A six-degree-of-freedom adjustable aircraft landing gear dismounting and positioning system and device

Abstract

The application discloses a six-freedom adjustable aircraft landing gear dismounting and positioning system and device, and belongs to the technical field of dismounting and positioning, which comprises an impact overshoot analysis module, a cross-coupling judgment module, a cross-coupling adjustment module and a high-frequency noise analysis module. The application analyzes the force stability problems of the contact transition stage and the constraint space stage in the dismounting and positioning stage of the aircraft landing gear, effectively eliminates the impact overshoot, protects the equipment and the workpiece, eliminates the interference force between the six-freedom axes, shortens the stabilization time of the dismounting and positioning controller of the aircraft landing gear, improves the positioning accuracy during the six-axis collaborative assembly, and improves the operation efficiency of the dismounting and positioning.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of disassembly and positioning, in particular to a six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning system and device. BACKGROUND

[0002] With the continuous development of the aviation field, aviation technology tends to be mature, and more aviation flight equipment is put into use. The maintenance of aviation equipment has become a focus, which promotes the generation of six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning technology. This technology is the key in the modern aviation maintenance support system, solves the pain points of low efficiency, poor precision and high risk of traditional disassembly methods, provides strong technical support for safe and efficient maintenance of aircraft, and realizes revolutionary improvement of landing gear disassembly operation.

[0003] The existing six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning technology is a combination of precise machinery, servo drive, sensor technology, motion control and industrial automation, etc. First, a high-precision positioning system is used for laser tracking positioning, mainly global coordinate system calibration and large-range coarse positioning. Then, local fine adjustment is performed through visual servo guidance. Impedance control and feedforward decoupling are performed through a force and position hybrid control system. Finally, six-degree-of-freedom aircraft disassembly and positioning are realized through the fusion monitoring of six-dimensional force sensors and high-precision encoders and other multi-sensors.

[0004] For example, the Chinese invention patent with the publication number CN103105857B discloses a method for resetting the orientation of an aircraft landing gear with a steerable bottom. The method provides a steering reset method for an aircraft landing gear, the landing gear includes a foot portion, a steerable bottom is installed in the foot portion to slide against the suspension force generated by a shock absorber, the landing gear is provided with a controllable steering component for rotating the steerable bottom in response to an angle position set point, and the landing gear further includes at least one angle position sensor, the angle position sensor is adapted to generate an electrical signal, the electrical signal represents the angle position of the steerable bottom and is adapted to control the steering component. The method includes: when the aircraft is in a flight state and the landing gear is fully deployed, and the steerable bottom is in an index angle position, resetting the electrical signal generated by the angle position sensor to a predetermined value.

[0005] For example, the invention patent with the announcement number: CN114397912B discloses a control method of a sea-air-land three-purpose unmanned aerial vehicle. The unmanned aerial vehicle comprises: a rotor, a variable arm, a large arm, a body, a landing gear, a universal wheel and a controller. The rotor comprises rotor blades, a rotor shaft and a servo system. The servo system comprises an electronic speed regulator and a motor. The large arm comprises a shaft. The rotor is installed at one end of the variable arm through the rotor shaft. The other end of the variable arm is connected to one end of the large arm through a shaft. The other end of the large arm is connected to the body through the shaft. The controller is arranged in the body. At least one pair of landing gears is symmetrically arranged below the body. The universal wheels are installed below the landing gears. The body is made of foamed waterproof material. It can be widely applied to the field of aircraft technology.

[0006] The above-mentioned technology at least has the following technical problems:

[0007] At present, the six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning technology mainly focuses on efficiently and accurately disassembling and installing various types of aircraft landing gears through a large mechanical arm, ignores the impact overshoot caused by the response delay due to the contact detection lag during the contact transition stage of the aircraft landing gear disassembly and positioning, which may cause force stability problems of the system, and ignores the force stability problems of the system caused by the cross coupling and micro vibration between shafts during the constraint space stage of the aircraft landing gear disassembly and positioning. The instability of the aircraft landing gear disassembly and positioning system may cause shaking during the disassembly and assembly of the landing gear, reduce the precision of the disassembly and assembly operation, interfere with the precise positioning, cause the failure of equipment docking, reduce the working efficiency of the landing gear disassembly and assembly, and even damage the equipment components and cause losses. SUMMARY

[0008] In order to solve the above-mentioned technical problems existing in the prior art, the embodiment of the present application provides a six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning system and device. The technical scheme is as follows:

[0009] On the one hand, a six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning system is provided, which comprises:

[0010] An impact overshoot analysis module is configured to receive aircraft landing gear disassembly and positioning controller information data when the aircraft landing gear disassembly and positioning stage is in the contact transition stage, analyze impact overshoot characteristic factors, determine an impact overshoot execution scheme, perform dynamic overshoot adjustment when the impact overshoot execution scheme is to perform dynamic overshoot adjustment, realize precise control, eliminate impact overshoot, and protect equipment and workpieces. The aircraft landing gear disassembly and positioning stage comprises a free space stage, a contact transition stage and a constraint space stage.

[0011] The cross-coupling judgment module is configured to receive aircraft landing gear disassembly and positioning controller information data when the aircraft landing gear disassembly and positioning stage is the constraint space stage, analyze cross-coupling characteristic factors, determine a cross-coupling execution scheme, and be compatible with complex disassembly conditions and reduce energy loss of the system.

[0012] The cross-coupling adjustment module is configured to perform coupling adjustment when the cross-coupling execution scheme is to perform coupling adjustment, analyze coupling adjustment effect information, determine a coupling effect execution scheme, eliminate inter-axis interference forces of six degrees of freedom, and improve disassembly and positioning accuracy.

[0013] The high-frequency noise analysis module is configured to obtain noise main frequency amplitude of the aircraft landing gear disassembly and positioning controller signal after the overshoot dynamic adjustment or the coupling adjustment, determine a signal noise execution scheme, perform high-frequency noise adjustment when the signal noise execution scheme is to perform high-frequency noise adjustment, enhance control loop stability, and avoid high-frequency vibration of the aircraft landing gear disassembly and positioning actuator.

[0014] In another aspect, a six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning device is provided, comprising:

[0015] The processor, the memory connected to the processor, and the network interface connected to the processor: the network interface is connected to the non-volatile memory in the server. The processor retrieves the computer program from the non-volatile memory through the network interface during operation, and runs the computer program through the memory.

[0016] The technical scheme provided by the embodiment of the application has at least the following beneficial effects:

[0017] 1. The six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning system and device provided by the application can effectively eliminate impact overshoot, protect equipment and workpieces, shorten the stabilization time of the aircraft landing gear disassembly and positioning controller, improve disassembly operation efficiency, suppress high-frequency resonance by adjusting force instability, avoid associated failures between equipment, analyze force stability problems when the aircraft landing gear disassembly and positioning stage is the constraint space stage, eliminate inter-axis interference forces of six degrees of freedom, suppress resonance peak gain, and improve positioning accuracy during six-axis cooperative assembly.

[0018] 2、The application avoids system equipment overload damage to mechanical structure, controls positioning error, improves assembly precision, enhances stability of the aircraft landing gear disassembly and positioning controller, improves anti-interference ability of the aircraft landing gear disassembly and positioning controller, can adjust the aircraft landing gear disassembly and positioning controller, avoids useless motor power loss, and improves disassembly and positioning operation efficiency.

[0019] 3、The application can real-time offset coupling interference, suppress residual oscillation of coupling, improve self-adaptive ability of the aircraft landing gear disassembly and positioning controller, balance resource and system calculation load, can make the aircraft landing gear disassembly and positioning controller consider real-time and advance, can quickly suppress coupling interference by adjusting cross feedback gain and feedforward decoupling gain, and can block coupling energy transmission in advance, eliminate inter-axis interference force, and improve positioning precision.

[0020] 4、The application adjusts high-frequency noise, adjusts differential gain and low-pass filter cutoff frequency based on high-frequency noise adjustment deviation, improves signal-to-noise ratio of the aircraft landing gear disassembly and positioning controller signal, improves force control precision, avoids that sensor noise covers real contact force signal, causes control misjudgment, avoids high-frequency flutter of the aircraft landing gear disassembly and positioning actuator, reduces damage force on the servo motor, suppresses structure fatigue caused by resonance, protects disassembly and positioning equipment, and improves positioning precision. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0022] Figure 1 is a six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning system structure schematic diagram provided by the embodiment of the present application.

[0023] Figure 2 is a flow chart for determining impact overshoot execution scheme related to the embodiment of the present application.

[0024] Figure 3 is a flow chart for determining cross-coupling execution scheme related to the embodiment of the present application.

[0025] Figure 4 is a flow chart for analyzing coupling adjustment effect information and determining coupling effect execution scheme related to the embodiment of the present application.

[0026] Figure 5 is the noise adjustment before and after the main frequency amplitude contrast curve figure involved in the embodiment of the application. DETAILED DESCRIPTION

[0027] The technical solutions in the application will be described below with reference to the drawings.

[0028] In order to make the technical problems, technical solutions and advantages of the application clearer, specific embodiments will be described in detail below with reference to the drawings.

[0029] The embodiment of the application provides a six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning system, such as Figure 1 A six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning system structure schematic diagram, comprising: an impact overshoot analysis module, a cross-coupling judgment module, a cross-coupling adjustment module and a high-frequency noise analysis module.

[0030] Among them, six degrees of freedom refers to providing linear movement along the X, Y and Z axes and rotation around the X, Y and Z axes.

[0031] The impact overshoot analysis module is used to receive aircraft landing gear disassembly and positioning controller information data when the aircraft landing gear disassembly and positioning stage is a contact transition stage, analyze impact overshoot characteristic factors, determine an impact overshoot execution scheme, and perform dynamic overshoot adjustment when the impact overshoot execution scheme is to perform dynamic overshoot adjustment, to achieve precise control, eliminate impact overshoot, and protect equipment and workpieces. The aircraft landing gear disassembly and positioning stage includes a free space stage, a contact transition stage and a constraint space stage.

[0032] It should be noted that the free space stage in the aircraft landing gear disassembly and positioning stage refers to the stage in which the landing gear and the docking interface have not yet contacted, and the system is in a free motion state without external force interaction. The contact transition stage refers to the stage in which the landing gear starts to contact the docking interface, but has not yet completely entered the constrained state. The constrained space stage refers to the stage in which the landing gear completely enters the docking interface, and the system enters the constrained assembly state.

[0033] Among them, the free space stage does not generate the force instability problem of the aircraft landing gear disassembly and positioning controller because there is no contact force feedback and the force control mode is not activated. If it is determined that the free space stage has the force instability problem of the aircraft landing gear disassembly and positioning controller, a warning is given.

[0034] Referring to Figure 2As shown, the flow chart of determining the impact overshoot execution scheme is related to the embodiment of the application, the impact overshoot characteristic parameters are collected, the impact overshoot characteristic factors are analyzed, the impact overshoot characteristic factor threshold is extracted, the impact overshoot characteristic factor is compared with the impact overshoot characteristic factor threshold, if the impact overshoot characteristic factor is greater than the impact overshoot characteristic factor threshold, the impact overshoot execution scheme is recorded as overshoot dynamic adjustment, if the impact overshoot characteristic factor is less than or equal to the impact overshoot characteristic factor threshold, the impact overshoot execution scheme is recorded as continuing the aircraft landing gear disassembly and positioning.

[0035] In the embodiment, the impact overshoot characteristic factor is analyzed, and the impact overshoot execution scheme is determined, and the analysis process is as follows:

[0036] The impact overshoot characteristic parameters are collected, including the force overshoot amount of the aircraft landing gear disassembly and positioning controller, the oscillation frequency, the stable time and the detection delay time.

[0037] It should be noted that the force overshoot amount refers to the percentage of the force peak value at the contact moment exceeding the target value, reflecting the energy impact at the contact moment. The specific parameter form of the force overshoot amount is: , F set refers to the target force, which is the set value of the aircraft disassembly and positioning controller, F peak refers to the maximum value of the actual force in the step response. Numerical example: if F set = 20 kN, F peak = 21.8 kN, M p = (21.8-20) / × 100% = 1.9%.

[0038] The oscillation frequency refers to the number of complete fluctuation cycles of the force signal of the aircraft landing gear disassembly and positioning controller before stabilization. The specific parameter form of the oscillation frequency is: in the response process of the output force F(t) to the target force, before entering the steady state, the number of times that the output exceeds the upper and lower boundaries of the target force. Numerical example: if the 20 kN target force, the ±2% band is [19.6, 20.4] kN, the response process appears in turn: the first peak 21.8 kN, the second valley 19.2 kN, the second peak 20.6 kN, and after entering the steady state, it no longer exceeds the ±2% band, the oscillation frequency N = 2, indicating that the first peak and the second valley each cross the boundary once.

[0039] The settling time refers to the time required for the force signal to enter and remain within the target value range, reflecting the system's ability to quickly converge to the steady state. The specific parameter form of the settling time is: Ts = min{t | |F(t) - Fset| ≤ δFset, ∀τ ≥ t}, where Ts refers to the settling time, F(t) refers to the actual force time series, and δ refers to the error band coefficient. Numerical example: target force 20 kN, error band ±2% = [19.6, 20.4] kN, response enters the interval for the first time at t = 0.32 s, and then remains within the interval, then the settling time Ts = 0.32 s.

[0040] The detection delay time refers to the time difference from the occurrence of physical contact to the recognition of contact by the aircraft landing gear disassembly positioning controller, reflecting the system's response and timeliness to contact events. The specific parameter form of the detection delay time is: d = T sensor + T filter + T comm + T compute + T actuator_deadtime _ T d refers to the detection delay time, T sensor refers to the sensor sampling period or response time, T filter refers to the digital filter group delay, T comm refers to the signal transmission / communication delay, T compute refers to the controller calculation period, and T actuator_deadtime refers to the inherent lag of the actuator. Numerical example: sensor sampling / response: 1 ms, filter delay: 5 ms, communication: 2 ms, control calculation: 0.5 ms, total about 8.5 ms, so the detection delay T d ≈ 8.5 ms.

[0041] When the force overshoot is larger, the impact strength is greater, the energy needs to be dissipated for a longer time, and the number of oscillations is greater, so the settling time is longer. The longer the settling time, the more likely it is to mask the delay problem, leading to an increase in the delay time. The increase in the detection delay time has a feedback effect, making the overshoot increase, the energy accumulate, the number of oscillations increase, and the phase lag.

[0042] It should be noted that the force overshoot and the settling time can be obtained through the six-axis force sensor, the number of oscillations can be obtained through Python, and the detection delay time can be obtained through the micro-motion sensor.

[0043] Based on the impact overshoot characterization parameters, the impact overshoot characterization factors are analyzed.

[0044] The force overshoot amount, the oscillation times, the stable time and the detection delay time of the aircraft landing gear disassembly positioning controller are compared with corresponding reference values respectively, and then the comparison results are coupled by corresponding measurement coefficients to obtain an impact overshoot characterization factor.

[0045] The impact overshoot characterization factor is a quantitative characterization of the impact overshoot of the contact transition stage by the force overshoot amount, the oscillation times, the stable time and the detection delay time of the aircraft landing gear disassembly positioning controller.

[0046] It should be noted that the corresponding reference values refer to the reference force overshoot amount, the reference oscillation times, the reference stable time and the reference detection delay time stored in the database.

[0047] The corresponding measurement coefficients refer to the force overshoot amount measurement coefficient, the oscillation times measurement coefficient, the stable time measurement coefficient and the detection delay time measurement coefficient pre-set in the database.

[0048] It should be noted that in this embodiment, in order to implement the weighted coupling of the impact overshoot characterization factor, the database pre-constructs a mapping relationship of multiple parameters for associating different force overshoot amounts, oscillation times, stable times and detection delay times with their corresponding measurement coefficients. The mapping relationship is stored in the form of a structured configuration data table, and the configuration table defines the measurement coefficient values corresponding to different force overshoot amounts, oscillation times, stable times and detection delay times. The above configuration table is combined with the impact overshoot characterization parameters through conditional matching to realize dynamic adaptation of the impact overshoot characterization factor. Based on the configuration table, the system can automatically extract the measurement coefficients matched with the impact overshoot characterization factor for subsequent weighted coupling calculation. The value range of each measurement coefficient is limited to 0 to 1, and the sum of the three is 1, to ensure that the multi-parameter fusion result has the properties of normalization and physical consistency, and meets the weight constraint conditions required for impact overshoot analysis.

[0049] In specific embodiments, the impact overshoot characterization factor is specifically represented as follows:

[0050] ,

[0051] Wherein, L is the impact overshoot characterization factor, T is the force overshoot amount of the aircraft landing gear disassembly positioning controller, P is the oscillation times of the aircraft landing gear disassembly positioning controller, U is the stable time of the aircraft landing gear disassembly positioning controller, V is the detection delay time of the aircraft landing gear disassembly positioning controller, T vef is the reference force overshoot amount, P vef is the reference oscillation times, U vef is the reference stable time, V vefis a reference detection delay time, T1 is a force overshoot measure coefficient, P1 is an oscillation frequency measure coefficient, U1 is a stabilization time measure coefficient, and V1 is a detection delay time measure coefficient.

[0052] A preset impact overshoot characteristic factor threshold in the database is extracted.

[0053] If the impact overshoot characteristic factor is greater than the impact overshoot characteristic factor threshold, the impact overshoot execution scheme is recorded as performing overshoot dynamic adjustment.

[0054] It should be noted that the impact overshoot characteristic factor being greater than the impact overshoot characteristic factor threshold indicates that, during the contact transition stage of the aircraft landing gear disassembly and positioning stage, force impact overshoot occurs, which causes insufficient six-degree-of-freedom force stability at this time, and may cause micro-damage to the landing gear structure and affect the accuracy of disassembly and positioning, and therefore the impact overshoot execution scheme is recorded as performing overshoot dynamic adjustment.

[0055] If the impact overshoot characteristic factor is less than or equal to the impact overshoot characteristic factor threshold, the impact overshoot execution scheme is recorded as continuing the aircraft landing gear disassembly and positioning.

[0056] It should be noted that the impact overshoot characteristic factor being less than or equal to the impact overshoot characteristic factor threshold indicates that, during the contact transition stage of the aircraft landing gear disassembly and positioning stage, no force instability occurs, and stable and accurate disassembly and positioning can be performed, in order to reduce the complexity of calculation, maintain the accurate execution of the six-degree-of-freedom disassembly and positioning operation of the aircraft, and not introduce other interference, and therefore the impact overshoot execution scheme is recorded as continuing the aircraft landing gear disassembly and positioning.

[0057] In this embodiment, overshoot dynamic adjustment is performed, and the adjustment process is as follows:

[0058] The impact overshoot characteristic factor and the impact overshoot characteristic factor threshold are subjected to difference processing to obtain an impact overshoot characteristic factor deviation value.

[0059] It should be noted that the impact overshoot characteristic factor deviation value is obtained by subtracting the impact overshoot characteristic factor threshold from the impact overshoot characteristic factor.

[0060] Based on the impact overshoot characteristic factor deviation value, a dynamic force coefficient adjustment value, a stiffness adjustment value, and a damping adjustment value are extracted.

[0061] It should be noted that the dynamic force coefficient adjustment value, the stiffness adjustment value, and the damping adjustment value are all numerical data and have no positive or negative meaning.

[0062] The specific parameter form of the dynamic force coefficient adjustment value is: K f =F(t) / x(t), where K fF(t) refers to the dynamic force coefficient adjustment value, x(t) refers to the displacement response, numerical example: F(t) = 1200 N, x(t) = 5 mm, K f = 1200 / 5 = 240 N / mm.

[0063] The specific parameter form of the stiffness adjustment value is: K = AF / Ax, K refers to the stiffness adjustment value, AF refers to the load change, Ax refers to the displacement change, numerical example: AF = 1500 N, Ax = 10 mm, K = 1500 / 10 = 150 N.

[0064] The specific parameter form of the damping adjustment value is: C = F d / v(t), C refers to the damping adjustment value, F d refers to the damping force, v(t) refers to the velocity, numerical example: F d = 500 N, v(t) = 0.2 m / s, C = 500 / 0.2 = 2500 N / s / m.

[0065] In this embodiment, the system pre-constructs the mapping relationship between the impact overshoot characteristic factor deviation value and the corresponding dynamic force coefficient adjustment value, stiffness adjustment value and damping adjustment value in the database, and the mapping relationship is managed in the form of a structured configuration table. In the matching process, the system takes the impact overshoot characteristic factor deviation value as the query key to retrieve the corresponding dynamic force coefficient adjustment value, stiffness adjustment value and damping adjustment value in the configuration table. By searching for the dynamic force coefficient adjustment value, stiffness adjustment value and damping adjustment value that match the impact overshoot characteristic factor deviation value, the system can dynamically adjust the impact overshoot, thereby ensuring stable operation of the aircraft landing gear disassembly and positioning system.

[0066] It should be noted that the greater the impact overshoot characteristic factor deviation value, the more serious the impact overshoot problem, and the aircraft landing gear disassembly and positioning controller has insufficient force stability, which may cause damage to the mechanical structure and instability of the control loop of the disassembly and positioning system. Therefore, in order to protect the equipment components and enable the system to perform stable disassembly and positioning, the corresponding extracted dynamic force coefficient adjustment value, stiffness adjustment value and damping adjustment value should be greater, and the impact overshoot should be adjusted to ensure the force stability of the aircraft landing gear disassembly and positioning controller.

[0067] Adjusting dynamic force coefficient, stiffness and damping can effectively solve the problem of impact overshoot, the core of which is to reduce the kinetic energy of the aircraft landing gear disassembly positioning controller, slow down the transformation of the system, and increase the energy consumption speed. Among them, adjusting the dynamic force coefficient can preventively reduce the kinetic energy input from the source, reducing the stiffness can buffer the energy, prolong the impact time through flexible contact, and enhance the damping to consume energy and stop loss, and suppress residual oscillation. Therefore, adjusting the dynamic force coefficient, stiffness and damping can solve the problem of impact overshoot in the contact transition stage of the aircraft landing gear disassembly positioning stage.

[0068] Based on the dynamic force coefficient adjustment value, the stiffness adjustment value and the damping adjustment value, the overshoot dynamic adjustment is performed.

[0069] The dynamic force adjustment coefficient of the aircraft landing gear disassembly positioning controller at this time is obtained.

[0070] The dynamic force adjustment coefficient of the aircraft landing gear disassembly positioning controller at this time is the adjustment coefficient in the dynamic force threshold of the aircraft landing gear disassembly positioning controller, and is all of the aircraft landing gear disassembly positioning controller itself. When used, it is obtained from the system program log.

[0071] Based on the dynamic force adjustment coefficient of the aircraft landing gear disassembly positioning controller at this time and the dynamic force coefficient adjustment value, the supplementary adjustment of the dynamic force coefficient is performed, that is, the value obtained by adding the dynamic force adjustment coefficient of the aircraft landing gear disassembly positioning controller at this time and the dynamic force coefficient adjustment value is used as the execution value of the supplementary adjustment of the dynamic force coefficient.

[0072] The control stiffness of the aircraft landing gear disassembly positioning controller at this time is obtained.

[0073] The control stiffness of the aircraft landing gear disassembly positioning controller refers to the stiffness virtually realized by the control algorithm, which characterizes the force response strength of the aircraft landing gear disassembly positioning controller to external displacement deviation. The control stiffness of the aircraft landing gear disassembly positioning controller can be obtained by frequency response test.

[0074] Based on the control stiffness of the aircraft landing gear disassembly positioning controller at this time and the stiffness adjustment value, the reduction adjustment of the control stiffness is performed, that is, the value obtained by adding the control stiffness of the aircraft landing gear disassembly positioning controller at this time and the stiffness adjustment value is used as the execution value of the reduction adjustment of the control stiffness.

[0075] The control damping of the aircraft landing gear disassembly positioning controller at this time is obtained.

[0076] The control damping of the aircraft landing gear disassembly positioning controller refers to the energy dissipation term virtually realized by the algorithm, which is used to suppress oscillation and accelerate stabilization. The control damping of the aircraft landing gear disassembly positioning controller can be obtained by step response method.

[0077] Based on the control damping and damping adjustment value of the aircraft landing gear assembly / disassembly positioning controller at this time, the control damping is supplemented and adjusted. That is, the value obtained by adding the control damping and damping adjustment value of the aircraft landing gear assembly / disassembly positioning controller at this time is used as the execution value of the supplementary control damping adjustment.

[0078] The cross-coupling judgment module is used to receive information data from the aircraft landing gear disassembly and positioning controller when the aircraft landing gear disassembly and positioning stage is a constrained space stage, analyze the cross-coupling characterization factors, and determine the cross-coupling execution scheme to be compatible with complex disassembly and positioning conditions and reduce the energy consumption of the system.

[0079] See Figure 3 The diagram shows a flowchart of the process for determining a cross-coupling execution scheme according to an embodiment of the present invention. The process involves collecting cross-coupling characterization parameters, analyzing cross-coupling characterization factors, extracting cross-coupling characterization factor thresholds, comparing the cross-coupling characterization factors with the cross-coupling characterization factor thresholds, and recording the cross-coupling execution scheme as performing coupling adjustment if the cross-coupling characterization factor is greater than the cross-coupling characterization factor thresholds. If the cross-coupling characterization factor is less than or equal to the cross-coupling characterization factor thresholds, the cross-coupling execution scheme is recorded as continuing the aircraft landing gear disassembly and positioning.

[0080] In this embodiment, the cross-coupling characterization factor is analyzed, and the analysis process is as follows:

[0081] Collect cross-coupling characterization parameters, including the inter-axis coupling force, coupling transfer rate, and resonant frequency of the aircraft landing gear disassembly and positioning controller.

[0082] Among them, the interaxial coupling force (F) ij The specific parameter form of F is: ij =F j (i≠j), F i This refers to the desired axial force, F. j This refers to the measured orthogonal axial force, with coordinate axes defined as follows: X - assembly axis, Y / Z - orthogonal support axis. Example value: target force F. x =2000 N, actual measurement shows F on the Y-axis. y =80 N, F xy =80 NF_.

[0083] Coupling transfer rate (T) ij The specific parameter form of T is: ij =∣T j | / |T i |×100%, (i≠j), T i This refers to the principal axial force, T j This refers to the coupling force, numerical example: target force T x =2000 N, actual measurement shows T on the Y-axis.y =80 N, T xy =80 / 2000×100%=4%. It shows that when the X-axis load is 2000N, 4% of the force is coupled to the Y-axis.

[0084] The specific parameters of the resonance frequency (f r ) are as follows: , K1 refers to the equivalent stiffness, M1 refers to the equivalent mass, and the numerical example is as follows: assuming that the equivalent stiffness K1=2.0×106N / m in a certain direction and the equivalent mass M1=100kg, f r ≈22.5Hz.

[0085] It should be noted that the inter-axis coupling force refers to the motion of a certain degree of freedom that causes an undesired force or displacement of other degrees of freedom through dynamic interaction. The dynamic interaction refers to the coupling of inertia, Coriolis force and stiffness. The coupling transmission rate refers to the ratio of the disturbance force of the non-target axis to the command force of the target axis, reflecting the ability of the control algorithm to suppress coupling. The resonance frequency refers to the natural vibration frequency of the mechanical structure at a certain frequency due to the stiffness-mass characteristics.

[0086] The greater the inter-axis coupling force, the greater the coupling energy, and the higher the coupling transmission rate. If the inter-axis coupling energy is concentrated near the resonance frequency, the resonance peak gain increases, resonance is easily excited, the resonance frequency increases, and the coupling transmission rate increases due to resonance amplification of the coupling disturbance.

[0087] The inter-axis coupling force can be obtained by a six-axis force sensor and a laser tracker, the coupling transmission rate can be obtained by a data acquisition and control system, and the resonance frequency can be obtained by a six-axis force sensor.

[0088] The cross-coupling characterization parameters are analyzed based on the cross-coupling characterization factors.

[0089] The preset reference inter-axis coupling force, reference coupling transmission rate and reference resonance frequency in the database are extracted.

[0090] The inter-axis coupling force is compared with the reference inter-axis coupling force to obtain the inter-axis coupling force proportionality coefficient, the coupling transmission rate is compared with the reference coupling transmission rate to obtain the coupling transmission rate proportionality coefficient, and the resonance frequency is compared with the reference resonance frequency to obtain the resonance frequency proportionality coefficient.

[0091] The inter-axis coupling force proportionality coefficient, the coupling transmission rate proportionality coefficient and the resonance frequency proportionality coefficient are combined with the corresponding weighting coefficients for weighted coupling processing, so as to obtain the cross-coupling characterization factors.

[0092] The cross-coupling characterization factor is a quantitative characterization of the cross-coupling of the aircraft landing gear disassembly positioning controller in the constraint space stage.

[0093] The inter-axis coupling force metric coefficient, the coupling transmission rate metric coefficient and the resonance frequency metric coefficient are extracted from the database.

[0094] In this embodiment, in order to realize the weighted coupling of the cross-coupling characterization factor, a plurality of groups of parameter mapping relationships are constructed in the database in advance, which are used to associate different inter-axis coupling forces, coupling transmission rates and resonance frequencies with their corresponding metric coefficients. The mapping relationship is stored in the form of a structured configuration data table, and the configuration table defines the metric coefficient values corresponding to different inter-axis coupling forces, coupling transmission rates and resonance frequencies. The above configuration table realizes the dynamic adaptation of the cross-coupling characterization factor by combining conditional matching with the cross-coupling characterization parameter. The system can automatically extract the metric coefficient matched with the cross-coupling characterization parameter based on the configuration table for subsequent weighted coupling calculation. The value range of each metric coefficient is limited to 0 to 1, and the sum of the three is 1, so as to ensure that the multi-feature fusion result has the properties of normalization and physical consistency, and meets the weight constraint conditions required by the cross-coupling analysis.

[0095] In the specific implementation process, the cross-coupling characterization factor is specifically represented as follows:

[0096] ,

[0097] Wherein, G is the cross-coupling characterization factor, a is the inter-axis coupling force proportionality coefficient, b is the coupling transmission rate proportionality coefficient, c is the resonance frequency proportionality coefficient, E1 is the inter-axis coupling force metric coefficient, E2 is the coupling transmission rate metric coefficient, and E3 is the resonance frequency metric coefficient.

[0098] In this embodiment, the cross-coupling execution scheme is determined, and the determination process is as follows:

[0099] The cross-coupling characterization factor threshold value preset in the database is extracted.

[0100] If the cross-coupling characterization factor is greater than the cross-coupling characterization factor threshold value, the cross-coupling execution scheme is recorded as coupling adjustment.

[0101] It should be noted that the cross-coupling characterization factor is greater than the cross-coupling characterization factor threshold value, which indicates that the aircraft landing gear disassembly positioning stage has an inter-axis cross-coupling problem in the constraint space stage. Under the force and position hybrid control, the dynamic coupling causes inter-axis interference, so that the six degrees of freedom disassembly positioning is unstable in force. Therefore, the cross-coupling execution scheme is recorded as coupling adjustment.

[0102] If the cross-coupling representation factor is less than or equal to the cross-coupling representation factor threshold value, the cross-coupling execution scheme is recorded as continuing the aircraft landing gear disassembly positioning.

[0103] It should be noted that the cross-coupling representation factor being less than or equal to the cross-coupling representation factor threshold value indicates that the aircraft landing gear disassembly positioning phase does not affect the inter-axis cross-coupling and does not cause inter-axis interference in the constraint space phase, thereby ensuring the stable operation of the disassembly positioning system, and therefore the cross-coupling execution scheme is recorded as continuing the aircraft landing gear disassembly positioning.

[0104] The cross-coupling adjustment module is configured to perform coupling adjustment when the cross-coupling execution scheme is to perform coupling adjustment, analyze coupling adjustment effect information, and determine a coupling effect execution scheme to eliminate the inter-axis interference force of the six degrees of freedom and improve the disassembly positioning accuracy of the system.

[0105] Referring to Figure 4 As shown in the flowchart of the embodiment of the present application, the coupling effect execution scheme is determined by analyzing the coupling adjustment effect information, obtaining a first cross-coupling representation factor, extracting a cross-coupling representation factor threshold correction coefficient, obtaining a cross-coupling representation factor correction threshold, comparing the first cross-coupling representation factor with the cross-coupling representation factor correction threshold, recording the coupling adjustment effect information as effective adjustment if the first cross-coupling representation factor is less than or equal to the cross-coupling representation factor correction threshold, recording the coupling effect execution scheme as continuing the aircraft landing gear disassembly positioning, and recording the coupling adjustment effect information as ineffective adjustment if the first cross-coupling representation factor is greater than the cross-coupling representation factor correction threshold, and recording the coupling effect execution scheme as sending a warning message.

[0106] In the embodiment, the coupling adjustment is performed, and the adjustment process is as follows:

[0107] The cross-coupling representation factor and the cross-coupling representation threshold are processed by difference to obtain a cross-coupling representation factor deviation value.

[0108] It should be noted that the cross-coupling representation factor deviation value is obtained by subtracting the cross-coupling representation threshold from the cross-coupling representation factor.

[0109] Based on the cross-coupling representation factor deviation value, a cross-feedback gain adjustment value and a first feedforward decoupling gain adjustment value are extracted.

[0110] It should be noted that the cross-feedback gain adjustment value and the first feedforward decoupling gain adjustment value are numerical data and have no positive or negative meaning.

[0111] In this embodiment, the system pre-constructs the mapping relationship between the cross-coupling characteristic factor deviation value and the corresponding cross-feedback gain adjustment value and the first feedforward decoupling gain adjustment value in the database, which is managed in the form of a structured configuration table. During the matching process, the system retrieves the corresponding cross-feedback gain adjustment value and the first feedforward decoupling gain adjustment value in the configuration table according to the cross-coupling characteristic factor deviation value as the query key. By searching for the cross-feedback gain adjustment value and the first feedforward decoupling gain adjustment value that match the cross-coupling characteristic factor deviation value, the system can dynamically adjust the cross coupling of the force, thereby ensuring stable operation of the system during disassembly and positioning.

[0112] It should be noted that the larger the cross-coupling characteristic factor deviation value is, the more serious the cross-coupling problem between the shafts is, and the more serious the interference between the shafts caused by dynamic coupling is, which leads to a decrease in disassembly and positioning accuracy and assembly quality, and may cause damage to the device structure. Therefore, in order to alleviate the influence of the cross-coupling interference between the shafts, the larger the extracted cross-feedback gain adjustment value and the first feedforward decoupling gain adjustment value are.

[0113] Adjusting the cross-feedback gain and the feedforward decoupling gain can effectively solve the cross-coupling problem between the shafts. The core lies in solving the problem from the root of dynamic coupling. The cross-feedback gain can actively cancel the coupling force and suppress inertial coupling by feeding back the interference force in real time to directly cancel the coupling energy. The feedforward decoupling gain can inject a reverse torque before the coupling force is generated to block the energy transmission path and can compensate for the delay. It is mainly based on the dynamic model to actively destroy the coupling path. Therefore, adjusting the cross-feedback gain and the feedforward decoupling gain can solve the cross-coupling problem between the shafts during the disassembly and positioning stage of the aircraft landing gear in the constraint space stage.

[0114] Supplementing the cross-feedback gain based on the cross-feedback gain adjustment value.

[0115] Extracting the maximum cross-feedback gain allowed by the aircraft landing gear disassembly and positioning controller.

[0116] It should be noted that the maximum cross-feedback gain allowed by the aircraft landing gear disassembly and positioning controller refers to the maximum limit value of the cross-feedback gain set by the aircraft landing gear disassembly and positioning controller to prevent high-frequency noise from being introduced into the system due to excessive cross-feedback gain. The maximum cross-feedback gain can be directly obtained from the system when in use.

[0117] Obtaining the cross-feedback gain of the aircraft landing gear disassembly and positioning controller at this time.

[0118] The cross feedback gain is the strength of the compensating moment generated by the aircraft landing gear disassembly positioning controller through measuring the disturbance force or displacement of the non-target axis to actively cancel the cross-axis coupling effect. The cross feedback gain can be obtained by offline calibration.

[0119] It should be noted that the value obtained by adding the cross feedback gain of the aircraft landing gear disassembly positioning controller at this time and the cross feedback gain adjustment value is used as the execution value of the supplementary adjustment of the cross feedback gain.

[0120] If the value obtained by adding the cross feedback gain of the aircraft landing gear disassembly positioning controller at this time and the cross feedback gain adjustment value is greater than or equal to the maximum cross feedback gain allowed by the aircraft landing gear disassembly positioning controller, the maximum cross feedback gain allowed by the aircraft landing gear disassembly positioning controller is used as the execution value of the supplementary adjustment of the cross feedback gain.

[0121] The time when the current feedforward decoupling gain adjustment is performed is recorded as the first time.

[0122] The time when the last feedforward decoupling gain adjustment is performed is recorded as the second time.

[0123] It should be noted that the first time and the second time can be obtained from the system program log.

[0124] The first feedforward decoupling gain adjustment interval is obtained based on the first time and the second time.

[0125] It should be noted that the first feedforward decoupling gain adjustment interval is obtained by subtracting the second time from the first time.

[0126] The minimum adjustment allowed interval of the feedforward decoupling gain of the aircraft landing gear disassembly positioning controller is obtained.

[0127] It should be noted that the minimum adjustment allowed interval refers to the minimum value of the feedforward decoupling gain adjustment time interval set by the aircraft landing gear disassembly positioning controller, and the pre-set value can be directly extracted from the database when used.

[0128] If the first feedforward decoupling gain adjustment interval is greater than or equal to the minimum adjustment allowed interval, the supplementary adjustment of the feedforward decoupling gain is performed based on the first feedforward decoupling gain adjustment value.

[0129] The feedforward decoupling gain of the aircraft landing gear disassembly positioning controller at this time is obtained.

[0130] The feedforward decoupling gain refers to the gain coefficient of the compensating command injected in advance based on the prediction of the coupling force by the dynamic model, reflecting the model confidence and the compensation strength. The feedforward decoupling gain can be obtained by model identification method.

[0131] It should be noted that the first feedforward decoupling gain adjustment interval is greater than or equal to the minimum adjustment allowed interval, indicating that the adjustment interval of the feedforward decoupling gain meets the minimum limit, can suppress positive feedback oscillation, avoid control instability, reduce actuator pressure, can improve sensor signal-to-noise ratio, avoid high-frequency noise amplification, and therefore the feedforward decoupling gain is supplemented and adjusted at this time, that is, the value obtained by adding the feedforward decoupling gain of the aircraft landing gear disassembly and positioning controller at this time and the first feedforward decoupling gain adjustment value is used as the execution value of the supplementary adjustment of the feedforward decoupling gain.

[0132] If the first feedforward decoupling gain adjustment interval is less than the minimum adjustment allowed interval, waiting is performed until the first feedforward decoupling gain adjustment interval is equal to the minimum adjustment allowed interval, and then the adjustment judgment is continued.

[0133] It should be noted that the first feedforward decoupling gain adjustment interval is less than the minimum adjustment allowed interval, indicating that the adjustment interval of the feedforward decoupling gain at this time does not meet the minimum limit. If the adjustment interval of the feedforward decoupling gain is less than the minimum limit, the adjustment of the feedforward decoupling gain will be too frequent, resulting in mutation and instability of the aircraft landing gear disassembly and positioning controller force, and the risk of mechanical impact, which will increase the additional power consumption of the system. In order to limit the adjustment rate of the feedforward gain and prevent instability caused by mutation, waiting is performed until the first feedforward decoupling gain adjustment interval is greater than the minimum adjustment allowed interval, and then the adjustment judgment is continued.

[0134] Get a new feedforward decoupling gain adjustment set.

[0135] It should be noted that the new feedforward decoupling gain adjustment set is a set of all new feedforward decoupling gain adjustment values that appear during the waiting time.

[0136] The first feedforward decoupling gain adjustment value and the new feedforward decoupling gain adjustment set are weighted and averaged to obtain a total feedforward decoupling gain adjustment value.

[0137] It should be noted that the weights corresponding to the first feedforward decoupling gain adjustment value and the new feedforward decoupling gain adjustment set are obtained from the system, the value obtained by multiplying the first feedforward decoupling gain adjustment value and the corresponding weight is added to the value obtained by multiplying the new feedforward decoupling gain adjustment set and the corresponding weight, and then the total feedforward decoupling gain adjustment value is obtained.

[0138] The weights of the first feedforward decoupling gain adjustment value and the weights corresponding to each new feedforward decoupling gain adjustment value in the new feedforward decoupling gain adjustment set are extracted from the database.

[0139] It should be noted that, in the embodiment, in order to realize the weighted average of the first feedforward decoupling gain adjustment value and the newly added feedforward decoupling gain adjustment set, the database is associated with different first feedforward decoupling gain adjustment values and the weights corresponding to each newly added feedforward decoupling gain adjustment value in the newly added feedforward decoupling gain adjustment set and the first feedforward decoupling gain adjustment value and each newly added feedforward decoupling gain adjustment value in the newly added feedforward decoupling gain adjustment set, which are stored in the form of a structured configuration data table. The configuration table defines the weight values corresponding to different first feedforward decoupling gain adjustment values and the weight values corresponding to each newly added feedforward decoupling gain adjustment value in the newly added feedforward decoupling gain adjustment set. The above configuration table realizes the dynamic adaptation of the first feedforward decoupling gain adjustment value and the newly added feedforward decoupling gain adjustment set through conditional matching and combination of the first feedforward decoupling gain adjustment value and the newly added feedforward decoupling gain adjustment set. The system can automatically extract the weights matched with the first feedforward decoupling gain adjustment value and the weights matched with each newly added feedforward decoupling gain adjustment value in the newly added feedforward decoupling gain adjustment set based on the configuration table, which are used for subsequent weighted coupling calculation. The values of each weight are limited to between 0 and 1, and the sum is 1, so as to ensure that the multi-feature fusion result has the properties of normalization and physical consistency, and meets the weight constraint conditions required for the weighted average of the first feedforward decoupling gain adjustment value and the newly added feedforward decoupling gain adjustment set.

[0140] Supplementary adjustment of the feedforward decoupling gain based on the total feedforward decoupling gain adjustment value.

[0141] It should be noted that the value obtained by adding the feedforward decoupling gain of the aircraft landing gear disassembly and positioning controller at this time and the first feedforward decoupling gain adjustment value is taken as the execution value of the supplementary adjustment of the feedforward decoupling gain.

[0142] If the waiting time does not generate a newly added feedforward decoupling gain adjustment set, the supplementary adjustment of the feedforward decoupling gain is based on the first feedforward decoupling gain adjustment value.

[0143] It should be noted that the waiting time does not generate a newly added feedforward decoupling gain adjustment set, which means that the aircraft landing gear disassembly and positioning controller does not have a new force instability problem during the waiting time, so the supplementary adjustment of the feedforward decoupling gain is directly performed, that is, the value obtained by adding the feedforward decoupling gain of the aircraft landing gear disassembly and positioning controller at this time and the first feedforward decoupling gain adjustment value is taken as the execution value of the supplementary adjustment of the feedforward decoupling gain.

[0144] In the embodiment, the coupling adjustment effect information is analyzed to determine the coupling effect execution scheme, and the specific analysis process is as follows:

[0145] The cross-coupling representation factor is reacquired and is denoted as a first cross-coupling representation factor.

[0146] The cross-coupling characteristic factor threshold correction coefficient is extracted based on the cross-coupling characteristic factor deviation value.

[0147] It should be noted that the system previously constructs the corresponding relationship between the cross-coupling characteristic factor deviation value and the corresponding cross-coupling characteristic factor threshold correction coefficient in the database, and the corresponding relationship is managed by a structured data table. In the matching process, the system uses the cross-coupling characteristic factor deviation value as the search key value to query the corresponding cross-coupling characteristic factor threshold correction coefficient. The correction coefficient is used to dynamically adjust the cross-coupling, thereby optimizing the application of the cross-coupling characteristic factor threshold.

[0148] It should be noted that the greater the cross-coupling characteristic factor deviation value, the more serious the cross-coupling problem, the heavier the inter-axis interference, and the more serious the force instability in the constraint space stage during the aircraft landing gear disassembly and positioning stage. In order to eliminate the force interference of inter-axis cross-coupling, suppress the resonance peak gain, and improve the positioning accuracy, the larger the cross-coupling characteristic factor threshold correction coefficient to be extracted.

[0149] The cross-coupling characteristic factor correction threshold is obtained based on the cross-coupling characteristic factor threshold correction coefficient and the cross-coupling characteristic factor threshold.

[0150] It should be noted that the cross-coupling characteristic factor threshold correction coefficient is multiplied by the cross-coupling characteristic factor threshold to obtain the cross-coupling characteristic factor correction threshold.

[0151] The cross-coupling characteristic factor threshold is corrected by the cross-coupling characteristic factor threshold correction coefficient, and the adjustment effect of the coupling adjustment is judged by the obtained cross-coupling characteristic factor correction threshold. Compared with using the cross-coupling characteristic factor threshold for judgment, a more stringent standard is used to judge the adjustment effect, and the effectiveness of the coupling adjustment operation can be accurately measured.

[0152] It should be further noted that the range of the cross-coupling characteristic factor threshold correction coefficient is 0-1.

[0153] If the first cross-coupling characteristic factor is less than or equal to the cross-coupling characteristic factor correction threshold, the coupling adjustment effect information is recorded as effective adjustment, and the coupling effect execution scheme is recorded as continuing the aircraft landing gear disassembly and positioning.

[0154] It should be noted that the first cross-coupling characteristic factor is less than or equal to the cross-coupling characteristic factor correction threshold, which means that the inter-axis cross-coupling problem is solved after the coupling adjustment, the force interference of inter-axis cross-coupling is eliminated, the resonance peak gain is suppressed, and the positioning accuracy is improved. Therefore, the coupling adjustment effect information is recorded as effective adjustment, and the coupling effect execution scheme is recorded as continuing the aircraft landing gear disassembly and positioning.

[0155] If the first cross-coupling representation factor is greater than the cross-coupling representation factor correction threshold, the coupling adjustment effect information is recorded as invalid adjustment, and the coupling effect execution scheme is recorded as sending warning information.

[0156] It should be noted that if the first cross-coupling representation factor is greater than the cross-coupling representation factor correction threshold, it means that after coupling adjustment, there is still inter-axis cross-coupling interference force, which hinders the smooth operation of the aircraft landing gear disassembly positioning controller, and will cause the aircraft landing gear disassembly positioning controller to be force unstable, so the coupling adjustment effect information is recorded as invalid adjustment, and the coupling effect execution scheme is recorded as sending warning information.

[0157] The high-frequency noise analysis module is used to obtain the noise main frequency amplitude of the aircraft landing gear disassembly positioning controller signal after the over-adjustment dynamic adjustment or the coupling adjustment, determine the signal noise execution scheme, and perform high-frequency noise adjustment when the signal noise execution scheme is to perform high-frequency noise adjustment, so as to enhance the control loop stability and avoid high-frequency flutter of the aircraft landing gear disassembly positioning actuator.

[0158] Referring to Figure 5 The figure is a noise adjustment before and after the main frequency amplitude comparison curve related to the embodiment of the application, which refers to the comparison of the main frequency amplitude before and after the signal high-frequency noise adjustment of the aircraft landing gear disassembly positioning controller. Among them, the abscissa refers to the frequency, and the ordinate refers to the main frequency amplitude. The red curve a represents the high-frequency noise adjustment before the high-frequency noise adjustment, and the blue curve b represents the high-frequency noise adjustment after the high-frequency noise adjustment. As can be clearly seen from the figure, before adjustment: the noise peak is obviously high at about 50Hz, and after adjustment: the peak amplitude decreases, and the overall noise level decreases significantly. It is shown that the noise adjustment is effective in suppressing the main frequency interference, and improves the signal stability of the aircraft landing gear disassembly positioning controller.

[0159] It should be noted that when performing over-adjustment dynamic adjustment, in order to reduce detection delay and solve the problem of force instability, the dynamic adjustment dynamic force threshold is adjusted to relieve impact over-adjustment, which will cause high-frequency noise to enter the control loop. When performing coupling adjustment, the release of high-frequency energy in the dynamic decoupling process will cause high-frequency noise.

[0160] In this embodiment, the signal noise execution scheme is determined, and the determination process is as follows:

[0161] The noise main frequency amplitude of the aircraft landing gear disassembly positioning controller signal is obtained.

[0162] Wherein, the specific parameter form of the noise main frequency amplitude is: , S(f) refers to the frequency spectrum of the signal, f noise refers to the noise main frequency, A noiserefers to the amplitude at this frequency. Where |S(f)| refers to the amplitude of the spectrum at frequency f, max |S(f)| refers to finding the maximum value of the amplitude, argmax f |S(f)| refers to finding the frequency f corresponding to this maximum value. Where argmax is a mathematical operator meaning taking the argument at which the objective function reaches its maximum value. Numerical example, assume: sampling frequency f s = 1000 Hz, collect 5 seconds of force sensor data s(t), after Fourier transform get the spectrum, there is a maximum noise peak near 47 Hz, f noise = 47 Hz, A noise = 0.35 N.

[0163] It should be noted that the noise main frequency of the aircraft landing gear disassembly positioning controller signal refers to the significant frequency point at which the noise energy is concentrated in the frequency domain, which is usually represented by the frequency corresponding to the amplitude peak in the spectrum. The noise main frequency amplitude of the aircraft landing gear disassembly positioning controller signal can be obtained by Fourier transform.

[0164] Obtain the absolute threshold of the noise baseline of the aircraft landing gear disassembly positioning controller and the noise main frequency amplitude of the aircraft landing gear disassembly positioning controller.

[0165] It should be noted that the noise baseline of the aircraft landing gear disassembly positioning controller refers to the random fluctuation amplitude of the sensor or actuator output signal under no input signal or static working state, reflecting the background noise level of the system, which is the background noise value of the force sensor, which can be directly obtained. The absolute threshold of the noise main frequency amplitude of the aircraft landing gear disassembly positioning controller refers to the upper limit of the amplitude of the significant peak in the noise spectrum, and if it exceeds this value, it is considered that the frequency component belongs to effective interference noise rather than random noise, which is adjusted according to the system accuracy requirement.

[0166] The noise main frequency amplitude of the aircraft landing gear disassembly positioning controller signal is subtracted from the noise baseline of the aircraft landing gear disassembly positioning controller to obtain the effective noise main frequency amplitude of the aircraft landing gear disassembly positioning controller signal.

[0167] It should be noted that the noise main frequency amplitude of the aircraft landing gear disassembly positioning controller signal is subtracted from the noise baseline of the aircraft landing gear disassembly positioning controller to obtain the effective noise main frequency amplitude of the aircraft landing gear disassembly positioning controller signal.

[0168] If the effective noise main frequency amplitude of the aircraft landing gear disassembly positioning controller signal is greater than the absolute threshold of the noise main frequency amplitude of the aircraft landing gear disassembly positioning controller, the signal noise execution scheme is recorded as high frequency noise adjustment, otherwise the signal noise execution scheme is recorded as continuing the aircraft landing gear disassembly positioning.

[0169] It should be noted that if only the absolute threshold of the noise main frequency amplitude of the aircraft landing gear disassembly positioning controller is used for judgment, the baseline fluctuation of the sensor itself may be ignored, resulting in misjudgment, and therefore the effective noise main frequency amplitude of the aircraft landing gear disassembly positioning controller signal is obtained again and compared with the absolute threshold of the noise main frequency amplitude of the aircraft landing gear disassembly positioning controller, it can be determined that the frequency component belongs to effective interference noise, so it can be judged that high-frequency noise is introduced, and the signal noise execution scheme is recorded as high-frequency noise adjustment. If the above restrictions are not met, it means that this time may be a misjudgment caused by a small fluctuation, which will not interfere with the accuracy of the disassembly positioning system, so the signal noise execution scheme is recorded as aircraft landing gear disassembly positioning.

[0170] In this embodiment, high-frequency noise adjustment is performed, and the adjustment process is as follows:

[0171] The noise main frequency amplitude of the aircraft landing gear disassembly positioning controller signal is subtracted from the noise baseline of the aircraft landing gear disassembly positioning controller to obtain a high-frequency noise adjustment deviation value.

[0172] It should be noted that the noise main frequency amplitude of the aircraft landing gear disassembly positioning controller signal is subtracted from the noise baseline of the aircraft landing gear disassembly positioning controller to obtain a high-frequency noise adjustment deviation value.

[0173] Based on the high-frequency noise adjustment deviation value, a differential gain adjustment value and a low-pass filter cutoff frequency adjustment value are extracted.

[0174] It should be noted that the differential gain adjustment value and the low-pass filter cutoff frequency adjustment value are numerical data and have no positive or negative meaning.

[0175] In this embodiment, the system pre-constructs a mapping relationship between the high-frequency noise adjustment deviation value and the corresponding differential gain adjustment value and low-pass filter cutoff frequency adjustment value in the database, and the mapping relationship is managed in the form of a structured configuration table. In the matching process, the system uses the high-frequency noise adjustment deviation value as a query key to retrieve the corresponding differential gain adjustment value and low-pass filter cutoff frequency adjustment value in the configuration table. By finding the differential gain adjustment value and low-pass filter cutoff frequency adjustment value that match the high-frequency noise adjustment deviation value, the system can dynamically adjust the high-frequency noise.

[0176] It needs to be pointed out that the greater the high-frequency noise adjustment deviation value, the greater the influence of the introduction of high-frequency noise by the aircraft landing gear disassembly and positioning controller, which will stimulate the structure resonance mode to cause resonance false triggering, and the high-frequency noise will also cause signal sampling aliasing when sampling the signal, which will increase the positioning error, and the superposition of high-frequency noise on the effective signal will cause the sensor to saturate, causing the disassembly and positioning actuator to wear. In order to solve the problem of high-frequency noise, the corresponding differential gain adjustment value and low-pass filter cutoff frequency adjustment value extracted are greater.

[0177] Adjusting the differential gain and the low-pass filter cutoff frequency can effectively solve the problem of high-frequency noise and improve the positioning accuracy. Adjusting the differential gain can reduce the amplification of high-frequency noise, and the effect of high-frequency noise suppression is significant. Adjusting the low-pass filter cutoff frequency can isolate the noise frequency band. The differential gain suppresses noise amplification, and the low-pass filter cutoff frequency cuts off the noise frequency band, which realizes high-frequency noise suppression while retaining the control dynamic performance.

[0178] Extract the minimum differential gain and the minimum low-pass filter cutoff frequency of the aircraft landing gear disassembly and positioning controller.

[0179] It needs to be pointed out that the aircraft landing gear disassembly and positioning controller itself has a minimum differential gain and a minimum low-pass filter cutoff frequency, which is to limit the differential gain and the low-pass filter cutoff frequency, so it can be directly extracted from the system when used.

[0180] The differential gain is adjusted based on the differential gain adjustment value.

[0181] It needs to be pointed out that the differential gain and the low-pass filter cutoff frequency of the aircraft landing gear disassembly and positioning controller at this time are obtained.

[0182] The differential gain is the coefficient of the differential term in the controller, which represents the response strength of the system to the error change rate. The differential gain can be obtained by step response tuning method. The low-pass filter cutoff frequency refers to the highest frequency of the signal allowed to pass through the low-pass filter. The low-pass filter cutoff frequency can be obtained by noise spectrum analysis method.

[0183] It needs to be pointed out that the value obtained by subtracting the differential gain adjustment value from the differential gain of the aircraft landing gear disassembly and positioning controller at this time is used as the execution value of the differential gain reduction adjustment.

[0184] The low-pass filter cutoff frequency is adjusted based on the low-pass filter cutoff frequency adjustment value.

[0185] It needs to be pointed out that the value obtained by subtracting the low-pass filter cutoff frequency adjustment value from the low-pass filter cutoff frequency of the aircraft landing gear disassembly and positioning controller at this time is used as the execution value of the low-pass filter cutoff frequency reduction adjustment.

[0186] The embodiment of the present application provides a six-degree-of-freedom adjustable aircraft landing gear disassembling and positioning device, which comprises a processor, and a memory and a network interface connected with the processor; the network interface is connected with a nonvolatile memory in a server. The processor calls a computer program from the nonvolatile memory through the network interface during running, and runs the computer program through the memory.

[0187] The above-described embodiments can be implemented, in whole or in part, by software, hardware (such as a circuit), firmware or any combination thereof. When implemented by software, the above-described embodiments can be implemented, in whole or in part, in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the flow or function according to the embodiments of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another, for example, the computer instructions can be transferred from one website, computer, server or data center to another by wired (for example, infrared, wireless, microwave, etc.) or wireless means. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center and the like containing one or more available medium collections. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD) or a semiconductor medium. The semiconductor medium can be a solid-state disk.

[0188] It should be understood that the term "and / or" herein merely describes an association relationship of associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. In addition, the character " / " herein generally represents that the associated objects before and after it are in an "or" relationship, but it can also represent an "and / or" relationship, which can be understood according to the context before and after it.

[0189] In the present application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or the like means any combination of these items, including any combination of single item or multiple items. For example, at least one of a, b or c can mean a, b, c, a-b, a-c, b-c or a-b-c, where a, b and c can be single or multiple.

[0190] It should be understood that the size of the sequence number of the above processes does not mean the order of execution in various embodiments of the present application, and the execution order of the processes should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0191] Those skilled in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0192] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-described devices, apparatuses and units can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0193] In addition, each functional unit in various embodiments of the present application can be integrated into one processing unit, or each unit can exist physically, or two or more units can be integrated into one unit.

[0194] If the functions are realized in the form of software functional units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of software products. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the various embodiments of the method of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0195] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning system, characterized in that, The system includes: The impact overshoot analysis module is used to receive information data from the aircraft landing gear disassembly and positioning controller when the aircraft landing gear disassembly and positioning stage is the contact transition stage, analyze the impact overshoot characterization factor, determine the impact overshoot execution scheme, and perform overshoot dynamic adjustment when the impact overshoot execution scheme is to perform overshoot dynamic adjustment. The aircraft landing gear disassembly and positioning stage includes a free space stage, a contact transition stage, and a constrained space stage. The cross-coupling judgment module is used to receive information data from the aircraft landing gear disassembly and positioning controller when the aircraft landing gear disassembly and positioning phase is a constrained space phase, analyze the cross-coupling characterization factors, and determine the cross-coupling execution scheme. The cross-coupling adjustment module is used to perform coupling adjustment when the cross-coupling execution scheme does not involve coupling adjustment, analyze the coupling adjustment effect information, and determine the coupling effect execution scheme. The high-frequency noise analysis module is used to obtain the main frequency amplitude of the signal noise of the aircraft landing gear disassembly and positioning controller after performing overshoot dynamic adjustment or coupling adjustment, determine the signal noise execution plan, and perform high-frequency noise adjustment when the signal noise execution plan is to perform high-frequency noise adjustment.

2. The six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning system according to claim 1, characterized in that, The analysis of the impulse overshoot characterization factors and the determination of the impulse overshoot execution scheme are as follows: Collect impact overshoot characterization parameters, including force overshoot, oscillation number, settling time and detection delay time of the aircraft landing gear disassembly and assembly positioning controller; The analysis of the impact overshoot characterization factor based on the impact overshoot characterization parameters is as follows: The force overshoot, oscillation frequency, settling time, and detection delay time of the aircraft landing gear disassembly and assembly positioning controller are compared with their corresponding reference values. The comparison results are then coupled with their corresponding measurement coefficients to obtain the impact overshoot characterization factor. The impact overshoot characterization factor is a quantitative characterization of the impact overshoot during the contact transition phase, which is jointly represented by the force overshoot, oscillation number, settling time, and detection delay time of the aircraft landing gear disassembly and assembly positioning controller. Extract the threshold of the shock overshoot characterization factor; If the impact overshoot characterization factor is greater than the impact overshoot characterization factor threshold, then the impact overshoot execution scheme is recorded as performing dynamic overshoot adjustment. If the shock overshoot characterization factor is less than or equal to the shock overshoot characterization factor threshold, the shock overshoot execution plan is recorded as continuing the aircraft landing gear disassembly and positioning.

3. The six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning system according to claim 1, characterized in that, The overshoot dynamic adjustment is performed, and the adjustment process is as follows: The difference between the shock overshoot characterization factor and the shock overshoot characterization factor threshold is used to obtain the shock overshoot characterization factor deviation value. The dynamic force coefficient adjustment value, stiffness adjustment value, and damping adjustment value are extracted based on the deviation value of the impact overshoot characterization factor. Overshoot dynamic adjustment is performed based on dynamic force coefficient adjustment value, stiffness adjustment value, and damping adjustment value.

4. The six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning system according to claim 1, characterized in that, The analysis of the cross-coupling characterization factors is as follows: Collect cross-coupling characterization parameters, including the inter-axis coupling force, coupling transmissivity, and resonant frequency of the aircraft landing gear disassembly and positioning controller; The analysis of cross-coupling characterization factors based on cross-coupling characterization parameters is as follows: Extract the preset reference axis coupling force, reference coupling transmissivity and reference resonant frequency from the database; The inter-axis coupling force is compared with the reference inter-axis coupling force to obtain the inter-axis coupling force ratio coefficient; the coupling transfer rate is compared with the reference coupling transfer rate to obtain the coupling transfer rate ratio coefficient; and the resonant frequency is compared with the reference resonant frequency to obtain the resonant frequency ratio coefficient. The cross-coupling characterization factor is obtained by combining the inter-axis coupling force proportionality coefficient, the coupling transfer rate proportionality coefficient, and the resonant frequency proportionality coefficient with the corresponding metric coefficients and performing weighted coupling processing. The cross-coupling characterization factor is a quantitative characterization of the cross-coupling in the constrained space stage, which is jointly represented by the inter-axis coupling force, coupling transfer rate, and resonant frequency of the aircraft landing gear disassembly and positioning controller.

5. The six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning system according to claim 4, characterized in that, The process for determining the cross-coupling execution scheme is as follows: Extract threshold values ​​for cross-coupling characterization factors; If the cross-coupling characterization factor is greater than the cross-coupling characterization factor threshold, then the cross-coupling execution scheme is recorded as performing coupling adjustment; If the cross-coupling characterization factor is less than or equal to the cross-coupling characterization factor threshold, then the cross-coupling execution scheme is recorded as continuing the aircraft landing gear disassembly and positioning.

6. The six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning system according to claim 5, characterized in that, The coupling adjustment is performed as follows: The difference between the cross-coupling characterization factor and the cross-coupling characterization threshold is used to obtain the cross-coupling characterization factor deviation value. Extract the cross-feedback gain adjustment value and the first feedforward decoupling gain adjustment value based on the cross-coupling characterization factor deviation value; The cross-feedback gain is supplemented and adjusted based on the cross-feedback gain adjustment value; The moment when the feedforward decoupling gain adjustment is performed is recorded as the first moment. The time of the last feedforward decoupling gain adjustment is recorded as the second moment. The first feedforward decoupling gain adjustment interval is obtained based on the first time point and the second time point; Obtain the minimum allowable adjustment interval of the feedforward decoupling gain of the aircraft landing gear assembly / disassembly positioning controller; If the first feedforward decoupling gain adjustment interval is greater than or equal to the minimum allowable adjustment interval, then the feedforward decoupling gain is supplemented and adjusted based on the first feedforward decoupling gain adjustment value. If the first feedforward decoupling gain adjustment interval is less than the minimum allowable adjustment interval, then wait until the first feedforward decoupling gain adjustment interval is equal to the minimum allowable adjustment interval before continuing to make adjustment judgments. Get the newly added feedforward decoupling gain adjustment set; The total feedforward decoupling gain adjustment value is obtained by weighting the first feedforward decoupling gain adjustment value with the newly added feedforward decoupling gain adjustment set. The feedforward decoupling gain is supplemented and adjusted based on the total feedforward decoupling gain adjustment value; If no new set of feedforward decoupling gain adjustment is generated during the waiting time, the feedforward decoupling gain is supplemented and adjusted based on the first feedforward decoupling gain adjustment value.

7. A six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning system according to claim 6, characterized in that, The analysis of coupling adjustment effect information and determination of coupling effect execution scheme are carried out in the following specific analysis process: Re-acquire the cross-coupling characterization factor, and denote it as the first cross-coupling characterization factor; Extracting threshold correction coefficients for cross-coupling characterization factors based on their deviation values; The cross-coupling characterization factor correction threshold is obtained based on the cross-coupling characterization factor threshold correction coefficient and the cross-coupling characterization factor threshold. If the first cross-coupling characterization factor is less than or equal to the cross-coupling characterization factor correction threshold, then the coupling adjustment effect information is recorded as effective adjustment, and the coupling effect execution plan is recorded as continuing the aircraft landing gear disassembly and positioning. If the first cross-coupling characterization factor is greater than the cross-coupling characterization factor correction threshold, the coupling adjustment effect information is recorded as invalid adjustment, and the coupling effect execution scheme is recorded as sending early warning information.

8. The six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning system according to claim 1, characterized in that, The determination process for the signal noise execution scheme is as follows: Acquire the noise dominance frequency amplitude of the landing gear disassembly and positioning controller signal; Obtain the absolute threshold between the noise baseline of the aircraft landing gear assembly / disassembly positioning controller and the main frequency amplitude of the aircraft landing gear assembly / disassembly positioning controller noise; The effective noise frequency amplitude of the aircraft landing gear disassembly and positioning controller signal is obtained by performing difference processing between the noise main frequency amplitude of the aircraft landing gear disassembly and positioning controller signal and the noise baseline of the aircraft landing gear disassembly and positioning controller. If the effective noise frequency amplitude of the aircraft landing gear disassembly and positioning controller signal is greater than the absolute threshold of the noise frequency amplitude of the aircraft landing gear disassembly and positioning controller, then the signal noise execution scheme is recorded as performing high-frequency noise adjustment; otherwise, the signal noise execution scheme is recorded as continuing to perform aircraft landing gear disassembly and positioning.

9. A six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning system according to claim 8, characterized in that, The high-frequency noise adjustment process is as follows: The high-frequency noise adjustment deviation value is obtained by performing difference processing between the noise main frequency amplitude of the aircraft landing gear disassembly and assembly positioning controller signal and the noise baseline of the aircraft landing gear disassembly and assembly positioning controller. Extract the differential gain adjustment value and the low-pass filter cutoff frequency adjustment value based on the high-frequency noise adjustment deviation value; Extract the minimum differential gain and minimum low-pass filter cutoff frequency of the aircraft landing gear disassembly and assembly positioning controller; The differential gain is reduced based on the differential gain adjustment value; The low-pass filter cutoff frequency is reduced based on the low-pass filter cutoff frequency adjustment value.

10. A six-degree-of-freedom adjustable aircraft landing gear disassembly and positioning device, characterized in that: The system includes a processor, and memory and a network interface connected to the processor: the network interface is connected to non-volatile memory in a server; the processor, during operation, retrieves a computer program from the non-volatile memory via the network interface and runs the computer program via the memory, for application to the system described in any one of claims 1-9.

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