A force sensor fault detection method for aero large component pose adjustment

Abstract

The application discloses a kind of force sensor fault detection methods for aviation large component pose adjustment, belong to the technical field of aviation assembly manufacturing, in large component pose adjustment process, periodically collect the coordinate information and force sensor information of each positioner.Based on the coordinate information of each positioner, the current motion state of large component is determined;If large component is currently in translational state, the vector difference between the actual force of large component and the theoretical force is calculated, and the modulus length is based on the modulus length to carry out fault detection on force sensor;If large component is currently in rotational state, the vector difference between the actual resultant moment of force of large component and the theoretical resultant moment of force of large component is calculated, and the modulus length is based on the modulus length to carry out fault detection on force sensor.The application is innovative in real-time analysis and verification of force sensor during pose adjustment, timely discovery of force sensor failure, and improvement of the safety and reliability of full closed-loop control of large component pose adjustment equipment.

Description

Technical Field

[0001] This invention belongs to the technical field of aerospace assembly and manufacturing, specifically relating to a method for detecting faults in force sensors for attitude adjustment of large aerospace components. Background Technology

[0002] In the processing and assembly of large aerospace components, attitude adjustment is required. Typically, four or more coordinate measuring machines (CMMs) are used to support the large component, and the attitude adjustment is achieved through the coordinated movement of these CMMs. The attitude adjustment process is controlled in a closed loop based on the force sensor readings of the CMMs' ball joints to prevent strain on the large component. However, with prolonged use, the elastic elements inside the force sensors are prone to creep or fatigue damage, which can lead to zero-point drift and hysteresis errors in the force sensors. This can affect the attitude adjustment process and potentially strain the large component. Summary of the Invention

[0003] The purpose of this invention is to provide a method for detecting force sensor faults in attitude adjustment of large aerospace components. The aim is to enable real-time fault detection of the force sensor of the positioner during the attitude adjustment process of large components, so as to prevent quality and safety accidents caused by the failure of the force sensor of the positioner.

[0004] This invention is mainly achieved through the following technical solutions:

[0005] A method for fault detection of force sensors for attitude adjustment of large aerospace components includes the following steps:

[0006] Step S1: Acquire force sensor data in the Z-axis direction of the positioner. Fz And the mass m of the large component was obtained through analysis;

[0007] Step S2: During the orientation adjustment of the large component, periodically collect the coordinate information of each positioner {T1, T2, ..., T...} b} and force sensor information {F1, F2, ..., F b},

[0008] T b ={P 1-b (x 1-b ,y 1-b ,z 1-b ), P 2-b (x 2-b ,y 2-b ,z 2-b ), ..., P q-b (x q-b ,y q-b ,z q-b )};

[0009] F b ={FP 1-b(Fx 1-b ,Fy 1-b ,Fz 1-b ), FP 2-b (Fx 2-b ,Fy 2-b ,Fz 2-b ), ...,FP q-b (Fx q-b ,Fy q-b ,Fz q-b )};

[0010] Wherein: T b For the b-th collection q A set of coordinates for each locator;

[0011] P q-b For the b-th collection q The coordinates of the locator;

[0012] F b For the b-th collection q The set of force sensor readings for each positioner in the X, Y, and Z directions;

[0013] FP q-b For the b-th collection q The force sensor readings of the positioner in the X, Y, and Z directions;

[0014] Step S3: Based on the coordinate information of each locator, determine the current motion state of the large component; if the large component is currently in translational motion, proceed to step S4; if the large component is currently in rotational motion, proceed to step S5.

[0015] Step S4: Based on the analysis of the locator trajectory points, the actual force on the large component is obtained, and based on the force sensor information of each locator, the theoretical force is obtained; then, the magnitude of the vector difference between the actual force and the theoretical force on the large component is calculated, and fault detection of the force sensor is performed based on the magnitude.

[0016] Step S5: Based on the analysis of the locator trajectory points, obtain the actual net external torque of the large component, and based on the force sensor information of each locator, obtain the theoretical net external torque of the large component; then, calculate the magnitude of the vector difference between the actual net external torque of the large component and the theoretical net external torque of the large component, and perform fault detection on the force sensor based on the magnitude.

[0017] To better realize the present invention, step S4 further includes the following steps:

[0018] Step S41: Calculate the acceleration of the large component based on the locator trajectory points, and then calculate the actual force on the large component according to Newton's second law:

[0019] ;

[0020] in: The average acceleration of the large component during the sampling period;

[0021] Step S42: Calculate the theoretical force on the large component based on the force sensor information of each positioner:

[0022] ;

[0023] in: Let be the vector of the force sensor reading of positioner j at time i.

[0024] It is the gravity vector;

[0025] q The number of locators;

[0026] n represents the total number of times force sensor readings are collected in step S2;

[0027] Step S43: Calculation and If the magnitude Δe of the vector difference is greater than a set threshold, then the force sensor of the positioner is determined to be faulty.

[0028] To better realize the present invention, further, in step S43, and The formula for calculating the magnitude Δe of the vector difference is:

[0029] ;

[0030] ;

[0031] in: for and The vector difference;

[0032] for The x-component in the global coordinate system;

[0033] for The y-component in the global coordinate system;

[0034] for The z-component in the global coordinate system.

[0035] To better realize the present invention, step S5 further includes the following steps:

[0036] Step S51: Calculate the rotational angular acceleration of the large component based on all positioner motion trajectory points. ;

[0037] ;

[0038] in: Let be the angular velocity of the positioner at time i;

[0039] Let be the angular velocity of the positioner at time i-1;

[0040] n represents the total number of times coordinate data is collected in step S2;

[0041] Step S52: Calculate the actual net external torque acting on the large component based on its moment of inertia. ;

[0042] ;

[0043] in: I The moment of inertia of a large component about a coordinate axis;

[0044] Step S53: Based on the force sensor information of each positioner, calculate the theoretical net external torque on the large component. ;

[0045] ;

[0046] in: c Indicates the coordinates of the centroid of the large component;

[0047] Represents the gravity vector;

[0048] q Indicates the number of locators;

[0049] This represents the theoretical external torque acting on the i-th positioner;

[0050] Step S54: Calculation and If the magnitude Δe of the vector difference is greater than a set threshold, then the force sensor of the positioner is determined to be faulty.

[0051] To better implement the present invention, further, in step S54, and The formula for calculating the magnitude Δe of the vector difference is:

[0052] ;

[0053] ;

[0054] in: for and The vector difference;

[0055] for The x-component in the global coordinate system;

[0056] for The y-component in the global coordinate system;

[0057] for The z-axis component in the global coordinate system.

[0058] To better realize the present invention, further, in step S1, the mass m of the large component is:

[0059] ;

[0060] ;

[0061] in: Fz i The force sensor reading for the i-th positioner in the Z direction;

[0062] G For the weight of large components;

[0063] g It is the acceleration due to gravity;

[0064] q The number of locators.

[0065] The beneficial effects of this invention are as follows:

[0066] To address the issue of creep or fatigue damage to the internal elastic elements of the force sensor in the positioner during attitude adjustment, which can lead to zero-point drift and hysteresis errors, this invention innovatively performs real-time analysis and verification of the force sensor during the attitude adjustment process. This allows for timely detection of force sensor faults and improves the safety and reliability of the closed-loop control of large-component attitude adjustment equipment. Furthermore, this invention is applicable to large-component attitude adjustment equipment supported by any number of positioners (≥4) without requiring the installation of new hardware, thus having a wide range of applications. Attached Figure Description

[0067] Figure 1 This is a schematic diagram of the positioner's structure;

[0068] Figure 2 A structural diagram of the large supporting component for the positioner;

[0069] Figure 3This is a schematic diagram of the translational motion of the large component involved in the present invention.

[0070] Figure 4 This is a schematic diagram of the rotation of a large component involved in the present invention;

[0071] Figure 5 This is a flowchart of the force sensor fault detection method for attitude adjustment of large aerospace components according to the present invention.

[0072] Wherein: 1-Positioner X-axis, 2-Positioner Y-axis, 3-Positioner Z-axis, 4-Ball head locking mechanism, 5-Force sensor, 6-Major component, 7-Translational front pose, 8-Translational back pose, 9-Rotational front pose, 10-Rotational back pose. Detailed Implementation

[0073] Example 1:

[0074] A method for fault detection of force sensors for attitude adjustment of large aerospace components, such as Figure 5 As shown, coordinate information of each positioner is collected. The coordinates of the positioners in the device coordinate system are read using a grating ruler and encoder. The relationship between the position and time of the positioners is obtained by continuously reading the coordinates, and the acceleration of the positioners during that time period is obtained by second derivative. Since the positioners are rigidly connected to the large components, therefore:

[0075] Based on the coordinate information of each locator, the current motion state of the large component is determined.

[0076] like Figure 3 As shown, by analyzing the pre- and post-translational poses, it is determined that the large component is currently in a translational state. During the translational phase, this acceleration is also the acceleration of the large component. By analyzing the relationship between the component's mass and acceleration, the direction and magnitude of the force acting on the large component during this period can be determined. This is then compared with the force sensor readings to determine the accuracy of the force sensor readings. The magnitude of the vector difference between the actual and theoretical forces on the large component is calculated, and fault detection of the force sensor is performed based on this magnitude.

[0077] like Figure 4 As shown, by analyzing the pose before and after rotation, it is determined that the large component is currently in a rotating state. During the rotation phase, the angular acceleration can be calculated from the linear acceleration and the positioner coordinates. The torque acting on the large component can be calculated from the moment of inertia and the angular acceleration. Then, the torque applied to the large component by the positioner is calculated based on the force sensor readings to determine the accuracy of the force sensor readings. The magnitude of the vector difference between the actual net external torque acting on the large component and the theoretical net external torque acting on the large component is calculated, and fault detection of the force sensor is performed based on the magnitude.

[0078] Specifically, the rotation of the large component should be based on Euler angles. A rigid connection should be used between the large component and the positioner to prevent relative displacement between them.

[0079] Preferably, such as Figure 1 As shown, the positioner has an X-axis, a Y-axis, and a Z-axis respectively positioned in the X, Y, and Z directions. A ball-head locking mechanism and a force sensor are located on the top of the positioner. Figure 2 As shown, generally speaking, the bottom of the large component is equipped with four locators.

[0080] Preferably, the procedure specifically includes the following steps:

[0081] Step 1: Read the force sensor data of each positioner in the Z direction from the motion controller through the corresponding communication protocol, and calculate the mass m of the large component.

[0082] ;

[0083] ;

[0084] in: Fz i The force sensor reading for the i-th positioner in the Z direction;

[0085] G For the weight of large components;

[0086] g It is the acceleration due to gravity;

[0087] q The number of locators.

[0088] Step 2: During the orientation adjustment of the large component, collect the coordinates of each positioner at short intervals t:

[0089] T1={P 1-1 (x 1-1 ,y 1-1 ,z 1-1 ), P 2-1 (x 2-1 ,y 2-1 ,z 2-1 ), ..., P q-1 (x q-1 ,y q-1 ,z q-1 )};

[0090] T2={P 1-2 (x 1-2 ,y 1-2 ,z 1-2 ), P 2-2 (x 2-2 ,y2-2 ,z 2-2 ), ..., P q-2 (x q-2 ,y q-2 ,z q-2 )}; ......

[0091] T b ={P 1-b (x 1-b ,y 1-b ,z 1-b ), P 2-b (x 2-b ,y 2-b ,z 2-b ), ..., P q-b (x q-b ,y q-b ,z q-b )};

[0092] Simultaneously acquire coordinate data and force sensor readings from each positioner:

[0093] F1={FP 1-1 (Fx 1-1 ,Fy 1-1 ,Fz 1-1 ), FP 2-1 (Fx 2-1 ,Fy 2-1 ,Fz 2-1 ), ...,FP q-1 (Fx q-1 ,Fy q-1 ,Fz q-1 )};

[0094] F2={FP 1-2 (Fx 1-2 ,Fy 1-2 ,Fz 1-2 ), FP 2-2 (Fx 2-2 ,Fy 2-2 ,Fz 2-2 ), ...,FP q-2 (Fx q-2 ,Fy q-2 ,Fz q-2 )}; ......

[0095] F b ={FP 1-b (Fx 1-b ,Fy 1-b ,Fz 1-b ), FP 2-b (Fx 2-b ,Fy2-b ,Fz 2-b ), ...,FP q-b (Fx q-b ,Fy q-b ,Fz q-b )};

[0096] Wherein: T b For the b-th collection q A set of coordinates for each locator;

[0097] P q-b For the b-th collection q The coordinates of the locator;

[0098] F b For the b-th collection q The set of force sensor readings for each positioner in the X, Y, and Z directions;

[0099] FP q-b For the b-th collection q The positioner measures the force sensor readings in the X, Y, and Z directions.

[0100] Step 3: Based on all the locator coordinate data collected in Step 2, the current motion state of the large component can be determined.

[0101] Step 4: If the component is in a translational state, calculate the acceleration of the large component based on the positioner's trajectory points, and then calculate the actual force on the component according to Newton's second law. The specific calculation process is as follows:

[0102] ;

[0103] in: This represents the velocity vector of the large component at time i.

[0104] q Indicates the number of locators;

[0105] t represents the sampling interval time;

[0106] T i .P j-i Represents the coordinates of locator j at time i;

[0107] T i-1 .P j-i This represents the coordinates of locator j at time i-1.

[0108] ;

[0109] ;

[0110] in This represents the average acceleration of the large component during the sampling time.

[0111] n represents the total number of times coordinate data is collected in step S2;

[0112] This represents the velocity vector of the large component at time i-1.

[0113] Step 5: Calculate the theoretical force on the large component based on the force values ​​of each locator collected in Step 2. The calculation formula is as follows:

[0114] ;

[0115] in: Let be the vector of the force sensor reading of positioner j at time i.

[0116] This is the gravity vector, directed along the negative Z-axis.

[0117] q The number of locators;

[0118] n represents the total number of times force sensor readings are collected in step S2;

[0119] Step 6: Based on the results obtained in Step 4 and Step 5 and The accuracy of the positioner's force sensor reading is determined by comparing the magnitude of the vector difference. The specific calculation process is as follows:

[0120] ;

[0121] ;

[0122] in: for and The vector difference;

[0123] for The x-component in the global coordinate system;

[0124] for The y-component in the global coordinate system;

[0125] for The z-component in the global coordinate system.

[0126] If Δe is greater than the set threshold, it is determined that there is a force sensor malfunction during the orientation adjustment of the large component, and the equipment is stopped immediately.

[0127] Step 7: If Step 3 determines that the large component is rotating, then calculate the rotational angular acceleration of the large component based on all the movement trajectory points of the positioners. Then, the actual net external torque acting on the component is calculated based on the component's moment of inertia. The calculation formula is as follows:

[0128] ;

[0129] in: Let be the angular velocity of the positioner at time i.

[0130] T i .P j-i Represents the coordinates of locator j at time i;

[0131] T i-1 .P j-i This represents the coordinates of locator j at time i-1.

[0132] ;

[0133] in: Let be the angular velocity of the positioner at time i;

[0134] Let be the angular velocity of the positioner at time i-1;

[0135] n represents the total number of times coordinate data is collected in step S2;

[0136] ;

[0137] in I represents the actual net external torque, and I represents the moment of inertia of the large component about the coordinate axis.

[0138] Step 8: Based on the force values ​​of each locator collected in Step 2, calculate the theoretical net external torque on the large component. The calculation formula is as follows:

[0139] ;

[0140] in This indicates the torque exerted by the j-th positioner on the large component.

[0141] This represents the position vector of the force exerted by the j-th locator on the large component.

[0142] Let be the force vector of the j-th positioner.

[0143] T i .P j-iRepresents the coordinates of locator j at time i;

[0144] T i .FP j-i This represents the force sensor reading of positioner j at time i.

[0145] n represents the total number of times force sensor readings are collected in step S2;

[0146]

[0147] in: c Indicates the coordinates of the centroid of the large component;

[0148] Represents the gravity vector;

[0149] Step 9: Based on the results obtained in Step 7 and Step 8 and The accuracy of the positioner force sensor reading is determined by comparing the magnitude of the vector difference. The determination method is as follows:

[0150] ;

[0151] ;

[0152] in: for The x-component in the global coordinate system;

[0153] for The y-component in the global coordinate system;

[0154] for The z-axis component in the global coordinate system.

[0155] If Δe is greater than the set threshold, it is determined that there is a force sensor malfunction during the orientation adjustment of the large component, and the equipment is stopped immediately.

[0156] Example 2:

[0157] A fault detection method for force sensors in the attitude adjustment of large aircraft components is proposed. This method is applicable to the attitude adjustment process during the assembly and machining of large aircraft components. It enables real-time verification of the force sensors through a closed-loop position measurement system, improving the safety and reliability of the attitude adjustment process. The attitude adjustment system comprises four three-axis positioners, servo-controlled by a Siemens PLC. Communication between the host computer and the PLC is achieved via the OPC UA protocol.

[0158] The specific implementation steps are as follows:

[0159] Step 1: Read the Z-axis force sensor data from the PLC of the four positioners (POGO1, POGO2, POGO3, POGO4) via the OPC UA protocol. Fz 1. Fz 2. Fz 3. Fz 4. Calculate the mass m of the large component.

[0160] Step 2: During the orientation adjustment of the large component, a fault determination is performed every 1 second. The coordinates of four positioners (POGO1, POGO2, POGO3, POGO4) are collected every 100ms, for a total of 10 times.

[0161] T1={P 1-1 (x 1-1 y 1-1 , z 1-1 ), P 2-1 (x 2-1 y 2-1 , z 2-1 ), P 3-1 (x 3-1 y 3-1 , z 3-1 ), P 4-1 (x 4-1 y 4-1 , z 4-1 )};

[0162] T2={P 1-2 (x 1-2 y 1-2 , z 1-2 ), P 2-2 (x 2-2 y 2-2 , z 2-2 ), P 3-2 (x 3-2 y 3-2 , z 3-2 ), P 4-2 (x 4-2 y 4-2 , z 4-2 )};

[0163] T3={P 1-3 (x 1-3 y 1-3 , z 1-3 ), P 2-3 (x 2-3 y 2-3 , z 2-3 ), P 3-3 (x 3-3 y 3-3 , z 3-3 ), P-34 (x 4-3 y 4-3 , z 4-3 )}; ......

[0164] T 10 ={P 1-10 (x 1-10 y 1-10 , z 1-10 ), P 2-10 (x 2-10 y 2-10 , z 2-10 ), P 3-10 (x 3-10 y 3-10 , z 3-10 ), P 4-10 (x 4-10 y 4-10 , z 4-10 )}.

[0165] Wherein: the collected coordinates (x, y, z) represent the closed-loop readings of the grating ruler and encoder corresponding to the X, Y, and Z axes of the positioner, respectively.

[0166] Simultaneously, the force sensor readings of each positioner are collected for coordinate acquisition.

[0167] F1={FP 1-1 (Fx 1-1 Fy 1-1 Fz 1-1 ), FP 2-1 (Fx 2-1 Fy 2-1 Fz 2-1 ), FP 3-1 (Fx 3-1 Fy 3-1 Fz 3-1 ), FP 4-1 (Fx 4-1 Fy 4-1 Fz 4-1 )};

[0168] F2={FP 1-2 (Fx 1-2 Fy 1-2 Fz 1-2 ), FP 2-2 (Fx 2-2 Fy 2-2 Fz 2-2 ), FP 3-2 (Fx 3-2 Fy 3-2 Fz 3-2), FP 4-2 (Fx 4-2 Fy 4-2 Fz 4-2 )};

[0169] F3={FP 1-3 (Fx 1-3 Fy 1-3 Fz 1-3 ), FP 2-3 (Fx 2-3 Fy 2-3 Fz 2-3 ), FP 3-3 (Fx 3-3 Fy 3-3 Fz 3-3 ), FP -34 (Fx 4-3 Fy 4-3 Fz 4-3 )}; ......

[0170] F 10 ={FP 1-10 (Fx 1-10 Fy 1-10 Fz 1-10 ), FP 2-10 (Fx 2-10 Fy 2-10 Fz 2-10 ), FP 3-10 (Fx 3-10 Fy 3-10 Fz 3-10 ), FP 4-10 (Fx 4-10 Fy 4-10 Fz 4-10 )}.

[0171] Step 3: Based on the coordinate data of all the locators collected in Step 2, the current motion state of the large component can be determined. If the motion direction and motion amount of the four locators are the same, it is determined to be in translational motion; otherwise, it is in rotational motion.

[0172] If the large component is in a translational state, calculate the acceleration of the large component based on the positioner's trajectory points, and then calculate the actual force on the component according to Newton's second law. .

[0173] Step 4: Calculate the theoretical force on the large component based on the force values ​​of each locator collected in Step 2. The calculation formula is as follows:

[0174] .

[0175] Step 5: Based on the results obtained in Step 3 and Step 4 and The accuracy of the positioner force sensor reading is determined by comparing the magnitude Δe of the vector difference.

[0176] If Δe is greater than the set threshold of 200N, it is determined that the force sensor is damaged during the orientation adjustment of the large component, and the equipment is stopped immediately.

[0177] Step Six: If Step Three determines that the large component is rotating, then calculate the rotational angular acceleration of the large component based on the motion trajectory points of the four positioners. Then, the actual net external torque acting on the component is calculated based on the component's moment of inertia. ;

[0178] Step 7: Based on the force values ​​of each locator collected in Step 2, calculate the theoretical net external torque on the large component. .

[0179] Step 8: Based on the results obtained in Step 6 and Step 7 and The accuracy of the positioner force sensor reading is determined by comparing the magnitude Δe of the vector difference.

[0180] If Δe is greater than the set threshold of 1000 N·m, it is determined that the force sensor is damaged during the attitude adjustment process of the large component, and the equipment is stopped immediately.

[0181] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for fault detection of force sensors for attitude adjustment of large aerospace components, characterized in that, Includes the following steps: Step S1: Collect force sensor data in the Z-axis direction from each positioner. Fz And the mass m of the large component was obtained through analysis; Step S2: During the orientation adjustment of the large component, periodically collect the coordinate information of each positioner {T1, T2, ..., T...} b } and force sensor information {F1, F2, ..., F b }, T b ={P 1-b (x 1-b ,y 1-b ,z 1-b ),P 2-b (x 2-b ,y 2-b ,z 2-b ),…,P q-b (x q-b ,y q-b ,z q-b )}; F b ={FP 1-b (Fx 1-b ,Fy 1-b ,Fz 1-b ),FP 2-b (Fx 2-b ,Fy 2-b ,Fz 2-b ),…,FP q-b (Fx q-b ,Fy q-b ,Fz q-b )}; Wherein: T b For the b-th collection q A set of coordinates for each locator; P q-b For the bth collection q The coordinates of the locator; F b For the b-th collection q The set of force sensor readings for each positioner in the X, Y, and Z directions; FP q-b For the bth collection q The force sensor readings of the positioner in the X, Y, and Z directions; Step S3: Based on the coordinate information of each locator, determine the current motion state of the large component; if the large component is currently in translational motion, proceed to step S4; if the large component is currently in rotational motion, proceed to step S5. Step S4: Based on the analysis of the locator trajectory points, the actual force on the large component is obtained, and based on the force sensor information of each locator, the theoretical force is obtained; then, the magnitude of the vector difference between the actual force and the theoretical force on the large component is calculated, and fault detection of the force sensor is performed based on the magnitude. Step S5: Based on the analysis of the locator trajectory points, obtain the actual net external torque of the large component, and based on the force sensor information of each locator, obtain the theoretical net external torque of the large component; then, calculate the magnitude of the vector difference between the actual net external torque of the large component and the theoretical net external torque of the large component, and perform fault detection on the force sensor based on the magnitude. Step S4 includes the following steps: Step S41: Calculate the acceleration of the large component based on the locator trajectory points, and then calculate the actual force on the large component according to Newton's second law: ； in: The average acceleration of the large component during the sampling period; Step S42: Calculate the theoretical force on the large component based on the force sensor information of each positioner: ； in: Let be the vector of the force sensor reading of positioner j at time i. It is the gravity vector; q The number of locators; n represents the total number of times force sensor readings are collected in step S2; Step S43: Calculation and The magnitude Δe of the vector difference is determined. If Δe is greater than the set threshold, the force sensor of the positioner is determined to be faulty. Step S5 includes the following steps: Step S51: Calculate the rotational angular acceleration of the large component based on all positioner motion trajectory points. ; ； in: Let be the angular velocity of the positioner at time i; Let be the angular velocity of the positioner at time i-1; n represents the total number of times coordinate data is collected in step S2; Step S52: Calculate the actual net external torque acting on the large component based on its moment of inertia. ; ； in: I The moment of inertia of a large component about a coordinate axis; Step S53: Based on the force sensor information of each positioner, calculate the theoretical net external torque on the large component. ; ； in: c Indicates the coordinates of the centroid of the large component; Represents the gravity vector; q Indicates the total number of locators; This represents the theoretical external torque acting on the i-th positioner; Step S54: Calculation and If the magnitude Δe of the vector difference is greater than a set threshold, then the force sensor of the positioner is determined to be faulty.

2. The method for fault detection of force sensors for attitude adjustment of large aerospace components according to claim 1, characterized in that, In step S43 and The formula for calculating the magnitude Δe of the vector difference is: ； ； in: for and The vector difference; for The x-component in the global coordinate system; for The y-component in the global coordinate system; for The z-component in the global coordinate system.

3. The method for fault detection of force sensors for attitude adjustment of large aerospace components according to claim 1, characterized in that, In step S54 and The formula for calculating the magnitude Δe of the vector difference is: ； ； in: for and The vector difference; for The x-component in the global coordinate system; for The y-component in the global coordinate system; for The z-axis component in the global coordinate system.

4. The method for fault detection of force sensors for attitude adjustment of large aerospace components according to claim 1, characterized in that, In step S1, the mass m of the large component is: ； ； in: Fz i The force sensor reading for the i-th positioner in the Z direction; G For the weight of large components; g It is the acceleration due to gravity; q The number of locators.

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