the feature points, but rather by calculating the relative positions of the feature points to determine whether the attitude is qualified.

[0003] As can be seen from the existing attitude adjustment mechanism, the traditional attitude adjustment based on best fit during component docking and assembly has low robustness to the impact of product manufacturing errors and deformation. When the product deformation and manufacturing tolerance are small, the optimal posture can be obtained through best fit. However, when there is a certain deformation, attitude adjustment based on best fit cannot meet the requirement of minimizing the relative position of feature points. This leads to the need for further manual attitude adjustment based on human experience after attitude adjustment to finally meet the posture requirements, resulting in poor product consistency and low product assembly efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide an aircraft component docking attitude optimization method based on simulated annealing, in order to solve the problem that traditional best-fit attitude adjustment algorithms cannot achieve the global optimal attitude. Since the evaluation of the product attitude during component docking is based on the relative spatial position of the product feature points, when the traditional attitude adjustment is performed by best-fitting the spatial position of the feature points, the relative position cannot be guaranteed to be optimal, thus failing to meet the optimal attitude requirements.

[0005] This invention provides a method for optimizing the docking attitude of aircraft components, comprising:

[0006] Step 1: Obtain the spatial position information of feature points representing the attitude of the components after the best fit of the aircraft component docking and attitude adjustment system, and form an initial position matrix M;

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

[0008] Step 3: Based on the multi-parameter test data of the component attitude and the new position matrix P, construct the comprehensive evaluation index F of the component attitude;

[0009] Step 4: Construct a component attitude optimization model based on the comprehensive evaluation index F, and use the simulated annealing method to find the optimal attitude adjustment parameter matrix C to obtain the optimal component attitude.

[0010] Optionally, in step one, the initial position matrix M for component docking and attitude adjustment includes the spatial coordinates of the feature points of the left and right component attitudes:

[0011]

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

[0013] Optionally, the component orientation parameter matrix is ​​represented 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] Where, α z ,β z ,γ z These represent the rotation angles of the left component around the X, Y, and Z directions, respectively; Δx z ,Δy z ,Δz z These represent the translations of the left component in the X, Y, and Z directions, respectively; similarly, α y ,β y ,γ y These represent the rotation angles of the right-side component around the X, Y, and Z directions, respectively; Δx y ,Δy y ,Δz y These represent the translation amounts of the right-side component in the X, Y, and Z directions, respectively; each parameter includes positive and negative values, indicating the direction of rotation / translation.

[0016] Optionally, in step two, the new position matrix P of the component after attitude adjustment through attitude parameters is obtained through a spatial rotation and translation motion based on a specific rotation center. The calculation process of the rotation center includes:

[0017] Step 21: Based on the component's attitude adjustment mechanism, obtain the spatial position information of the support points required for attitude adjustment and rotation on both the left and right sides. z and OP y Its matrix representation is shown below:

[0018]

[0019] Among them, OP z Indicates the support point of the left component, x z1 ,y z1 ,z z1 Indicates the support point OP on the left. z1 Spatial location, x z2 ,y z2 ,z z2 Indicates the left support point OP z2 Spatial location; OP y Indicates the support point of the right-side component, x y1 ,y y1 ,z y1 Indicates the support point OP on the right. y1 Spatial location, x y2 ,y y2 ,z y2 Indicates the right support point OP y2 Spatial location;

[0020] Step 22: Based on the spatial position information of the support points for attitude adjustment and rotation on both the left and right sides, OP z and OP y The spatial position information of the rotation centers on the left and right sides is calculated using the following formula:

[0021]

[0022] Among them, OP zo Indicates the rotation center of the left-hand component; OP yo This indicates the rotation center of the component on the right.

[0023] Optionally, in step two, the new position matrix P of the component after the attitude adjustment parameters is obtained through a spatial rotation and translation motion based on a specific rotation center. The calculation process of the rotation matrix is ​​as follows:

[0024] Step 23: Based on the rotation angles in the attitude 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 This 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 This represents the rotation matrix of the left component in the Z direction;

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

[0028]

[0029]

[0030] Among them, R yx R represents the rotation matrix of the right-side component in the X direction; yy R represents the rotation matrix of the right-side component in the Y direction; yz This represents the rotation matrix of the right-hand 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 R represents the rotation matrix of the left component in space; y This represents the rotation matrix of the right-hand component in space.

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

[0035] Step 26: Based on the rotation center, rotation matrix, and translation amounts in the attitude adjustment parameter matrix C, calculate the new position matrix P = [P] of the left and right parts after the spatial position adjustment operation. 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, This indicates the new spatial position information of the left component after rotation in space; P y This indicates the new spatial position information of the right-hand component after its 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 attitude matrix of the left and right sides of the component after the attitude adjustment operation from the initial position M.

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

[0040] The formula for calculating the comprehensive evaluation index F is as follows:

[0041]

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

[0043]

[0044] in, It includes three main categories: left-side attitude parameters, right-side attitude parameters, and left-right symmetry parameters; Indicates the attitude parameters of the left-side component; Indicates the attitude parameters of the right-side component; denoted by symmetry parameter; 'a' represents the number of test parameters for each class; 'a1', 'a2', and 'a3' represent the number of test parameters for the first, second, and third groups, respectively, satisfying: 'a1+a2+a3=a'.

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

[0046]

[0047] in, This represents the theoretical value of the left-side attitude parameters; This represents the theoretical value of the right-side attitude parameters; This represents the functional relationship between left and right spatial position information and attitude parameters.

[0048] Optionally, the functional relationship between the left and right spatial position information and the attitude parameters is calculated using different formulas depending on the grouping of the test parameters, and 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, This represents the coordinates of the k'th feature point in the X, Y, and Z directions after the aircraft attitude is adjusted using attitude parameters. k' is an empirical value depending on the different k values.

[0056] Optionally, the component attitude optimization model in step four 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 this invention are as follows: Addressing the problem that current best-fit attitude adjustment methods for aircraft docking and assembly easily lead to local optima during the attitude adjustment process, this invention proposes a simulated annealing-based aircraft component docking attitude optimization method. This method uses the spatial position of current aircraft feature points and attitude adjustment parameters, employs the spatial Rodrigues rotation formula to calculate the adjusted spatial position, and constructs a comprehensive attitude evaluation standard based on the spatial position. By minimizing the objective function using this standard, and based on the simulated annealing algorithm, the optimal attitude adjustment parameters and optimal spatial attitude are found. This solves the problems of reliance on manual fine-tuning and multiple adjustments and measurements caused by local optima, thereby improving the attitude adjustment efficiency during the docking and assembly process. Attached Figure Description

[0061] Figure 1 The curves show a comparison of attitude metrics between the traditional algorithm and the simulated annealing optimized algorithm. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] The features and illustrative embodiments of various aspects of the present invention will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. The invention is by no means limited to any specific setups and methods set forth below, but covers any improvements, substitutions, and modifications to structures, methods, and devices without departing from the spirit of the invention. Well-known structures and techniques are not shown in the drawings and the following description to avoid unnecessarily obscuring the invention.

[0064] In the description of this invention, it should be noted that the directions or positional relationships indicated by terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing and simplifying the invention, and should not be construed as limiting the invention. Furthermore, the use of ordinal numbers (e.g., "first and second," etc.) is for distinguishing objects and is not limited to this order, and should not be construed as indicating or implying relative importance.

[0065] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly, encompassing both direct connection and indirect connection via an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0066] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited in each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

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

[0068] As explained in the background section, the existing aircraft docking and assembly attitude adjustment method is a best-fit method based on the spatial position of feature points. When there are manufacturing tolerances or product deformation, the attitude adjustment results 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] To address the aforementioned issues, finding the globally optimal attitude adjustment parameters and exploring suitable optimization models and algorithms to ensure the aircraft attitude reaches the final target, reduce manual adjustments, and improve docking and assembly efficiency are critical problems that urgently need to be solved in the aircraft docking and assembly process.

[0070] Based on the above analysis, embodiments of the present invention provide a method for optimizing the docking attitude of aircraft components based on simulated annealing, such as... Figure 1 As shown, it includes the following steps:

[0071] Step 1: Obtain the spatial position information of feature points representing the attitude of the components after the best fit of the aircraft component docking and attitude adjustment system, and form an initial position matrix M;

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

[0073] Step 3: Based on the multi-parameter test data of the component attitude and the new position matrix P, construct the comprehensive evaluation index F of the component attitude;

[0074] Step 4: Construct a component attitude optimization model based on the comprehensive evaluation index F, and use the simulated annealing method to find the optimal attitude adjustment parameter matrix C to obtain the optimal component attitude.

[0075] Optionally, in the aircraft component docking attitude optimization method described above, the initial position matrix for component docking attitude adjustment in step one includes the spatial coordinates of feature points of the left and right component attitudes:

[0076]

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

[0078] Optionally, in the aircraft component docking attitude optimization method described above, the component attitude adjustment parameter matrix is ​​represented 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] Where, α z ,β z ,γ z These represent the rotation angles of the left component around the X, Y, and Z directions, respectively; Δx z ,Δy z ,Δz z These represent the translations of the left component in the X, Y, and Z directions, respectively; similarly, α y ,β y ,γ y These represent the rotation angles of the right-side component around the X, Y, and Z directions, respectively; Δx y ,Δy y ,Δz y These represent the translation amounts of the right-side component in the X, Y, and Z directions, respectively; each parameter includes positive and negative values, indicating the direction of rotation / translation.

[0081] Optionally, the aircraft component docking attitude optimization method described above is characterized in that the new position matrix P of the component attitude after adjustment by attitude parameters in step two is obtained through a spatial rotation and translation motion based on a specific rotation center, and the rotation center calculation process includes:

[0082] Step 21: Based on the component's attitude adjustment mechanism, collect the spatial position information of the support points required for attitude adjustment and rotation on both the left and right sides. z and OP y Its matrix representation is shown below:

[0083]

[0084] Among them, OP z Indicates the support point of the left component, x z1 ,y z1 ,z z1 Indicates the support point OP on the left. z1 Spatial location, x z2 ,y z2 ,z z2 Indicates the left support point OP z2 Spatial location; OP y Indicates the support point of the right-side component, x y1 ,y y1 ,z y1 Indicates the support point OP on the right. y1 Spatial location, x y2 ,y y2 ,z y2 Indicates the right support point OP y2 Spatial location;

[0085] Step 22: Based on the spatial position information of the support points for attitude adjustment and rotation on both the left and right sides, OP z and OP y The spatial position information of the rotation centers on the left and right sides is calculated using the following formula:

[0086]

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

[0088] Optionally, in the aircraft component docking attitude optimization method described above, the new position matrix P of the component attitude after adjustment by attitude parameters in step three is obtained through a spatial rotation and translation motion based on a specific rotation center. The calculation process of the rotation matrix is ​​as follows:

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

[0090]

[0091]

[0092] Among them, R zx This 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 This represents the rotation matrix of the left component in the Z direction;

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

[0094]

[0095] Among them, R yx R represents the rotation matrix of the right-side component in the X direction; yy R represents the rotation matrix of the right-side component in the Y direction; yz This represents the rotation matrix of the right-hand 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 R represents the rotation matrix of the left component in space; y This represents the rotation matrix of the right-hand component in space;

[0099] Optionally, in the aircraft component docking attitude optimization method described above, the new position matrix P of the component attitude after adjustment by attitude parameters in step two is obtained through 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: Based on the rotation center, rotation matrix, and translation amounts in the attitude adjustment parameter matrix C, calculate the new position matrix P = [P] of the left and right parts after the spatial position adjustment operation. 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, This indicates the new spatial position information of the left component after rotation in space; P y This indicates the new spatial position information of the right-hand component after its 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 attitude matrix of the left and right sides of the component after the attitude adjustment operation from the initial position M.

[0104] Optionally, the aircraft component docking attitude optimization method described above is characterized in that the construction of the component attitude comprehensive evaluation index F in step three is based on the calculation of attitude inspection parameters on both the left and right sides, and the calculation process includes:

[0105] The formula for calculating the comprehensive evaluation index F is as follows:

[0106]

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

[0108]

[0109] in, It includes three main categories: left-side attitude parameters, right-side attitude parameters, and left-right symmetry parameters; Indicates the attitude parameters of the left-side component; Indicates the attitude parameters of the right-side component; denoted by symmetry parameter; 'a' represents the number of test parameters for each class; 'a1', 'a2', and 'a3' represent the number of test parameters for the first, second, and third groups, respectively, satisfying: 'a1+a2+a3=a'.

[0110] Optionally, the aircraft component docking attitude optimization method described above is characterized in that the component docking assembly attitude verification parameters are calculated based on the attitude spatial positions of the left and right sides, and the calculation formula is as follows:

[0111]

[0112] in, This represents the theoretical value of the left-side attitude parameters; This represents the theoretical value of the right-side attitude parameters; This represents the functional relationship between left and right spatial position information and attitude parameters.

[0113] Optionally, the aircraft component docking attitude optimization method described above is characterized in that the functional relationship between the left and right spatial position information and the attitude parameters is calculated using different formulas depending on the grouping of the test 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, This represents the coordinates of the k'th feature point in the X, Y, and Z directions after the aircraft attitude is adjusted using attitude parameters. k' is an empirical value depending on the different k values.

[0121] Optionally, the component attitude optimization model in step four 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 method for optimizing the docking attitude of aircraft components based on simulated annealing. The application case uses the attitude adjustment process of a large aircraft component as an example. This application case focuses on the aircraft docking and assembly attitude adjustment process. Using the spatial position data of aircraft feature points, a comprehensive attitude evaluation index based on spatial position is constructed. The simulated annealing algorithm is then used to find the optimal attitude adjustment parameters, thereby obtaining the optimal aircraft attitude. The specific algorithm includes the following steps:

[0126] Step 1: Obtain the spatial location information of feature points representing the attitude of the aircraft components after the best fit of the docking and attitude adjustment system, and form an initial position matrix M, the matrix representation of which is shown below:

[0127]

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

[0129] The component attitude adjustment parameter matrix C is initialized with the attitude adjustment parameters shown below;

[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: Based on the component's attitude adjustment mechanism, collect the spatial position information of the support points required for attitude adjustment and rotation on both the left and right sides. z and OP y Its matrix representation is shown below:

[0132]

[0133] Step 22: Based on the spatial position information of the support points for attitude adjustment and rotation on both the left and right sides, OP z and OP y The spatial position information of the rotation centers on the left and right sides is calculated, and the calculation results are shown below:

[0134]

[0135]

[0136] Step 23: Based on the rotation angle in the attitude adjustment parameter C, calculate the rotation matrices 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 attitude adjustment parameter C, calculate the rotation matrices of the right-side 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 parts. The calculation formula is shown below:

[0143]

[0144] P = [P] z P y ]

[0145] The translation matrices for the two side components are shown below:

[0146]

[0147] Step 3: Based on the multi-parameter test data of component attitude, construct the comprehensive evaluation index F of component attitude;

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

[0149] F = 17.58

[0150] The attitude parameters for the left and right sides are shown below:

[0151]

[0152] Three sets of data were analyzed, and the average of each set was calculated, as shown below:

[0153] η1 = 36.72

[0154] η2 = 4.45

[0155] η3 = 29.15

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

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

[0158] The optimal pose adjustment parameters are found using a simulated annealing optimization algorithm. The overall pose evaluation value after pose adjustment is compared with the pose obtained by the existing best-fit method. Figure 1 As shown, the corresponding optimal attitude adjustment parameters are shown in Table 1.

[0159] Table 1

[0160]

[0161] This application case focuses on the attitude adjustment process of large aircraft components during docking. Based on the spatial position data of product feature points during the attitude adjustment process, the latest position of the product based on attitude adjustment parameters is obtained using the spatial Rodrigues rotation formula. Furthermore, according to the key parameters in the assembly process, a comprehensive evaluation index for product attitude is constructed. An attitude optimization algorithm based on simulated annealing is proposed, and this algorithm is used to optimize parameters on six sets of sample attitude adjustment data from the large aircraft component docking process. The optimization results are as follows: Figure 1 As shown, the comprehensive posture evaluation index of the product calculated by this algorithm is smaller than that of the traditional posture adjustment algorithm, which proves the effectiveness of the optimization algorithm compared to the traditional posture adjustment algorithm. It can obtain the posture adjustment parameters from the initial position of the product during the posture adjustment process, thereby solving the local optimum problem in the posture adjustment process and effectively reducing the reliance on human experience in the posture adjustment process.

[0162] The above detailed embodiments are a description of the present invention. It should not be considered that the specific embodiments of the present invention are limited to these descriptions. For those skilled in the art, several simple deductions and substitutions can be made without departing from the concept of the present invention, and all of these should be considered to fall within the protection scope of the present invention.

Claims

1. A method for optimizing the docking attitude of aircraft components based on simulated annealing, characterized in that, include: Step 1: Obtain the spatial position information of feature points representing the attitude of the components after the best fit of the aircraft component docking and attitude adjustment system, and form an initial position matrix M; Step 2: Based on the initial position matrix M and the attitude adjustment parameter matrix C of the component, calculate the new position matrix P of the component after attitude adjustment; Step 3: Based on the multi-parameter test data of the component attitude and the new position matrix P, construct the comprehensive evaluation index F of the component attitude; Step 4: Construct a component attitude optimization model based on the comprehensive evaluation index F, and use the simulated annealing method to find the optimal attitude adjustment parameter matrix C to obtain the optimal component attitude. The component orientation parameter matrix is ​​represented 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 ]; Where, α z ,β z ,γ z These represent the rotation angles of the left component around the X, Y, and Z directions, respectively; Δx z ,Δy z ,Δz z These represent the translations of the left component in the X, Y, and Z directions, respectively; similarly, α y ,β y ,γ y These represent the rotation angles of the right-side component around the X, Y, and Z directions, respectively; Δx y ,Δy y ,Δz y These represent the translation amounts of the right-side component in the X, Y, and Z directions, respectively; each parameter includes positive and negative values, indicating the direction of rotation / translation. In step two, the new position matrix P of the component after attitude adjustment is obtained through a spatial rotation and translation motion based on a specific rotation center. The calculation process of the rotation center includes: Step 21: Based on the component's attitude adjustment mechanism, obtain the spatial position information of the support points required for attitude adjustment and rotation on both the left and right sides. z and OP y Its matrix representation is shown below: ； ； Among them, OP z Indicates the support point of the left component, x z1 ,y z1 ,z z1 Indicates the support point OP on the left. z1 Spatial location, x z2 ,y z2 ,z z2 Indicates the left support point OP z2 Spatial location; OP y Indicates the support point of the right-side component, x y1 ,y y1 ,z y1 Indicates the support point OP on the right. y1 Spatial location, x y2 ,y y2 ,z y2 Indicates the right support point OP y2 Spatial location; Step 22: Based on the spatial position information of the support points for attitude adjustment and rotation on both the left and right sides, OP z and OP y The spatial position information of the rotation centers on the left and right sides is calculated using the following formula: ； ； Among them, OP zo Indicates the rotation center of the left-hand component; OP yo Indicates the center of rotation of the component on the right; The construction of the component attitude comprehensive evaluation index F in step three is based on the calculation of attitude inspection parameters on both the left and right sides. The calculation process includes: The formula for calculating the comprehensive evaluation index F is as follows: ； Where η1, η2, and η3 represent the means of the test parameters in the first, second, and third groups, respectively; K1 represents the weight of the mean of the test parameters in the first group; K2 represents the weight of the mean of the test parameters in the second group; and K3 represents the weight of the mean of the test parameters in the third group. ； ； ； in, It includes three main categories: left-side attitude parameters, right-side attitude parameters, and left-right symmetry parameters. Indicates the attitude parameters of the left-side component; Indicates the attitude parameters of the right-side component; denoted by symmetry parameter; 'a' represents the number of test parameters for each class; 'a1', 'a2', and 'a3' represent the number of test parameters for the first, second, and third groups, respectively, satisfying: a1 + a2 + a3 = a; The component docking and assembly attitude inspection parameters are calculated based on the spatial positions of the left and right sides, and the calculation formula is as follows: ； ； ； in, This represents the theoretical value of the left-side attitude parameters; This represents the theoretical value of the right-side attitude parameters; This represents the functional relationship between left and right spatial position information and attitude parameters.

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

3. The aircraft component docking attitude optimization method according to claim 1, characterized in that, In step two, the new position matrix P of the component after the attitude adjustment parameters is obtained through a spatial rotation and translation motion based on a specific rotation center. The calculation process of its rotation matrix is ​​as follows: Step 23: Based on the rotation angles in the attitude 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 R represents the rotation matrix of the left component in the X direction; zy Represents the rotation matrix of the left component in the Y direction; R zz This represents the rotation matrix of the left component in the Z direction; Step 24: Based on the rotation angles in the attitude adjustment parameter matrix C, calculate the rotation matrices of the right-side component in the X, Y, and Z directions, as shown below: ； ； ； Among them, R yx R represents the rotation matrix of the right-side component in the X direction; yy R represents the rotation matrix of the right-side component in the Y direction; yz This represents the rotation matrix of the right-hand 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 R represents the rotation matrix of the left component in space; y This represents the rotation matrix of the right-hand component in space.

4. The method for optimizing the docking attitude of aircraft components according to claim 3, characterized in that, In step two, the new position matrix P of the component after attitude adjustment is obtained through a spatial rotation and translation motion based on a specific rotation center. The calculation formula for the new position matrix P is as follows: Step 26: Based on the rotation center, rotation matrix, and translation amounts in the attitude adjustment parameter matrix C, calculate the new position matrix P = [P] of the left and right parts after the spatial position adjustment operation. 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 This indicates the new spatial position information of the left component after rotation in space; P y This indicates the new spatial position information of the right-hand component after its 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 attitude matrix of the left and right sides of the component after the attitude adjustment operation from the initial position M.

5. The aircraft component docking attitude optimization method according to claim 1, characterized in that, The functional relationship between the left and right spatial position information and the attitude parameters is calculated using different formulas depending on the grouping of the 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, , , This represents the coordinates of the k'th feature point in the X, Y, and Z directions after the aircraft attitude is adjusted using attitude parameters. k' is an empirical value depending on the different k values.

6. The aircraft component docking attitude optimization method according to claim 1, characterized in that, The component attitude optimization model in step four is a minimum value optimization model built based on the comprehensive evaluation index F, and 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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