An industrial master control automatic adjustment control system for an aircraft mobile work platform

Abstract

The application relates to the technical field of automation control, and discloses an industrial general control automatic adjustment control system for an airplane mobile working platform, which comprises a space pose perception unit, a geometric topology algorithm module and a response driving module.The space pose perception unit is used for acquiring pose deviation data of a controlled mobile main body and a controlled physical node; the geometric topology algorithm module is used for optimizing and calculating a virtual topology deformation parameter model through a parameterized geometric topology algorithm framework and a geometric constraint solving operator, so as to generate a geometric node compensation coordinate array; and the response driving module is used for rewriting a pose setting value according to the compensation coordinate array, and driving an adjustment mechanism to complete physical pose remodeling of the controlled mobile main body.The application realizes predictive hedging of residual stress of a coupling topology node through direct rewriting of the pose setting value, and ensures that the connection between the controlled mobile main body and the controlled physical node is always in a geometric topology compliance state.

Description

Technical Field

[0001] This invention belongs to the field of automation control technology, and in particular relates to an industrial master control automatic adjustment and control system for an aircraft mobile work platform. Background Technology

[0002] In current flexible assembly processes for aircraft, the aircraft's moving system tows multiple on-line work platforms for synchronous movement. Existing technologies employ industrial controllers, encoders, and laser displacement sensors to form a closed-loop control circuit. This circuit continuously monitors position deviations and generates compensation commands to maintain the platform's trajectory and attitude during towing. The assembly environment for large, heavy-load aircraft features subtle ground undulations, and the dynamically changing load distribution causes dynamic stress fluctuations in the non-rigidly connected multi-platform system. The adjustment response typically lags behind the stress deformation process. Existing architectures treat the mounting mechanisms as fixed spatial geometric constraints, resulting in the system only taking remedial adjustments for existing deviations. This approach relies on physical actuators to rigidly resist dynamic loads, which easily leads to mechanical fatigue and structural damage at the mounting points, ultimately causing failure in on-line accuracy. Simply increasing the sensor sampling frequency or adding sensing dimensions is limited by on-site communication delays and electromagnetic signal-to-noise ratios, making it difficult for the system to accurately separate the stress characteristics generated by ground disturbances and mechanical gaps. Increasing the rigidity of the mounting mechanisms does not meet the requirements of flexibility and lightweight design in aircraft assembly lines.

[0003] The limitation of existing technologies lies in the lack of real-time digital representation of dynamic assembly relationships in the logic layer. This results in the controller only being able to provide feedback for local disturbances and being unable to actively resolve stress through geometric topology reconstruction in the global coordinate system. For example, Chinese invention patent application CN117647964A discloses a collaborative following mobile transfer platform control system and method for aircraft final assembly. It uses laser trilateration to obtain the position vector between the master and slave platforms and performs position compensation based on the deviation value. This type of technology relies on the premise of quasi-rigid connection and is essentially a post-event adjustment based on measurement error. When dealing with non-ideal planes, heavy loads, and non-rigid coupling of aircraft mobile platforms, the logic layer lacks digital representation of the physical stress evolution law. It can only follow up and remedy the geometric displacement that has already occurred, and cannot predict and offset the residual stress inside the coupling mechanism. Simple geometric position repair induces physical resistance at the moment of adjustment, resulting in oscillation of the adjustment path, which is difficult to meet the spatial collaborative accuracy requirements within 0.5mm.

[0004] Therefore, how to construct a parameterized geometric topology calculation architecture independent of the physical control loop, convert physical perception data into interference features in the virtual assembly model, and realize a pose reshaping-based control method has become the technical problem to be solved by this invention. Summary of the Invention

[0005] To address the problems mentioned in the background art, the technical solution of the present invention is as follows: An industrial master control automatic adjustment and control system for an aircraft mobile work platform, comprising:

[0006] The spatial pose sensing unit is used to receive pose deviation data between the controlled moving subject and the controlled physical node in the global coordinate system.

[0007] The geometric topology calculation module, connected to the spatial pose sensing unit, is used to generate a geometric node compensation coordinate array through a parameterized geometric topology calculation architecture. This module stores a preset pose tolerance manifold boundary and includes a geometric constraint solving operator. It maps pose deviation data to a topological displacement vector of the controlled moving subject within the pose tolerance manifold boundary and constructs a virtual topological deformation parameter model based on this vector. The geometric constraint solving operator performs optimization calculations based on the virtual topological deformation parameter model and introduces an environmental dimensionality reduction penalty factor into the objective function of the optimization calculation. This allows for the calculation of the height deviation value of the coupled topological nodes between the controlled moving subject and the controlled physical nodes, while satisfying the pose tolerance manifold boundary constraints, thereby generating the geometric node compensation coordinate array.

[0008] The response-driven module has its input end connected to the output end of the geometric topology calculation module. The response-driven module directly overwrites the controller pose setting value according to the geometric node compensation coordinate array to drive the adjustment mechanism to complete the spatial position reshaping of the controlled moving body, so that the non-rigid connection between the controlled moving body and the controlled physical node is in a geometric topology compliant state.

[0009] Preferably, it also includes: a dynamic load sensing unit, used to collect asymmetric load distribution data of the controlled moving body in real time during the pose adjustment process; and a geometric topology calculation module to correct the stiffness characteristics of the virtual topology deformation parameter model based on the asymmetric load distribution data, and dynamically update the geometric node compensation coordinate array according to the corrected model.

[0010] Preferably, the response drive module includes: a safety-type PLC, a Profinet bus, and an absolute servo driver; the safety-type PLC communicates with the absolute servo driver via the Profinet bus to convert the geometric node compensation coordinate array into servo control commands and send them to the absolute servo driver.

[0011] Preferably, when constructing the parameterized geometric topology calculation architecture, the internal logic flow of the geometric topology calculation module includes: initializing the digital twin model topology nodes of the controlled moving subject and each controlled physical node; and mapping the pose deviation data obtained by the spatial pose sensing unit to the topological displacement vector in the digital twin model.

[0012] Preferably, the geometric topology calculation module divides the initial geometric features into a spatial pose subset and a boundary constraint subset based on the preset dynamic constraints of the controlled moving subject. The boundary constraint subset includes the ground clearance threshold, the stress limit of the coupling mechanism, and the safe distance between nodes.

[0013] Preferably, the geometric constraint solver restricts nonlinear environmental disturbances to within the pose tolerance manifold boundary during the calculation process, and ensures that the pose adjustment path of the adjustment mechanism is in a logically deterministic state by dynamically adjusting the environmental dimensionality reduction penalty factor.

[0014] Preferably, it also includes: a redundancy verification module, used to perform real-time verification of the geometric node compensation coordinate array, and trigger the response driving module to switch to deterministic degradation processing mode when the geometric node compensation coordinate array is detected to exceed the safety envelope.

[0015] Preferably, the response drive module, by overwriting the pose setting value, can anticipate and offset the residual stress of the coupled topology node while avoiding the hard resistance of mechanical torque, so that the spatial position deviation of the coupled topology node is stabilized within 0.5mm.

[0016] Preferably, it also includes: a fault self-monitoring module, used to monitor the signal drift of the spatial pose sensing unit. When the signal drift exceeds a preset diagnostic threshold, the fault self-monitoring module outputs a warning signal indicating that the system is in a fault risk state.

[0017] Compared with existing technologies, the industrial master control automatic adjustment and control system for aircraft mobile work platforms of the present invention has the following advantages:

[0018] 1. In industrial master control automatic adjustment, by translating the three-dimensional force components collected by the coupling device into virtual spatial interference vectors in the parameterized assembly diagram, the system establishes a deterministic mapping relationship between the underlying physical force state and the logical layer geometric topology. This transforms the adjustment process for mechanical coupling stress from traditional torque feedback compensation to pose resolution based on spatial envelope reconstruction, effectively eliminating the adjustment lag caused by mechanical transmission time delay in conventional closed-loop control, and improving the dynamic response speed and adjustment stability of the system in non-ideal planar traction processes.

[0019] 2. The system uses geometric constraint solvers to globally optimize the virtual topology deformation parameters. The system overwrites the pose settings in the safety controller with the generated geometric node height compensation coordinate array. The physical space position is reshaped by the underlying execution unit. This enables the predictive hedging of shear force and torque at the attachment point without relying on high-frequency physical torque counteraction. This ensures that the non-rigid connection between the aircraft movement system and the on-line work platform is always in a geometric topology compliant state, avoiding structural deformation of the attachment mechanism induced by ground undulations or load fluctuations.

[0020] 3. With the real-time linkage of the dynamic load perception model and the posture feedback unit, the system restricts nonlinear environmental disturbances and mechanical clearances within the preset geometric tolerance manifold boundary. Through the coordinated correction of the virtual geometric stiffness coefficient and the environmental dimensionality reduction penalty factor, the ground clearance adjustment of the drive wheel set has a high degree of logical determinism. While ensuring the accuracy of multi-agent coordinated movement, it reduces the mechanical wear caused by frequent corrections of the actuator, providing solid technical support for high reliability and long-term operation in large and complex assembly environments. Attached Figure Description

[0021] Figure 1 This is a diagram showing the overall system architecture and geometric topology calculation logic of the present invention;

[0022] Figure 2 This is a flowchart of the underlying physical interaction and spatial pose reshaping process of this invention. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0024] An industrial master control automatic adjustment and control system for an aircraft mobile work platform, the system comprising:

[0025] The spatial pose sensing unit is used to receive pose deviation data between the controlled moving subject and the controlled physical node in the global coordinate system.

[0026] The geometric topology calculation module, connected to the spatial pose sensing unit, is used to generate a geometric node compensation coordinate array through a parameterized geometric topology calculation architecture. This module stores a preset pose tolerance manifold boundary and includes a geometric constraint solving operator. It maps pose deviation data to a topological displacement vector of the controlled moving subject within the pose tolerance manifold boundary and constructs a virtual topological deformation parameter model based on this vector. The geometric constraint solving operator performs optimization calculations based on the virtual topological deformation parameter model and introduces an environmental dimensionality reduction penalty factor into the objective function of the optimization calculation. This allows for the calculation of the height deviation value of the coupled topological nodes between the controlled moving subject and the controlled physical nodes, while satisfying the pose tolerance manifold boundary constraints, thereby generating the geometric node compensation coordinate array.

[0027] The response-driven module has its input end connected to the output end of the geometric topology calculation module. The response-driven module directly overwrites the controller pose setting value according to the geometric node compensation coordinate array to drive the adjustment mechanism to complete the spatial position reshaping of the controlled moving body, so that the non-rigid connection between the controlled moving body and the controlled physical node is in a geometric topology compliant state.

[0028] Preferably, it also includes: a dynamic load sensing unit, used to collect asymmetric load distribution data of the controlled moving body in real time during the pose adjustment process; and a geometric topology calculation module to correct the stiffness characteristics of the virtual topology deformation parameter model based on the asymmetric load distribution data, and dynamically update the geometric node compensation coordinate array according to the corrected model.

[0029] Preferably, the response drive module includes: a safety-type PLC, a Profinet bus, and an absolute servo driver; the safety-type PLC communicates with the absolute servo driver via the Profinet bus to convert the geometric node compensation coordinate array into servo control commands and send them to the absolute servo driver.

[0030] Preferably, when constructing the parameterized geometric topology calculation architecture, the internal logic flow of the geometric topology calculation module includes: initializing the digital twin model topology nodes of the controlled moving subject and each controlled physical node; and mapping the pose deviation data obtained by the spatial pose sensing unit to the topological displacement vector in the digital twin model.

[0031] Preferably, the geometric topology calculation module divides the initial geometric features into a spatial pose subset and a boundary constraint subset based on the preset dynamic constraints of the controlled moving subject. The boundary constraint subset includes the ground clearance threshold, the stress limit of the coupling mechanism, and the safe distance between nodes.

[0032] Preferably, the geometric constraint solver restricts nonlinear environmental disturbances to within the pose tolerance manifold boundary during the calculation process, and ensures that the pose adjustment path of the adjustment mechanism is in a logically deterministic state by dynamically adjusting the environmental dimensionality reduction penalty factor.

[0033] Preferably, it also includes: a redundancy verification module, used to perform real-time verification of the geometric node compensation coordinate array, and trigger the response driving module to switch to deterministic degradation processing mode when the geometric node compensation coordinate array is detected to exceed the safety envelope.

[0034] Preferably, the geometric topology calculation module uses the following formula when calculating the correction gain of the pose setting value: Where G is the pose correction gain, α is the weighting factor of the virtual geometric stiffness coefficient, ΔP is the vector value corresponding to the pose deviation data, and β is the environment dimensionality reduction penalty factor.

[0035] Preferably, the response drive module, by overwriting the pose setting value, can anticipate and offset the residual stress of the coupled topology node while avoiding the hard resistance of mechanical torque, so that the spatial position deviation of the coupled topology node is stabilized within 0.5mm.

[0036] Preferably, it also includes: a fault self-monitoring module, used to monitor the signal drift of the spatial pose sensing unit. When the signal drift exceeds a preset diagnostic threshold, the fault self-monitoring module outputs a warning signal indicating that the system is in a fault risk state.

[0037] Example 1: In a multi-agent collaborative traction scenario on a large aircraft assembly line, the aircraft motion system tows multiple non-rigidly connected work platforms across a workshop floor with slight undulations. When the chassis drive wheels roll over a ground joint with a random height difference of 2mm to 5mm, the transient physical deformation caused by the asymmetry of load distribution is transmitted along the mechanical coupling chain, resulting in nonlinear shear stress at the non-rigid connection between the work platform and the aircraft motion system. Traditional control logic collects this mechanical stress based on the underlying servo driver and calculates the difference before outputting a torque compensation command. This physical disturbance rejection method is limited by mechanical transmission backlash and electromagnetic response delay, and its closed-loop adjustment cycle lags behind the stress distortion cycle, causing the coupling topology to be affected. The fatigue load on the traction node causes a deterioration in the spatial coordination accuracy of the platform's traction trajectory. The spatial pose perception unit receives the pose deviation data of the controlled moving body and the controlled physical node in the global coordinate system, and simultaneously collects the three-dimensional resultant force vector data representing the deformation of the coupled topological node deployed at the attachment device. The geometric topology calculation module extracts the pose deviation data and the three-dimensional resultant force vector data, maps the pose deviation data into the topological displacement vector of the controlled moving body within the pose tolerance manifold boundary, and constructs a virtual topological deformation parameter model based on the three-dimensional resultant force vector data and the topological displacement vector. This data processing path reconstructs the underlying discrete mechanical physical quantities into a unified spatial topological feature across domains, providing digital boundary input for global path optimization.

[0038] When the numerical values ​​represented by the virtual topology deformation parameter model exceed the preset pose tolerance manifold boundary, the geometric constraint solver within the geometric topology calculation module performs optimization calculations based on the virtual topology deformation parameter model. An environmental dimensionality reduction penalty factor is introduced into the objective function of the optimization calculation to calculate the height deviation values ​​of the coupled topology nodes between the controlled moving subject and the controlled physical nodes, generating a geometric node compensation coordinate array. The mathematical relationship of this optimization calculation is as follows: ,in, The coordinate array for the generated geometric nodes. The geometric topological mapping matrix characterizing the current kinematic attitude of the platform. This is a local spatial interference vector translated from three-dimensional resultant force vector data. Here, λ represents the virtual geometric stiffness coefficient, and λ is the environmental dimensionality reduction penalty factor. This refers to the instantaneous topological drift residual of the coupled topological node in the global coordinate system. Specifically, the optimization calculation employs a nonlinear constraint optimization algorithm based on sequential quadratic programming. The objective function is set to minimize the total potential energy increment of the system under the combined effect of the displacement compensation work of the underlying actuators and the environmental dimensionality reduction penalty factor. Constraints include the maximum permissible spatial interference offset range defined by the pose tolerance manifold boundary, and the physical travel limit threshold of the output displacement of each adjusting mechanism actuator. The solver calculates the gradient of the objective function relative to the height deviation variable and performs multiple iterations until the objective function converges to a preset minimum value, thus obtaining the optimal height deviation value that satisfies the geometric tolerance manifold boundary constraints. For the virtual geometric stiffness coefficient... The system applies a known lateral thrust with increasing gradients when the test platform is on a standard horizontal plane during calibration experiments. The resultant force value corresponding to a 1mm displacement is recorded as the basic stiffness. The specific stiffness mapping table construction steps are as follows: After the system enters the calibration mode for the first time, the adjustment mechanism increases the torque increment from 0N to 2000N in increments of 100N. The spatial pose sensing unit synchronously records the static displacement of the coupled topology node under each force step at the order of 0.01mm. By acquiring 20 sets of discrete force and displacement corresponding points, a one-dimensional search vector table is constructed using linear piecewise interpolation logic. During operation, the system retrieves two adjacent calibration points in the vector table based on the currently collected load values ​​and performs proportional scaling mapping to dynamically determine the current virtual geometric stiffness coefficient value. The stiffness mapping table is generated by interpolation fitting based on the asymmetric load distribution data collected in real time by the dynamic load sensing unit, so as to query and obtain the corresponding coefficient values ​​during operation and correct the stiffness characteristics of the virtual topology deformation parameter model.

[0039] When correcting the aforementioned stiffness characteristics, based on the proportional feedforward compensation model in classical control theory, the system synchronously constructs a feedforward control loop to adjust the response amplitude of the underlying servo mechanism. The geometric topology calculation module extracts the pose deviation data within the current sampling period, according to the formula... The pose correction gain is calculated. In the calculation expression, variable G represents the pose correction gain used for scaling the final compensated coordinates and is set as a dimensionless parameter. Variable α represents the virtual geometric stiffness coefficient weighting factor, the value of which is obtained by extracting the current basic stiffness value from the aforementioned stiffness mapping table and dividing it by the maximum yield stiffness extreme value of the system structure calibration. Variable ΔP represents the specific spatial vector value corresponding to the pose deviation data. Variable β represents the output environment dimensionality reduction penalty factor in the pre-optimization calculation and is directly superimposed on the feedforward link as an adaptive bias. After calculating the output gain, the geometric topology calculation module multiplies each dimension element of the initially generated geometric node compensated coordinate array by the pose correction gain G, and uses the scaled final array data as the basis for subsequent control. The response drive module receives the geometric node compensated coordinate array. This response drive module includes a safety-type PLC, a Profinet bus, and an absolute value servo driver. The safety-type PLC directly overwrites the controller pose setpoint based on the geometric node compensated coordinate array and sends the overwritten absolute position command to the absolute value servo driver via the Profinet bus. Servo drive; In the physical process of receiving and executing commands, the underlying drive wheel assembly generates displacement compensation action in advance based on the updated absolute position command. It transforms the mechanical shear force passively borne by the ground undulation into the release of relative kinematic space between the system nodes. By using the advanced position change of the controlled moving body to pre-occupy the stress deformation space, it resolves the external transient stress before it is actually transmitted to the non-rigid connection mechanism and transformed into destructive torque. In essence, it replaces the passive torque countermeasure that relies on increasing servo stiffness in the traditional static dimension with active compensation in the kinematic dimension. The absolute value servo drive drives the adjustment mechanism to complete the physical pose reshaping of the controlled moving body. This control mechanism redefines the physical process of relying on rigid mechanical action to counteract nonlinear mechanical hysteresis as a coordinate system reconstruction task. This allows the residual stress at the non-rigid connection nodes at the bottom of the system to be resolved in situ during the spatial position reshaping process. The spatial position deviation of the coupled topology nodes is maintained within 0.5mm, and the non-rigid connection between the controlled moving body and the controlled physical node is in a geometrically topological compliant state.

[0040] Example 2: The aircraft mobile work platform traction system operates under industrial ground undulation and random electromagnetic interference conditions. The test utilizes a full-size digital-physical hybrid traction test bench to acquire spatial pose data of non-rigid connection nodes. This test bench integrates a laser tracking network with a 100Hz spatial update rate and 0.01mm calibration accuracy, and is equipped with a multi-axis servo exciter to output dynamic off-center load. The data sampling period of the spatial pose sensing unit is set to 10ms. A circular buffer with a depth of 100 double-word data is created in the memory area of ​​the safety PLC to store three-dimensional resultant force vector data in real time. The length of the sliding window is fixed at 1000ms, and the overlap rate of the window sliding is set to 50%. This means that the system triggers a sliding variance calculation instruction every 500ms. By performing discrete variance calculation on 100 sampling points in the buffer, the intensity of environmental disturbance is evaluated, ensuring accurate capture and isolation of ground nonlinear excitation characteristics in the 5Hz to 50Hz frequency band. The technical consideration for selecting this sampling period is to balance the real-time performance of pose data updates with the bandwidth load of the Profinet bus. When controlled movement... As the traction speed of the main body increases, widening the topological deformation frequency band, the system shortens the sampling period to capture high-frequency transient stress changes according to the Nyquist sampling criterion. The test bench injects Gaussian white noise with a signal-to-noise ratio of 20dB into the bottom-level sensor link and actively superimposes 50Hz harmonic vibration interference onto the traction track to generate an input benchmark containing environmental disturbances. The test constructs a problem intensity gradient comparison system, setting the vertical elevation difference step of the track as the core problem variable, with three set gradients: 1mm, 3mm, and 6mm. The test establishes a first comparison sample group... The second comparative sample group and the sample group of the present invention; the first comparative sample group adopts the physical torque differential compensation method; the second comparative sample group adopts the parameterized geometric topology calculation architecture that removes the environmental dimensionality reduction penalty factor; the sample group of the present invention adopts the complete parameterized geometric topology calculation architecture; when the drive wheel group rolls over a 3mm height difference step, the sensor at the attachment device outputs a three-dimensional resultant force vector test data with a peak value of 1502.4N; the bottom torque adjustment command of the first comparative sample group has a time delay of 121.5ms, and the output geometric topology node spatial deviation reaches 2.52mm.

[0041] The present invention receives resultant force vector data with Gaussian white noise, and the geometric topology calculation module extracts the data and maps it into a local spatial interference vector. The system calls the virtual geometric stiffness coefficient, which has a calibration value of 850 N / mm. The instantaneous topology drift residual of the node was calculated. The value is 1.76 mm; the geometric constraint solver outputs a geometric node compensation coordinate array based on the aforementioned variables. The data acquisition terminal extracts the final position deviation values ​​under three elevation gradients. Under a 1mm step change, the spatial deviation of the first comparative sample group is 0.81mm, the spatial deviation of the second comparative sample group is 0.49mm, and the spatial deviation of the sample group of this invention is 0.18mm. Under a 3mm step change, the spatial deviation of the second comparative sample group increases to 1.23mm, while the sample group of this invention maintains the spatial deviation at 0.38mm by utilizing the synergistic constraint of the virtual topological deformation parameter model and the environmental dimensionality reduction penalty factor λ. When the step elevation difference reaches 6mm, this elevation difference value exceeds the linear range of the suspension travel, and the spatial deviation of the sample group of this invention nonlinearly climbs to 1.85mm. The above test data is presented by the system. The adjustment saturation region of the nonlinear transformation function is outside the 5mm boundary, confirming that the pose tolerance manifold boundary set in the specification is within the optimal working window. The aforementioned multi-dimensional test data shows that the technical path of constructing a virtual topological deformation parameter model to reconstruct discrete mechanical stress into spatial coordinate system compensation commands can suppress abnormal harmonics received by the spatial pose sensing unit under conditions containing high-frequency mechanical disturbances and electromagnetic noise. The geometric node compensation coordinate array output by the geometric constraint solving operator maintains the spatial coordination error between the controlled moving body and the controlled physical node within 0.5mm. This adjustment mechanism replaces the underlying servo hard action countermeasure with digital spatial coordinate system reconstruction, solving the mechanical fatigue and response hysteresis problems caused by transient off-center loading in physical countermeasures.

[0042] Example 3: When the aircraft mobile work platform is in a multi-axis coupled traction condition and faces sudden road surface disturbances, the spatial pose perception unit continuously outputs pose deviation data between the controlled moving body and the controlled physical nodes, as well as three-dimensional resultant force vector data. The geometric topology calculation module extracts the three-dimensional resultant force vector data and calculates the Jacobian components of this data in the reference coordinate system. Based on the principle of equivalent virtual work in statics in multibody kinematics, the specific calculation process of the components is as follows: The system controller internally stores the global Jacobian matrix representing the topological relationship of the bottom link of the controlled moving body. The logic operation unit reads the collected three-dimensional resultant force vector data and multiplies it by the transpose of the global Jacobian matrix. Through coordinate space transformation, the linear contact force in the solid space under the Cartesian coordinate system is equivalently mapped to the generalized torque value in the space of the bottom driving joint. The generalized torque value output by the calculation is directly established as the Jacobian component. Comparable components are extracted synchronously from the topological displacement vector generated by mapping pose deviation data. To eliminate the physical dimension computational barrier between the underlying joint dynamic parameters and the global spatial kinematic parameters, before executing the next matrix combination, the system calls a pre-calibrated spatial equivalent elastic modulus diagonal matrix to perform feature dimensionality reduction and physical dimension scaling transformation on the extracted topological displacement vector, mapping it from a spatial displacement with length dimensions to an equivalent moment feature vector in the same generalized mechanical space, ensuring that the two factors involved in the subsequent calculation have the rationality of centripetal multiplication in mathematical space. The geometric topology calculation module takes the outer product of the Jacobian components and the topological displacement vector to generate an initial deformation matrix characterizing the spatial stiffness distortion gradient, and injects the initial deformation matrix into the preset reference topological node coordinate system to generate a virtual topological deformation parameter model.

[0043] Geometric constraint solver extracts virtual topological deformation parameter model, according to formula Calculate the height deviation value; where, For geometric node compensation coordinate array, It is a geometric topological mapping matrix. For local spatial interference vectors, Here, λ represents the virtual geometric stiffness coefficient, and λ is the environmental dimensionality reduction penalty factor. The instantaneous topological drift residual is used; the environmental dimensionality reduction penalty factor λ is obtained through adaptive calculation based on the physical fluctuation residual; the system extracts the three-dimensional resultant force vector magnitude sequence of the first 100 sampling periods and calculates the sliding variance; when it is less than 50N², λ is set to 0.1; when the sliding variance is greater than or equal to 50N² and less than 200N², the system multiplies the sliding variance by the baseline coefficient. generate The value of is set when the sliding variance is greater than or equal to 200N². The value is 0.8. The geometric constraint solver extracts the stored pose tolerance manifold boundary and compares the height deviation value with the pose tolerance manifold boundary. If the height deviation value is within the pose tolerance manifold boundary, the geometric constraint solver outputs the height deviation value as a geometric node compensation coordinate array. If the height deviation value exceeds the pose tolerance manifold boundary, the geometric constraint solver decreases the local spatial interference vector in the opposite direction of the constraint gradient by a fixed step size of 0.05 mm. The modulus is used to recalculate the height deviation value according to the aforementioned formula until the updated height deviation value falls within the pose tolerance manifold boundary, and the updated geometric node compensation coordinate array is output; the response drive module receives the geometric node compensation coordinate array and overwrites the controller pose setting value; the adjustment mechanism drives the controlled moving body to complete the physical pose reshaping according to the overwritten instructions. The algorithm rule uses a fixed step size to constrain the iterative attenuation amplitude of the local spatial interference vector and outputs deterministic position parameters that conform to the safety envelope specification.

[0044] Example 4: When the system faces the situation of initial on-site deployment or replacement of the aircraft mobile work platform mounting device, the spatial pose sensing unit collects the basic three-dimensional spatial coordinates of each independent working platform on a static horizontal plane without load; the geometric topology calculation module extracts the basic three-dimensional spatial coordinates and maps them to the origin array of the reference topology node coordinate system; it issues a command to the absolute value servo driver to move the controlled physical node to the mechanical interference limit region at a low speed of 0.01m / s; the dynamic load sensing unit synchronously monitors the three-dimensional resultant force vector data, and when its magnitude reaches 80% of the preset threshold of the physical yield limit of the mounting device, the spatial pose sensing unit records the current limit coordinate envelope set; the geometric topology calculation module extracts the limit coordinate envelope set and generates a continuous spatial boundary surface according to the point cloud fitting algorithm, and the system stores the spatial boundary surface as a pose tolerance manifold boundary.

[0045] After completing the spatial boundary storage, the geometric topology calculation module initiates the offline calibration and data filling procedure for the parameterized assembly diagram. The multi-axis servo exciter applies a sinusoidal sweep excitation force covering the frequency band from 0.5Hz to 10Hz to the controlled moving body, and the spatial pose sensing unit collects the topological displacement vector at the corresponding excitation frequency. The geometric topology calculation module calculates the spatial projection matrix of the topological displacement vector and the origin array of the reference topological node coordinate system, and constructs a structured triplet with the three-dimensional resultant force vector data, the spatial projection matrix, and the corresponding excitation frequency. The system writes the structured triplet generated by traversing all frequency sweep bands into the read-only storage module after arranging them in ascending order of frequency, generating a parameterized assembly diagram that characterizes the inherent mechanical resonance characteristics of the controlled moving body. The geometric topology calculation module calculates the local spatial interference vector based on the parameterized assembly diagram during dynamic operation.

[0046] Example 5: When the system faces a situation where the spatial pose sensing unit loses its line-of-sight signal due to physical obstruction on site, the geometric topology calculation module extracts pose deviation data from three consecutive sampling periods, calculates the ratio of coordinate space change to sampling period within adjacent periods to generate instantaneous movement rate, and compares the instantaneous movement rate with the physical traction speed limit threshold of the controlled moving body's electromechanical system. If the instantaneous movement rate is greater than the physical traction speed limit threshold, the geometric topology calculation module determines that the pose deviation data of the current period is invalid and removes the data source. The calibration method for the physical traction speed limit threshold is as follows: under no-load conditions, drive the adjustment mechanism to execute 0 to... A 100% full-stroke step response test was conducted to record the highest stable operating speed at which the actuator did not experience mechanical oscillation. 85% of this value was taken as the safe speed limit threshold, with the specific calibration parameter set at 500 mm / s. In the real-time monitoring logic, if the adjacent displacement increments calculated for three consecutive sampling cycles all exceed 5 mm after comparison and judgment, the system determines that the sensing signal is drifting. The logic layer will automatically block the current output channel, and the system will synchronously extract the geometric node compensation coordinate array generated in the previous compliant sampling cycle as a replacement instruction and send it to the response drive module. This constraint logic prevents the underlying absolute value servo driver from outputting a high-frequency position response that exceeds the mechanical limit.

[0047] When the equipment operates continuously beyond the preset fatigue cycle and faces a non-rigid connection node foundation stiffness drift condition, the dynamic load sensing unit continuously monitors the three-dimensional resultant force vector data at the coupling device under constant speed traction. The geometric topology calculation module extracts the three-dimensional resultant force vector data within a 60-second time window and calculates the integral mean. This geometric topology calculation module compares the integral mean with the initially set steady-state mechanical reference value in the parametric assembly drawing. When the comparison deviation exceeds the 10% tolerance boundary, the system erases the internally stored virtual geometric stiffness coefficient and triggers an offline reconstruction procedure. The system controller instructs the multi-axis servo exciter to reapply the variable frequency excitation force to the controlled moving body to obtain the updated topological displacement vector. Based on the latest acquired mechanical and posture sensor data array, the parametric assembly drawing is overwritten. This reconstruction procedure maintains the virtual topological deformation parameters. The system achieves consistency in mapping between the numerical model and the actual stiffness attenuation state of the underlying physical nodes. In adaptation scenarios for different workshop floor flatness differences, the system executes an adaptive gain mapping procedure for the environmental dimensionality reduction penalty factor. The geometric topology calculation module receives the three-dimensional resultant force vector data sequence fed back by the dynamic load sensing unit and calculates the quadratic fluctuation residual of the sequence within the moving average time window. For working conditions with high floor joint density, when the quadratic fluctuation residual continues to rise and touches the preset oscillation suppression threshold, the system increases the weight value of λ according to the piecewise function logic to enhance the penalty intensity for spatial topological displacement fluctuation in the objective function. The adjustment mechanism responds to the corrected geometric node compensation coordinate array to slow down the transient acceleration of position reshaping. This gain adjustment procedure establishes a quantitative correlation between the external environmental roughness and the internal damping characteristics of the system.

[0048] The embodiments of this application have been described above with reference to the accompanying drawings. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. This application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit of this application and the scope of protection of this invention, and all of these forms are within the protection scope of this application.

Claims

1. An industrial master control automatic adjustment and control system for an aircraft mobile work platform, characterized in that, The system includes: The spatial pose sensing unit is used to receive pose deviation data between the controlled moving subject and the controlled physical node in the global coordinate system. The geometric topology calculation module, connected to the spatial pose sensing unit, is used to generate a geometric node compensation coordinate array through a parameterized geometric topology calculation architecture. This module stores a preset pose tolerance manifold boundary and includes a geometric constraint solving operator. It maps pose deviation data to a topological displacement vector of the controlled moving subject within the pose tolerance manifold boundary and constructs a virtual topological deformation parameter model based on this displacement vector. The geometric constraint solving operator performs optimization calculations based on the virtual topological deformation parameter model and introduces an environmental dimensionality reduction penalty factor into the objective function of the optimization calculation to calculate the height deviation value of the coupled topological nodes between the controlled moving subject and the controlled physical nodes, while satisfying the pose tolerance manifold boundary constraints. The response-driven module has its input end connected to the output end of the geometric topology calculation module. The response-driven module directly overwrites the controller pose setting value according to the geometric node compensation coordinate array to drive the adjustment mechanism to complete the spatial position reshaping of the controlled moving body, so that the non-rigid connection between the controlled moving body and the controlled physical node is in a geometric topology compliant state.

2. The industrial master control automatic adjustment and control system for an aircraft mobile work platform according to claim 1, characterized in that, Also includes: The dynamic load sensing unit is used to collect asymmetric load distribution data of the controlled moving body in real time during the pose adjustment process; The geometric topology calculation module corrects the stiffness characteristics of the virtual topology deformation parameter model based on asymmetric load distribution data, and dynamically updates the geometric node compensation coordinate array according to the corrected model.

3. The industrial master control automatic adjustment and control system for an aircraft mobile work platform according to claim 1, characterized in that, The response drive module includes: a safety PLC, a Profinet bus, and an absolute servo driver; the safety PLC communicates with the absolute servo driver via the Profinet bus to convert the geometric node compensation coordinate array into servo control commands and send them to the absolute servo driver.

4. The industrial master control automatic adjustment and control system for an aircraft mobile work platform according to claim 1, characterized in that, When constructing a parameterized geometric topology calculation architecture, the internal logic flow of the geometric topology calculation module includes: initializing the digital twin model topology nodes of the controlled moving subject and each controlled physical node; and mapping the pose deviation data obtained by the spatial pose sensing unit to the topological displacement vector in the digital twin model.

5. The industrial master control automatic adjustment and control system for an aircraft mobile work platform according to claim 1, characterized in that, The geometric topology calculation module divides the initial geometric features into a spatial pose subset and a boundary constraint subset based on the preset dynamic constraints of the controlled moving subject. The boundary constraint subset includes the ground clearance threshold, the stress limit of the coupling mechanism, and the safe distance between nodes.

6. The industrial master control automatic adjustment and control system for an aircraft mobile work platform according to claim 1, characterized in that, During the calculation process, the geometric constraint solver restricts nonlinear environmental disturbances to the boundary of the pose tolerance manifold. By dynamically adjusting the environmental dimensionality reduction penalty factor, the pose adjustment path of the adjustment mechanism is made to be in a logically deterministic state.

7. The industrial master control automatic adjustment and control system for an aircraft mobile work platform according to claim 1, characterized in that, It also includes a redundancy verification module, which is used to perform real-time verification of the geometric node compensation coordinate array, and triggers the response driving module to switch to deterministic degradation processing mode when the geometric node compensation coordinate array is detected to exceed the safety envelope.

8. The industrial master control automatic adjustment and control system for an aircraft mobile work platform according to claim 1, characterized in that, The response-driven module, by overwriting the pose setting values, can anticipate and offset the residual stress of the coupled topology nodes while avoiding direct mechanical torque resistance, thus stabilizing the spatial position deviation of the coupled topology nodes within 0.5mm.

9. An industrial master control automatic adjustment and control system for an aircraft mobile work platform according to claim 1, characterized in that, Also includes: The fault self-monitoring module is used to monitor the signal drift of the spatial pose sensing unit. When the signal drift exceeds the preset diagnostic threshold, the fault self-monitoring module outputs a warning signal indicating that the system is in a fault risk state.

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