An aviation swage positioning control method, system, device and medium

Abstract

This application discloses a positioning control method, system, equipment, and medium for aerospace forgings, relating to the field of intelligent manufacturing technology for aerospace forgings. The method includes the following steps: acquiring a theoretical digital model of the target forging and a three-dimensional digital model of the target mold to obtain the theoretical placement pose of the target forging; acquiring a three-dimensional scanning digital model of the target forging after the manipulator grips it to obtain a rotation matrix R and a translation vector T; wherein the rotation matrix R represents the rotational transformation from the actual pose of the target forging to the theoretical placement pose, and the translation vector T represents the spatial offset of the target forging; and inputting the rotation matrix R and translation vector T into a preset trajectory planning model to generate the optimal motion trajectory for the manipulator to transport the target forging to the target mold. This application has the advantages of improving the placement positioning accuracy and efficiency, and improving the performance of the final product.

Description

Technical Field

[0001] This application relates to the field of intelligent manufacturing technology for aerospace forgings, and in particular to a positioning control method, system, equipment and medium for aerospace forgings. Background Technology

[0002] With the continuous development of the aviation industry, aerospace forgings are constantly moving towards larger size, greater integration, and higher precision. The application of advanced equipment, such as the 800MN forging press, has significantly improved the research and manufacturing capabilities of large aerospace forgings. These forgings typically have large dimensions (projected area can reach 2~6 m²). 2 Due to the characteristics of forging materials, such as high deformation resistance (typically exceeding 500 MPa) and a narrow forging process window (temperature fluctuations must be controlled within ±25°C), extremely high requirements are placed on process parameters such as the furnace transfer time, placement time, placement accuracy, and initial forging temperature of the billet (or forging). Actual production shows that for every 20 seconds increase in placement time, the forging load increases by 5–10%; a placement deviation exceeding 10 mm leads to an 8–12% increase in forming load, causing defects such as under-pressure and abnormal flow lines, directly affecting the fatigue performance of the component. The transfer and placement accuracy in die forging directly affects the accuracy of forming load, under-pressure dimension control, and the mechanical properties of the final product.

[0003] Currently, in the production of aerospace forgings, the placement of forgings is still mainly done manually. Workers typically use rail-mounted or railless manipulators to pick up the high-temperature forgings from the furnace, transport them to the vicinity of the die, and then roughly position them under the visual guidance of the forging worker. The existing manual placement method takes an average of 60-120 seconds, and the repeatability is generally less than ±8 mm. If the billet is not positioned ideally, manual fine-tuning is required using pry bars; if it cannot be pried, it must be picked up and placed again. This process suffers from problems such as long processing time, poor controllability, harsh working environment, and high labor intensity, and human factors significantly affect placement time and positional accuracy. Summary of the Invention

[0004] The main purpose of this application is to provide a method, system, equipment and medium for positioning control of aerospace die forgings, which aims to solve the technical problem that the existing methods for placing aerospace die forgings mainly rely on manual operation, resulting in low positioning accuracy and low efficiency, which affect the performance of the final product.

[0005] To achieve the above objectives, this application provides a positioning control method for aerospace forgings, comprising the following steps:

[0006] Obtain the theoretical digital model of the target forging and the three-dimensional digital model of the target mold to obtain the theoretical placement posture of the target forging;

[0007] A 3D scanning digital model is obtained after the manipulator grips the target forging to obtain the rotation matrix R and translation vector T; where the rotation matrix R represents the rotation transformation from the actual pose of the target forging to the theoretical pose of the forging, and the translation vector T represents the spatial offset of the target forging.

[0008] Input the rotation matrix R and translation vector T into the preset trajectory planning model to generate the optimal motion trajectory for the manipulator to transport the target forging to the target mold.

[0009] Optionally, after inputting the rotation matrix R and translation vector T into a preset trajectory planning model to generate the optimal motion trajectory for the manipulator to transport the target forging to the target mold, the model further includes:

[0010] The control quantity u(t) output by the drive actuator at time t is obtained based on the PID controller; where the drive actuator is used to adjust the clamp of the manipulator.

[0011] The trajectory planning model is corrected in real time by controlling the variable u(t).

[0012] Alternatively, the expression for the trajectory planning model is:

[0013]

[0014] In the formula, x(t) is the target position of the clamp of the manipulator at time t, a0 is the first trajectory coefficient, a1 is the second trajectory coefficient, a2 is the third trajectory coefficient, a3 is the fourth trajectory coefficient, a4 is the fifth trajectory coefficient, a5 is the sixth trajectory coefficient, and γ is the integral gain coefficient.

[0015] Optionally, a three-dimensional scanning digital model of the target forging after the manipulator grips it is obtained to obtain the rotation matrix R and translation vector T, including:

[0016] Obtain the coordinates of the i-th actual feature point in the 3D scanning digital model after the manipulator grips the target forging;

[0017] Obtain the coordinates of the i-th theoretical feature point in the theoretical numerical model of the target forging;

[0018] Input the coordinates of the i-th actual feature point and the i-th theoretical feature point into the preset least squares feature point registration function to obtain the rotation matrix R and the translation vector T.

[0019] Optionally, the expression for the least squares feature point registration function is:

[0020]

[0021] In the formula, Qmin is the target value, p i Let q be the coordinates of the i-th theoretical feature point. iLet be the coordinates of the i-th actual feature point, where n ≥ 4.

[0022] Optionally, the control quantity u(t) output by the drive actuator at time t is obtained based on the PID controller, including:

[0023] Obtain the real-time position deviation e(t) of the target forging at time t;

[0024] The real-time position deviation e(t) is input into the preset PID control model to obtain the control quantity u(t) output by the drive actuator at time t.

[0025] Optionally, the expression for the PID control model is:

[0026]

[0027] In the formula, K P K is the proportionality coefficient. i K is the integral coefficient. d is the differential coefficient.

[0028] Optionally, the real-time position deviation e(t) of the target forging at time t is obtained, including:

[0029] Obtain the initial length L of the target forging when it exits the furnace;

[0030] Obtain the furnace exit temperature T0 of the target forging;

[0031] Obtain the measured temperature T(t) of the target forging at time t;

[0032] The initial length L, furnace exit temperature T0, and measured temperature T(t) are input into the preset deviation compensation model to obtain the real-time position deviation e(t) of the target forging at time t.

[0033] Optionally, the expression for the deviation compensation model is:

[0034] e(t) = αL[T0 - T(t)];

[0035] In the formula, α is the coefficient of thermal expansion of the target forging material.

[0036] To achieve the above objectives, this application also provides a positioning control system for aerospace forgings, comprising:

[0037] The theoretical pose acquisition module is used to acquire the theoretical digital model of the target forging and the three-dimensional digital model of the target mold, so as to obtain the theoretical positioning pose of the target forging.

[0038] The rotation and translation module is used to acquire the three-dimensional scanning digital model of the target forging after the manipulator grips it, so as to obtain the rotation matrix R and the translation vector T. Here, the rotation matrix R represents the rotation transformation from the actual pose of the target forging to the theoretical positioning pose, and the translation vector T represents the spatial offset of the target forging.

[0039] The trajectory generation module is used to input the rotation matrix R and translation vector T into a preset trajectory planning model to generate the optimal motion trajectory for the manipulator to transport the target forging to the target mold.

[0040] Optionally, the system also includes:

[0041] The correction module is used to obtain the control quantity u(t) output by the drive actuator at time t based on the PID controller; wherein the drive actuator is used to adjust the clamp of the manipulator; and the trajectory planning model is corrected in real time by the control quantity u(t).

[0042] To achieve the above objectives, this application also provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0043] To achieve the above objectives, this application also provides a computer-readable storage medium storing a computer program, on which a processor executes the computer program to implement the above-described method.

[0044] The beneficial effects that this application can achieve are as follows:

[0045] This application, based on the theoretical digital model of the target forging and the three-dimensional digital model of the target mold, can obtain in advance the theoretical placement posture required to accurately place the target forging into the cavity of the target mold. Then, it obtains the three-dimensional scanning digital model after the manipulator grips the target forging, thereby obtaining the spatial transformation amount used to adjust the target forging to the theoretical placement posture, namely the rotation matrix R and the translation vector T. The rotation matrix R and the translation vector T are input into a preset trajectory planning model to generate the optimal motion trajectory for the manipulator to transport the target forging to the target mold. Based on the optimal motion trajectory, the clamps of the manipulator can be controlled to hold the target forging and complete the placement on the target mold in the shortest time and at the theoretical placement posture. Compared with manual visual recognition, this improves the positioning and placement accuracy of the forging and can complete the placement in one go, improving the placement efficiency and thus ensuring the performance of the final product. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0047] Figure 1 This is a flowchart illustrating a positioning control method for an aerospace forging part according to an embodiment of this application;

[0048] Figure 2 This is a schematic diagram of the frame structure of a positioning control system for aerospace forgings according to an embodiment of this application.

[0049] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0050] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0051] It should be noted that if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0052] Example 1

[0053] Reference Figure 1 This embodiment provides a positioning control method for aerospace forgings, including the following steps:

[0054] Obtain the theoretical digital model of the target forging and the three-dimensional digital model of the target mold to obtain the theoretical placement posture of the target forging;

[0055] A 3D scanning digital model is obtained after the manipulator grips the target forging to obtain the rotation matrix R and translation vector T; where the rotation matrix R represents the rotation transformation from the actual pose of the target forging to the theoretical pose of the forging, and the translation vector T represents the spatial offset of the target forging.

[0056] Input the rotation matrix R and translation vector T into the preset trajectory planning model to generate the optimal motion trajectory for the manipulator to transport the target forging to the target mold.

[0057] In this embodiment, based on the theoretical digital model of the target forging and the three-dimensional digital model of the target mold, the theoretical placement posture required to accurately place the target forging into the cavity of the target mold can be obtained in advance. Then, the three-dimensional scanning digital model after the manipulator clamps the target forging is obtained, thereby obtaining the spatial transformation amount used to adjust the target forging to the theoretical placement posture, namely the rotation matrix R and the translation vector T. The rotation matrix R and the translation vector T are input into a preset trajectory planning model to generate the optimal motion trajectory for the manipulator to transport the target forging to the target mold. Based on the optimal motion trajectory, the clamp of the manipulator can be controlled to hold the target forging in the shortest time and finally complete the placement on the target mold in the theoretical placement posture. Compared with manual visual recognition, the positioning and placement accuracy of the forging is improved, and the placement can be completed in one go, improving the placement efficiency and thus ensuring the performance of the final product.

[0058] It should be noted that the 3D scanned digital model can be obtained through laser scanning or machine vision recognition; R is a 3×3 rotation matrix and T is a 3×1 translation vector.

[0059] As an optional implementation, after inputting the rotation matrix R and translation vector T into a preset trajectory planning model to generate the optimal motion trajectory for the manipulator to transport the target forging to the target mold, the method further includes:

[0060] The control quantity u(t) output by the drive actuator at time t is obtained based on the PID controller; where the drive actuator is used to adjust the clamp of the manipulator.

[0061] The trajectory planning model is corrected in real time by controlling the variable u(t).

[0062] In this embodiment, as the manipulator performs the action of conveying the target forging to the target mold based on the optimal motion trajectory, the temperature of the target forging also decreases synchronously. Due to the influence of internal stress, the target forging may undergo a certain degree of deformation, which ultimately leads to a certain change in the overall posture of the target forging. Therefore, the control quantity u(t) required by the drive actuator (such as motor, hydraulic cylinder, etc.) at time t can be obtained in real time based on the PID controller, so that the clamp posture of the manipulator is adjusted accordingly to ensure that the target forging can be conveyed to the target mold in the theoretical placement posture. At the same time, the trajectory planning model can be corrected in real time based on the adjusted clamp to avoid interference with other mechanical parts during the conveying process, thereby improving the placement and positioning accuracy of the target forging.

[0063] As an optional implementation method, the trajectory planning model is expressed as follows:

[0064]

[0065] In the formula, x(t) is the target position of the clamp of the manipulator at time t, a0 is the first trajectory coefficient, a1 is the second trajectory coefficient, a2 is the third trajectory coefficient, a3 is the fourth trajectory coefficient, a4 is the fifth trajectory coefficient, a5 is the sixth trajectory coefficient, and γ is the integral gain coefficient.

[0066] In this embodiment, the rotation matrix R is used to rotate the clamped, tilted target forging to align with the target mold cavity, while the translation vector T can be directly applied to the reference position of the trajectory. The rotation matrix R and the translation vector T are directly applied to the generated initial trajectory, ensuring that the trajectory planning is based on the correct spatial orientation after registration; simultaneously, based on the fifth-order polynomial in the above formula (i.e., a0 + a1t + a2t)... 2 +a3t 3 +a4t 4 +a5t 5 This ensures the continuity of the motion trajectory at the acceleration level. The trajectory coefficients a0-a5 in the fifth-order polynomial can be solved through boundary conditions (such as initial / final position, velocity, acceleration, etc.) to ensure that the motion trajectory is continuously differentiable over the total motion time. It also ensures that the velocity and acceleration of the manipulator are zero at the start / end of the motion. Furthermore, the PID integral term (i.e.,...) The real-time error compensation can be continuously accumulated and converted into position correction through the integral gain coefficient γ to eliminate long-term deviations (such as systematic errors caused by thermal deformation). The u(t) in the PID integral term can reflect the dynamic compensation requirements of position error. For example, when the actual position lag is detected, the torque of the motor (i.e. the drive actuator) is increased through u(t) to accelerate the correction. The integral gain coefficient γ converts the torque / voltage output of the PID controller into a displacement correction. Its value needs to be adjusted according to the response characteristics of the drive actuator to avoid overcompensation and oscillation.

[0067] The synergistic effect of the above parameters is as follows:

[0068] Spatial alignment: The rotation matrix R and translation vector T ensure that the trajectory planning is based on the correct coordinate system, avoiding global deviations caused by incorrect initial pose of the target forging;

[0069] Dynamic correction: The cumulative real-time error of the PID integral term is converted into trajectory offset through the integral gain coefficient γ, suppressing time-varying disturbances such as thermal deformation;

[0070] Smoothness Guarantee: The fifth-order polynomial provides continuous acceleration, while the PID correction only affects the final position, avoiding trajectory jitter.

[0071] As an optional implementation, a three-dimensional scanning digital model is obtained after the manipulator grips the target forging to obtain the rotation matrix R and translation vector T, including:

[0072] Obtain the coordinates of the i-th actual feature point in the 3D scanning digital model after the manipulator grips the target forging;

[0073] Obtain the coordinates of the i-th theoretical feature point in the theoretical numerical model of the target forging;

[0074] Input the coordinates of the i-th actual feature point and the i-th theoretical feature point into the preset least squares feature point registration function to obtain the rotation matrix R and the translation vector T.

[0075] In this embodiment, by selecting i actual feature point coordinates on the surface of the target forging in the three-dimensional scanning digital model, and simultaneously selecting corresponding theoretical feature point coordinates at the corresponding points in the theoretical digital model of the target forging, i sets of feature matching points are obtained. Then, the coordinates corresponding to each set of feature matching points are input into a preset least squares feature point registration function, thereby obtaining the relative spatial relationship between the actual pose and the theoretical pose of the target forging, and thus the rotation matrix R and translation vector T that transform the actual pose of the target forging to the theoretical pose can be calculated.

[0076] It should be noted that at least 4 sets of feature points (i.e., i≥4) should be selected here, and they should be non-coplanar points to ensure the uniqueness of the solution. Feature points should be selected as much as possible from positions with distinctive characteristics, such as edges and grooves.

[0077] As an optional implementation, the expression for the least squares feature point registration function is:

[0078]

[0079] In the formula, Qmin is the target value, p i Let q be the coordinates of the i-th theoretical feature point. i Let be the coordinates of the i-th actual feature point, where n ≥ 4.

[0080] In this embodiment, the optimization solution process of the aforementioned least squares feature point registration function is a method of feature point alignment achieved through mathematical optimization. Its core lies in minimizing the sum of squared errors between corresponding points. Therefore, the core objective of the aforementioned least squares feature point registration function is to optimize the rotation matrix R and translation vector T to make the theoretical model feature points p... i With the measured feature point q i To minimize the sum of squared errors, we can obtain a target value Qmin with the minimum value. Based on the above formula, we can use the Lagrange multiplier method or iterative algorithm (such as SVD) to solve for the optimized rotation matrix R and translation vector T.

[0081] As an optional implementation, the control quantity u(t) output by the drive actuator at time t is obtained based on the PID controller, including:

[0082] Obtain the real-time position deviation e(t) of the target forging at time t;

[0083] The real-time position deviation e(t) is input into the preset PID control model to obtain the control quantity u(t) output by the drive actuator at time t.

[0084] In this embodiment, the real-time position deviation e(t) of the target forging is calculated in real time. e(t) reflects the deviation between the actual position and the theoretical position of the target forging. The deviation data is input into a preset PID control model, so that the control quantity u(t) output by the drive actuator can be calculated to adjust the pose of the target forging in real time. This avoids the accumulation of errors during the motion trajectory execution process, which may result in insufficient time to adjust the pose when the target mold position is reached, thereby improving the immediacy of error correction.

[0085] As an optional implementation method, the expression for the PID control model is:

[0086]

[0087] In the formula, K P K is the proportionality constant (typical value 0.5~1.2). i K is the integral coefficient (typical value 0.01~0.1). d The differential coefficient (typical value 0.05~0.3).

[0088] In this embodiment, K P e(t), as a proportional term, directly reflects the current error e(t) to quickly respond to immediate deviations. For example, if the error is e(t) = +5mm, K p =1, then the output will increase by 5 units of thrust; This term, acting as an integral term, characterizes the accumulated historical error to eliminate steady-state errors (such as long-standing small deviations). Therefore, long-term positioning accuracy (such as accumulated errors caused by thermal deformation) can be ensured based on the integral term. For example, after integrating an error of 0.1 mm for 10 seconds, if K... i If the value is 0.1, the output will increase by 0.1 units of correction. This term, as a differential term, is used to predict the trend of error changes and suppress overshoot or oscillations (e.g., suppressing mechanical vibrations). For example, when the error change rate is -2 mm / s, K... d =0.5 will output a damping force of +1 unit in advance; therefore, the above formula integrates the influence of multiple sources of error such as instantaneous deviation, cumulative historical error and prediction error on the manipulator clamp, so that the control quantity u(t) can be accurately calculated, so that the control quantity u(t) can be precisely matched with the key control parameters of the drive actuator (such as voltage, current, air pressure, etc.), and the K of PID control p K i K d Parameters need to be adjusted based on the dynamic characteristics of the manipulator, therefore, through K... p K i K d Parameters were fine-tuned to balance response speed and stability.

[0089] As an optional implementation, obtaining the real-time position deviation e(t) of the target forging at time t includes:

[0090] Obtain the initial length L of the target forging when it exits the furnace;

[0091] Obtain the furnace exit temperature T0 of the target forging;

[0092] Obtain the measured temperature T(t) of the target forging at time t;

[0093] The initial length L, furnace exit temperature T0, and measured temperature T(t) are input into the preset deviation compensation model to obtain the real-time position deviation e(t) of the target forging at time t.

[0094] In this embodiment, since the positional deviation of the target forging is mainly caused by material shrinkage due to temperature reduction, the shape and size of the target forging change due to different shrinkage directions. In order to ensure clamping stability, the clamping machine also needs to change its posture to ensure clamping force, which ultimately leads to a deviation in the position of the target forging. Therefore, the initial length L, furnace temperature T0 and measured temperature T(t) of the target forging can be collected in real time and input into the preset deviation compensation model to calculate the length change that needs to be compensated. The real-time positional deviation e(t) can be represented by this length change.

[0095] As an optional implementation method, the expression for the deviation compensation model is:

[0096] e(t) = αL[T0 - T(t)];

[0097] In the formula, α is the coefficient of thermal expansion of the target forging material (e.g., 8.1 × 10⁻⁶ for titanium alloys). -6 / ℃).

[0098] In this embodiment, based on the above formula, the temperature difference between the furnace exit temperature T0 and the measured temperature T(t) is monitored in real time, and the length change corresponding to the initial length L is predicted by combining the material's thermal expansion coefficient α. The calculation is accurate and can be reacted instantly.

[0099] Example 2

[0100] Based on the same inventive concept as the foregoing embodiments, and referring to... Figure 2 This embodiment also provides a positioning control system for aerospace forgings, including:

[0101] The theoretical pose acquisition module is used to acquire the theoretical digital model of the target forging and the three-dimensional digital model of the target mold, so as to obtain the theoretical positioning pose of the target forging.

[0102] The rotation and translation module is used to acquire the three-dimensional scanning digital model of the target forging after the manipulator grips it, so as to obtain the rotation matrix R and the translation vector T. Here, the rotation matrix R represents the rotation transformation from the actual pose of the target forging to the theoretical positioning pose, and the translation vector T represents the spatial offset of the target forging.

[0103] The trajectory generation module is used to input the rotation matrix R and translation vector T into a preset trajectory planning model to generate the optimal motion trajectory for the manipulator to transport the target forging to the target mold.

[0104] As an optional implementation, the system further includes:

[0105] The correction module is used to obtain the control quantity u(t) output by the drive actuator at time t based on the PID controller; wherein the drive actuator is used to adjust the clamp of the manipulator; and the trajectory planning model is corrected in real time by the control quantity u(t).

[0106] The explanations and examples of the modules in this embodiment can be found in the methods of the foregoing embodiments, and will not be repeated here.

[0107] Example 3

[0108] Based on the same inventive concept as the foregoing embodiments, this embodiment provides a computer device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0109] Example 4

[0110] Based on the same inventive concept as the foregoing embodiments, this embodiment provides a computer-readable storage medium storing a computer program, and a processor executes the computer program to implement the above-described method.

[0111] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. An aircraft die forging positioning control method, characterized by, The method comprises the following steps: acquire a theoretical numerical model of a target die forging and a three-dimensional numerical model of a target die to obtain a theoretical placement pose of the target die forging; acquire a three-dimensional scanning numerical model of the target die forging after being gripped by the manipulator to obtain a rotation matrix R and a translation vector T; the rotation matrix R represents a rotation transformation from an actual pose of the target die forging to the theoretical placement pose, and the translation vector T represents a spatial offset of the target die forging; input the rotation matrix R and the translation vector T into a preset trajectory planning model to generate an optimal motion trajectory of the target die forging transported to the target die by the manipulator; an expression of the trajectory planning model is: wherein x(t) is a target position of the gripper of the manipulator at time t, a0 is a first trajectory coefficient, a1 is a second trajectory coefficient, a2 is a third trajectory coefficient, a3 is a fourth trajectory coefficient, a4 is a fifth trajectory coefficient, a5 is a sixth trajectory coefficient, and γ is an integral gain coefficient; acquire a control amount u(t) output by a driving execution mechanism at time t based on a PID controller; the driving execution mechanism is used to adjust the gripper of the manipulator; and the trajectory planning model is corrected in real time through the control amount u(t).

2. A method of positioning and controlling an aeroform according to claim 1, wherein, acquire a three-dimensional scanning numerical model of the target die forging after being gripped by the manipulator to obtain a rotation matrix R and a translation vector T, comprising: acquire an i th actual feature point coordinate in the three-dimensional scanning numerical model of the target die forging after being gripped by the manipulator; acquire an i th theoretical feature point coordinate in the theoretical numerical model of the target die forging; input the i th actual feature point coordinate and the i th theoretical feature point coordinate into a preset least squares feature point registration function to obtain the rotation matrix R and the translation vector T.

3. A method of positioning and controlling an aeroform according to claim 2, wherein, An expression of the least squares feature point registration function is: In the formula, Qmin is a target value, p i is the i-th theoretical feature point coordinate, q i is the i-th actual feature point coordinate, and n≥4.

4. A method of positioning and controlling an aeroform according to claim 1, wherein, acquire a control amount u(t) output by a driving execution mechanism at time t based on a PID controller, comprising: acquire a real-time position deviation e(t) of the target die forging at time t; input the real-time position deviation e(t) into a preset PID control model to obtain the control amount u(t) output by the driving execution mechanism at time t.

5. A method of positioning and controlling an aeroform according to claim 4, wherein, An expression of the PID control model is: where K P is a proportional coefficient, K i is an integral coefficient, and K d is a derivative coefficient.

6. A method of positioning and controlling an aeroform according to claim 4, wherein, acquire a real-time position deviation e(t) of the target die forging at time t, comprising: acquire an initial length L of the target die forging when the target die forging is discharged; acquire a discharge temperature T0 of the target die forging; acquire a measured temperature T(t) of the target die forging at time t; input the initial length L, the discharge temperature T0 and the measured temperature T(t) into a preset deviation compensation model to obtain the real-time position deviation e(t) of the target die forging at time t.

7. A method of positioning and controlling an aeroform according to claim 6, wherein, An expression of the deviation compensation model is: e(t)=αL[T0-T(t)] wherein α is a material thermal expansion coefficient of the target die forging.

8. An aircraft swage positioning control system, characterized by, comprise: a theoretical pose acquisition module, configured to acquire a theoretical numerical model of a target die forging and a three-dimensional numerical model of a target die to obtain a theoretical placement pose of the target die forging; a rotation and translation module, configured to acquire a three-dimensional scanning numerical model of the target die forging after being gripped by the manipulator to obtain a rotation matrix R and a translation vector T; the rotation matrix R represents a rotation transformation from an actual pose of the target die forging to the theoretical placement pose, and the translation vector T represents a spatial offset of the target die forging; The trajectory generation module is configured to input the rotation matrix R and the translation vector T into a preset trajectory planning model to generate an optimal motion trajectory of the manipulator for conveying the target die forging to the target die; an expression of the trajectory planning model is as follows: In the formula, x(t) is a target position of the gripper of the manipulator at the time t, a0 is a first trajectory coefficient, a1 is a second trajectory coefficient, a2 is a third trajectory coefficient, a3 is a fourth trajectory coefficient, a4 is a fifth trajectory coefficient, a5 is a sixth trajectory coefficient, and γ is an integral gain coefficient; The correction module is configured to acquire, based on the PID controller, a control quantity u(t) output by a driving execution mechanism at the time t, wherein the driving execution mechanism is configured to adjust the gripper of the manipulator, and to correct the trajectory planning model in real time by using the control quantity u(t).

9. A computer device, comprising: The computer device comprises a memory and a processor, the memory stores a computer program, and the processor executes the computer program to implement the aviation die forging positioning control method in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the processor executes the computer program to implement the aviation die forging positioning control method in any one of claims 1-7.

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