Jack-up control method and device for aircraft fairing and electronic equipment

Abstract

The application discloses a jacking control method and device for an aircraft fairing and electronic equipment, and relates to the field of aircraft assembly. The method comprises the following steps: obtaining a target jacking distance of the aircraft fairing, and dividing the target jacking distance into multiple sub distances to perform sub jacking control through multiple servo motors; if a first jacking error of a first servo motor is detected in a first sub distance, jacking compensation is performed in subsequent sub distances; when the sub jacking control is completed, the fine adjustment distance of each servo motor is obtained based on a spatial linear analysis method to adjust the jacking position of the aircraft fairing through the fine adjustment distance of each servo motor. The technical scheme of the embodiment of the application not only reduces the labor cost and time cost in the jacking process of the aircraft fairing, but also improves the safety of the jacking process, improves the control accuracy of the jacking process, and ensures the installation position accuracy of the aircraft fairing.

Description

Technical Field

[0001] This invention relates to the field of aircraft assembly, and more particularly to a method, apparatus, and electronic equipment for controlling the lifting of an aircraft fairing. Background Technology

[0002] The fairing is an important component used to optimize fluid flow and protect the internal structure of an aircraft. Its installation process is also a highly precise process that requires a combination of engineering experience and strict technical specifications.

[0003] In the existing technology, the installation of aircraft fairings, especially during the lifting process, requires the preparation of equipment and tools in advance to move the fairing to the installation location on the aircraft by crane or manpower. During the installation process, one worker is required to direct the manual lifting or crane movement to ensure the safety of the installation environment, while another worker is located near the installation location to direct the docking of the fairing with the aircraft to ensure the accuracy of the installation position.

[0004] However, this lifting control method not only requires a lot of manpower and time, but also easily leads to problems such as personnel exhaustion or hoisting safety, posing significant safety hazards during the lifting process. In addition, the lifting control accuracy of this method is poor, making it impossible to achieve precise control of the lifting process. Summary of the Invention

[0005] This invention provides a method, apparatus, electronic device, and storage medium for controlling the lifting of an aircraft fairing, in order to solve the problems of low control accuracy and high safety risks during the lifting process of an aircraft fairing.

[0006] According to another aspect of the present invention, a method for controlling the lifting of an aircraft fairing is provided, comprising: The target lifting distance of the aircraft fairing is obtained and the target lifting distance is divided into multiple segment distances, so as to perform segmented lifting control of the aircraft fairing by multiple servo motors according to the multiple segment distances; If a first lifting error is detected in the first segment distance, the first servo motor will perform lifting compensation in at least one subsequent segment distance based on the first lifting error. In response to the detection that the segmented lifting control of the aircraft fairing has been completed, the fine-tuning distance of each servo motor is obtained based on the spatial linear analysis method, so as to adjust the lifting position of the aircraft fairing by the fine-tuning distance of each servo motor.

[0007] The step of performing segmented lifting control of the aircraft fairing by multiple servo motors according to the multiple segmented distances further includes: comparing the actual torque of each servo motor within the current segmented distance with the target torque; if it is determined that the difference between the actual torque of the second servo motor and the target torque within the current segmented distance is greater than or equal to a preset deviation threshold and less than or equal to a preset compensation threshold, then torque compensation is performed on the second servo motor within the next segmented distance.

[0008] After comparing the actual torque of each servo motor within the current segment distance with the target torque, the method further includes: if it is determined that the difference between the actual torque of the third servo motor within the current segment distance and the target torque is greater than a preset compensation threshold and less than a preset safety threshold, torque compensation is performed on the third servo motor until the third servo motor completes torque compensation, and the lifting control of the aircraft fairing for the next segment distance is initiated through the plurality of servo motors; if it is determined that the difference between the actual torque of the fourth servo motor within the current segment distance and the target torque is greater than or equal to a preset safety threshold, the segment lifting control of the aircraft fairing is stopped through the plurality of servo motors, and a lifting control alarm is issued.

[0009] After dividing the target lifting distance into multiple segment distances, the method further includes: updating the height of the next segment distance based on the distance control error and torque control error of each servo motor at the current segment distance, as well as the height of the current segment distance.

[0010] The plurality of servo motors form at least three servo motor columns, each servo motor column including two symmetrically placed servo motors; the fine-tuning distance of each servo motor is obtained based on the spatial linear analysis method, including: taking the position of the fifth servo motor in the first servo motor column as the first reference coordinate, and taking the position of the sixth servo motor in the first servo motor column as the second reference coordinate; and obtaining the fine-tuning distance of the other servo motors based on the first reference coordinate and the second reference coordinate, using the spatial linear analysis method.

[0011] After obtaining the fine-tuning distance of each servo motor based on the first reference coordinate and the second reference coordinate using a spatial linear analysis method, the method further includes: using the position of the seventh servo motor in the second servo motor column as the third reference coordinate and the position of the eighth servo motor in the second servo motor column as the fourth reference coordinate; wherein, the second servo motor column is the servo motor column farthest from the first servo motor column; and obtaining the fine-tuning distance of other servo motors based on the third reference coordinate and the fourth reference coordinate using a spatial linear analysis method.

[0012] According to another aspect of the present invention, a lifting control device for an aircraft fairing is provided, comprising: The segmented lifting execution module is used to obtain the target lifting distance of the aircraft fairing and divide the target lifting distance into multiple segmented distances, so as to execute the segmented lifting control of the aircraft fairing through multiple servo motors according to the multiple segmented distances; The lifting compensation execution module is used to perform lifting compensation by the first servo motor in at least one subsequent segment distance based on the first lifting error if a first lifting error is detected in the first servo motor in the first segment distance. The fine-tuning control execution module is used to respond to the detection that the segmented lifting control of the aircraft fairing has been completed, and to obtain the fine-tuning distance of each servo motor based on the spatial linear analysis method, so as to adjust the lifting position of the aircraft fairing by the fine-tuning distance of each servo motor.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the aircraft fairing lifting control method according to any embodiment of the present invention.

[0014] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the aircraft fairing lifting control method according to any embodiment of the present invention.

[0015] According to another aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the aircraft fairing lifting control method described in any embodiment of the present invention.

[0016] The technical solution of this invention involves obtaining the target lifting distance of the aircraft fairing and dividing it into multiple segmented distances. Multiple servo motors are then used to perform segmented lifting control of the aircraft fairing based on these segmented distances. If a first lifting error is detected in the first servo motor within the first segmented distance, the first servo motor performs lifting compensation based on this error within at least one subsequent segmented distance. In response to the detection that the segmented lifting control of the aircraft fairing has been completed, the fine-tuning distance of each servo motor is obtained based on a spatial linear analytical method, and the lifting position of the aircraft fairing is adjusted using these fine-tuning distances. This not only reduces the manpower and time costs associated with the aircraft fairing lifting process but also avoids issues such as personnel exhaustion and hoisting safety, improving the safety of the lifting process. Simultaneously, it enhances the control precision of the lifting process, ensuring the accurate installation position of the aircraft fairing.

[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of a method for controlling the lifting of an aircraft fairing according to Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the hardware structure of an aircraft fairing lifting control system according to Embodiment 1 of the present invention. Figure 3 This is a flowchart of another aircraft fairing lifting control method provided in Embodiment 2 of the present invention; Figure 4 This is a flowchart of another aircraft fairing lifting control method provided in Embodiment 3 of the present invention; Figure 5 This is a schematic diagram of the structure of an aircraft fairing lifting control device according to Embodiment 4 of the present invention; Figure 6 This is a schematic diagram of the structure of an electronic device that implements the aircraft fairing lifting control method of the present invention. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] Example 1 Figure 1 This is a flowchart of a method for controlling the lifting of an aircraft fairing according to Embodiment 1 of the present invention. This embodiment is applicable to lifting an aircraft fairing through segmented lifting control and fine-tuning control. This method can be executed by an aircraft fairing lifting control device, which can be implemented in hardware and / or software and can be configured in electronic equipment. Figure 1 As shown, the method includes: S101. Obtain the target lifting distance of the aircraft fairing and divide the target lifting distance into multiple segment distances, so as to perform segmented lifting control of the aircraft fairing by multiple servo motors according to the multiple segment distances.

[0023] Figure 2 This is a schematic diagram of the hardware structure of the aircraft fairing lifting control system. The curved shell structure component at the top is the aircraft fairing; the support component at the bottom is the tooling mold, which supports the aircraft fairing; the components regularly arranged on both sides (or around) of the tooling mold are servo motors, which drive steel wires to lift (or lower) the tooling mold and the aircraft fairing supported by the tooling mold, so that the fairing reaches the installation position on the aircraft; optionally, in this embodiment of the invention, the number and position of the servo motors are not specifically limited.

[0024] The target lifting distance refers to the actual distance the aircraft fairing needs to be lifted from the ground to the installation position. As the ultimate goal of the lifting action, it is also the core parameter of the segmented lifting control logic. It can be calculated based on the coordinate information of the installation position, or it can be calculated manually or by other equipment. In addition, the target torque and target speed of the aircraft fairing need to be defined. The target torque defines the torque output of each motor during the lifting process of the aircraft fairing. Ensuring that each servo motor maintains the same output torque is an important prerequisite for a smooth lifting process of the aircraft fairing. The target speed is the rhythm control parameter of the lifting process of the aircraft fairing. Setting the same target speed for each servo motor can avoid the impact caused by the start-stop or speed change of the servo motor, and prevent vibration or attitude loss due to sudden speed changes.

[0025] The target lifting distance can be divided into N equal parts (N is an integer greater than 1) to obtain multiple segmented distances; alternatively, the target lifting distance M can be divided unequally. For example, when the height is low, the segmented distance can be configured to a larger value to ensure faster lifting efficiency; when the height is high, the segmented distance can be configured to a smaller value to improve the control accuracy of the lifting process and ensure the safety of the lifting process. After completing the division of multiple segmented distances, lifting commands are synchronously sent to each servo motor.

[0026] Within each segment distance, each servo motor, according to the lifting command, uses the target speed and target torque as control parameters to control the aircraft fairing to reach the specified segment distance. After completing the lifting control for that segment distance, the absolute position of each motor is read by the controller of each motor, and the absolute position of each motor is compared with the current segment distance. If the absolute position of each motor is equal to the current segment distance, or the error is extremely small (i.e., the difference between each absolute position and the current segment distance is less than or equal to the preset error threshold), then it is determined that the lifting control for the current segment distance is completed, and the lifting control for each subsequent segment distance is continued accordingly.

[0027] S102. If a first lifting error is detected in the first servo motor within the first segment distance, the first servo motor performs lifting compensation based on the first lifting error within at least one subsequent segment distance.

[0028] If a servo motor (i.e., the first servo motor) fails to achieve precise control at a certain segment distance (i.e., the first segment distance), resulting in a distance error (i.e., the first lifting error), then for the first servo motor, the first distance error can be added to the next segment distance to compensate for the lifting distance in the next segment distance. Alternatively, the first distance error can be added to multiple subsequent segment distances to smoothly compensate for the lifting distance across multiple segment distances. For example, the compensation distance can be evenly distributed to each segment distance, or it can be distributed to each segment distance in a decreasing or increasing manner.

[0029] S103. In response to detecting that the segmented lifting control of the aircraft fairing has been completed, the fine-tuning distance of each servo motor is obtained based on the spatial linear analysis method, so as to adjust the lifting position of the aircraft fairing by the fine-tuning distance of each servo motor.

[0030] Because the data collected by servo motors is often inaccurate due to the influence of the external environment, when each servo motor completes the segmented lifting control of the aircraft fairing, that is, controls the aircraft fairing to reach the target lifting distance, its actual position often deviates from the target position. In particular, whether each servo motor has completed the segmented lifting control of the aircraft fairing can be determined by the number of segmented distances. After issuing the synchronization control command for that number of segments, it can be determined that each servo motor has completed the segmented lifting control of the aircraft fairing.

[0031] The spatial linear analytical method refers to the process of converting geometric objects such as points, lines, surfaces, and volumes in three-dimensional space into algebraic forms, obtaining positional relationships through algebraic operations, and finally reconstructing geometric conclusions. In this embodiment of the invention, the spatial linear analytical method specifically refers to taking three points A, B, and C on a straight line as a reference point, keeping the position of the reference point unchanged, obtaining the moving distance (i.e., fine-tuning distance) of point B based on the desired position and the current position of another point B, then calculating the slope K based on the position of point A and the desired position of point B after fine-tuning, and finally obtaining the desired position of the intermediate point (i.e., point C) based on the position of point A and the slope K.

[0032] Therefore, point B is fine-tuned according to its desired position, and point C is fine-tuned according to its desired position. When the positions of points A and B change, the position of point C also changes accordingly, thus ensuring that the aircraft fairing always fits snugly against the tooling mold and does not tip over. Figure 2 Taking the three servo motors (T1, T3, T5) located on the same side of the aircraft fairing as an example, with T1 as the reference point, the current position of T5 is detected by the absolute position mode of the servo motor. According to the fitting requirements of the aircraft fairing, the desired position of T5 is obtained, and the moving distance of T5 is obtained accordingly.

[0033] Since the three servo motors mentioned above need to maintain the original curvature of the aircraft fairing, the slope K of the line connecting T1 and T5 after T5 is fine-tuned is calculated using the position of T1 and the desired position of T5. Then, based on the position of T1 and the slope K, the desired position of the center point (i.e., T3) between T1 and T5 can be calculated. Subsequently, the moving distance of T3 is obtained based on the current position of T3 and the desired position. Based on this, the fine-tuning of T3 and T5 is completed according to the moving distances corresponding to T3 and T5 respectively.

[0034] After fine-tuning is completed, if each servo motor reaches the target position, the fine-tuning ends; if each servo motor still has not reached the target position, the reference point is switched. For example, T5 is switched to the reference point, and the fine-tuning of T1 and T3 is repeated in the same way. For other servo motors on the same side, the distance fine-tuning of each servo motor is completed in the same way. Compared with the traditional fixed positioning method, which is prone to the risk of tipping over due to one end being in contact with the other end, the fine-tuning method based on the spatial linear analysis method dynamically calculates the collinear positional relationship of the three points, ensuring that the contact surface in the middle is always kept in the correct position. This improves the control accuracy of the aircraft fairing lifting position and avoids the risk of tipping over during the lifting process of the aircraft fairing.

[0035] The technical solution of this invention involves obtaining the target lifting distance of the aircraft fairing and dividing it into multiple segmented distances. Multiple servo motors are then used to perform segmented lifting control of the aircraft fairing based on these segmented distances. If a first lifting error is detected in the first servo motor within the first segmented distance, the first servo motor performs lifting compensation based on this error within at least one subsequent segmented distance. In response to the detection that the segmented lifting control of the aircraft fairing has been completed, the fine-tuning distance of each servo motor is obtained based on a spatial linear analytical method, and the lifting position of the aircraft fairing is adjusted using these fine-tuning distances. This not only reduces the manpower and time costs associated with the aircraft fairing lifting process but also avoids issues such as personnel exhaustion and hoisting safety, improving the safety of the lifting process. Simultaneously, it enhances the control precision of the lifting process, ensuring the accurate installation position of the aircraft fairing.

[0036] Example 2 Figure 3 This is a flowchart of a method for controlling the lifting of an aircraft fairing according to Embodiment 2 of the present invention. The relationship between this embodiment and the above embodiments is that, during the segmented lifting process, the torque within each segment distance is monitored, such as... Figure 3 As shown, the method specifically includes: S201. Obtain the target lifting distance of the aircraft fairing and divide the target lifting distance into multiple segment distances, so as to perform segmented lifting control of the aircraft fairing by multiple servo motors according to the multiple segment distances.

[0037] S202. If a first lifting error is detected in the first servo motor within the first segment distance, the first servo motor performs lifting compensation within at least one subsequent segment distance based on the first lifting error.

[0038] S203. Compare the actual torque of each servo motor within the current segment distance with the target torque.

[0039] After completing the lifting control for each segment distance, the actual torque (i.e., the current torque) of each servo motor is compared with the target torque. If the difference between the actual torque and the target torque of each servo motor is less than the preset deviation threshold, it indicates that the load of each servo motor is balanced, the aircraft fairing maintains a stable attitude, and each servo motor can maintain its current torque state. Then, the lifting control process for the next segment distance is entered.

[0040] S204. If it is determined that the difference between the actual torque and the target torque of the second servo motor within the current segment distance is greater than or equal to the preset deviation threshold and less than or equal to the preset compensation threshold, torque compensation is performed on the second servo motor within the next segment distance.

[0041] If the difference between the actual torque and the target torque of at least one servo motor is greater than or equal to a preset deviation threshold, it indicates that the load of each servo motor is unbalanced and the aircraft fairing is not maintaining a stable attitude. However, since the difference is less than or equal to a preset compensation threshold, it indicates that the torque difference between each servo motor is small. In this case, torque compensation can be performed on at least one servo motor in the next segment distance to ensure the aircraft fairing has a fast lifting efficiency while maintaining a stable aircraft fairing attitude.

[0042] S205. If it is determined that the difference between the actual torque and the target torque of the third servo motor within the current segment distance is greater than the preset compensation threshold and less than the preset safety threshold, torque compensation is performed on the third servo motor until the third servo motor completes torque compensation, and the lifting control of the next segment distance of the aircraft fairing is started through the multiple servo motors.

[0043] If the difference between the actual torque and the target torque of at least one servo motor within the current segment distance is greater than the preset compensation threshold, it indicates that the torque difference between the servo motors is large. If compensation is gradually completed during the subsequent lifting process, oscillation or overturning may occur before the compensation is completed. In this case, the servo motors will not enter the lifting control of the next segment distance for the time being. Currently, only the torque compensation of the third servo motor is performed. Only after the torque compensation of the third servo motor is completed will the servo motors be controlled to enter the lifting control of the next segment distance. In particular, although the torque difference between the servo motors is large at this time, since the difference is less than the preset safety threshold, it is still within a safe and controllable range. Therefore, there is no need to stop the operation immediately. The above-mentioned immediate compensation method can be activated.

[0044] S206. If it is determined that the difference between the actual torque of the fourth servo motor and the target torque within the current segment distance is greater than or equal to a preset safety threshold, the segmented lifting control of the aircraft fairing is stopped by the multiple servo motors, and a lifting control alarm is issued.

[0045] If the difference between the actual torque and the target torque of at least one servo motor within the current segment distance exceeds the preset safety threshold, it indicates that the torque difference between the various servo motors is too large and there is a serious safety risk. At this time, it is necessary to stop the subsequent segment lifting control of the aircraft fairing, that is, to stop all servo motors from continuing to lift and issue a lifting control alarm. It can wait for the staff to intervene, or trigger the descent control command to guide each servo motor to smoothly lower the aircraft fairing to a safe area, which greatly improves the safety of the aircraft fairing lifting process.

[0046] S207. In response to detecting that the segmented lifting control of the aircraft fairing has been completed, the fine-tuning distance of each servo motor is obtained based on the spatial linear analysis method, so as to adjust the lifting position of the aircraft fairing by the fine-tuning distance of each servo motor.

[0047] Optionally, in this embodiment of the invention, after dividing the target lifting distance into multiple segment distances, the method further includes: updating the height of the next segment distance based on the distance control error and torque control error of each servo motor at the current segment distance, and the height of the current segment distance.

[0048] Specifically, the difference between the actual torque and the target torque of each servo motor is obtained. The torque control error refers to the average value (i.e., average torque error) or the maximum value (i.e., maximum torque error) of the above differences generated by each servo motor. After the lifting of the current segment distance is completed, if the torque control error at the current segment distance is large, it indicates that the attitude of the aircraft fairing is unstable at that segment distance. At this time, the height of the next segment distance needs to be configured to a smaller value to avoid the lifting distance being too large, which would further aggravate the risk of oscillation and rollover. If the torque control error at the current segment distance is small, it indicates that the attitude of the aircraft fairing is stable at that segment distance. At this time, the height of the next segment distance can be configured to a larger value to improve the lifting efficiency of the aircraft fairing.

[0049] Simultaneously, the difference between the actual lifting distance of each servo motor and the segment distance is obtained. The distance control error refers to the average value (i.e., average distance error) or the maximum value (i.e., maximum distance error) of the above differences generated by each servo motor. After the lifting of the current segment distance is completed, if the distance control error under the current segment distance is large, it indicates that the position of the aircraft fairing under the segment distance is large. At this time, the height of the next segment distance needs to be configured to a smaller value to avoid the lifting distance being too large and further aggravating the position deviation, thus leading to safety issues. If the distance control error under the current segment distance is small, it indicates that the position deviation of the aircraft fairing under the segment distance is small. At this time, the height of the next segment distance can be configured to a larger value to improve the lifting efficiency of the aircraft fairing.

[0050] Furthermore, the current segment distance actually determines the altitude of the aircraft fairing. When the aircraft fairing is close to the ground, the safety risks caused by its attitude tilt or positional deviation are relatively small. At this time, the next segment distance can be configured to a larger value to improve the lifting efficiency of the aircraft fairing. When the aircraft fairing is far from the ground, the safety risks caused by its attitude tilt or positional deviation are relatively large. At this time, the segment distance can be configured to a larger value to improve the lifting safety of the aircraft fairing.

[0051] Specifically, different weights can be assigned to the distance control error, torque control error, and height under the current segment distance. The sum of the products of the distance control error, torque control error, and height with their respective weights is used as the basis for the height configuration of the next segment distance. The larger the sum, the larger the height of the next segment distance; the smaller the sum, the smaller the height of the next segment distance. In this way, the height of the next segment distance is dynamically updated by combining the height of the current segment distance, the distance control error, and the torque control error.

[0052] The technical solution of this invention compares the difference between the actual torque and the target torque of each servo motor within the current segment distance with a preset deviation threshold, a preset compensation threshold, and a preset safety threshold. Based on the torque control results of each servo motor, different compensation strategies or alarm strategies are executed, which ensures the safety of the aircraft fairing lifting process and improves the aircraft fairing lifting efficiency.

[0053] Example 3 Figure 4 This is a flowchart of a method for controlling the lifting of an aircraft fairing according to Embodiment 3 of the present invention. The relationship between this embodiment and the above embodiments is that the servo motor array is used as the reference point for the fine-tuning process, such as... Figure 4 As shown, the method specifically includes: S301. Obtain the target lifting distance of the aircraft fairing and divide the target lifting distance into multiple segment distances, so as to perform segmented lifting control of the aircraft fairing by multiple servo motors according to the multiple segment distances.

[0054] S302. If a first lifting error is detected in the first servo motor within the first segment distance, the first servo motor performs lifting compensation based on the first lifting error within at least one subsequent segment distance.

[0055] S303. In response to detecting that the segmented lifting control of the aircraft fairing has been completed, the position of the fifth servo motor in the first servo motor column is used as the first reference coordinate, and the position of the sixth servo motor in the first servo motor column is used as the second reference coordinate; wherein, the plurality of servo motors form at least three servo motor columns, and each servo motor column includes two servo motors placed symmetrically.

[0056] The servo motors on the tooling mold are arranged in rows, with each row consisting of two servo motors symmetrically distributed on both sides of the aircraft fairing. Figure 2 For example, the first servo motor column includes the fifth servo motor T1 located on the left side of the aircraft fairing and the sixth servo motor T2 located on the right side of the aircraft fairing. The servo motor columns are placed in parallel. The first servo motor column refers to the servo motor column located on the outermost or innermost side of the tooling mold. The positions of two servo motors in the first servo motor column are used as the first reference coordinate and the second reference coordinate, respectively.

[0057] S304. Based on the first reference coordinates and the second reference coordinates, obtain the fine-tuning distance of other servo motors using a spatial linear analysis method.

[0058] As described in the above technical solution, the distance of other servo motors on the same side (i.e., the left side) is fine-tuned based on the first reference coordinate. Specifically, the current coordinates of T5 are detected using the absolute position mode of the servo motors, and the distance that T5 needs to move is obtained according to the fitting requirements of the aircraft fairing. Then, based on the position of T1 and the position of T5 after moving, the slope K1 of the line connecting T1 and T5 is calculated. After that, based on the position of T1 and the slope K1, the desired position of the center point (i.e., T3) between T1 and T5 can be calculated, and then the moving distance of T3 is calculated based on the current position and the desired position of T3. Based on this, the fine-tuning of T3 and T5 is completed according to the moving distances corresponding to T3 and T5 respectively.

[0059] The distance to other servo motors on the same side (i.e., the right side) is fine-tuned based on the second reference coordinates. Specifically, the current position of T6 is detected using the absolute position mode of the servo motors, and the distance that T6 needs to move is obtained according to the fitting requirements of the aircraft fairing. Then, based on the position of T2 and the position of T6 after moving, the slope K2 of the line connecting T2 and T6 is calculated. After that, based on the position of T2 and the slope K2, the desired position of the center point (i.e., T4) between T2 and T6 can be calculated. Then, based on the current position of T4 and the desired position, the moving distance of T4 can be calculated. Based on this, the distance fine-tuning between T4 and T6 is completed according to the moving distances corresponding to T4 and T6 respectively.

[0060] This ensures the stability of the two symmetrically placed servo motors in the servo motor array while completing the fine adjustment of the servo motor distance. It avoids the risk of the aircraft fairing tipping over due to the individual movement of one servo motor, which would otherwise increase the risk of the aircraft fairing tipping over. This ensures the stability of the symmetrical sides of the aircraft fairing and greatly improves the safety of the aircraft fairing lifting process.

[0061] Optionally, in this embodiment of the invention, after obtaining the fine-tuning distance of each servo motor based on the first reference coordinate and the second reference coordinate using a spatial linear analysis method, the method further includes: using the position of the seventh servo motor in the second servo motor column as the third reference coordinate and the position of the eighth servo motor in the second servo motor column as the fourth reference coordinate; wherein, the second servo motor column is the servo motor column farthest from the first servo motor column; and obtaining the fine-tuning distance of other servo motors based on the third reference coordinate and the fourth reference coordinate using a spatial linear analysis method.

[0062] Specifically, the second servo motor column is the servo motor column furthest from the first servo motor column, so that... Figure 2For example, if the first servo motor column is the servo motor column closest to the back of the aircraft fairing (i.e., column T1T2), which is the innermost servo motor column, then the second servo motor column is the servo motor column closest to the front of the aircraft fairing (i.e., column T5T6), which is the outermost servo motor column; in this case, the position of the seventh servo motor (i.e., T5) in the second servo motor column is used as the third reference coordinate, and the position of the eighth servo motor (i.e., T6) in the second servo motor column is used as the fourth reference coordinate.

[0063] Similarly, the current coordinates of T1 are detected using the absolute position mode of the servo motor. Based on the fitting requirements of the aircraft fairing, the distance that T1 needs to move is obtained. Then, based on the position of T5 and the position of T1 after moving, the slope K3 of the line connecting T5 and T1 is calculated. After that, based on the position of T5 and the slope K3, the desired position of the center point between T5 and T1 (i.e., T3) can be calculated. Then, based on the current position and desired position of T3, the moving distance of T3 is calculated. Based on this, the fine-tuning of T3 and T1 is completed according to the moving distances corresponding to T3 and T1 respectively.

[0064] The current position of T2 is detected using the absolute position mode of the servo motor. Based on the fitting requirements of the aircraft fairing, the distance that T2 needs to move is obtained. Then, based on the position of T6 and the position of T2 after moving, the slope K4 of the line connecting T6 and T2 is calculated. After that, based on the position of T6 and the slope K4, the desired position of the center point between T6 and T2 (i.e., T4) can be calculated. Then, based on the current position of T4 and the desired position, the moving distance of T4 can be calculated. Based on this, the distance between T4 and T2 is fine-tuned according to the moving distances corresponding to T4 and T2 respectively.

[0065] As described above, the first and second servo motor columns are used alternately as reference points, and calculations, fine-tuning, and verifications are repeated until all motors reach the target position precisely. The above-mentioned alternating fine-tuning method based on slope derivation is equivalent to decomposing the complex surface fitting problem into a linear calculation problem, which reduces the calculation difficulty and can approximate the precise position through multiple iterations, avoiding excessive positional deviation of the aircraft fairing due to excessive single fine-tuning error.

[0066] The technical solution of this invention uses the first and second servo motor columns as alternating reference points. While completing the fine-tuning of the servo motor distance, it ensures the stability of the positions of the two symmetrically placed servo motors in the servo motor column. This avoids the risk of the aircraft fairing tipping over due to the individual movement of one servo motor, which would otherwise increase the risk of the aircraft fairing tipping over. This ensures the stability of the symmetrical sides of the aircraft fairing. At the same time, the alternating fine-tuning method based on slope derivation reduces the computational difficulty and can approximate the precise position through multiple iterations, avoiding excessive positional deviation of the aircraft fairing due to excessive error in a single fine-tuning.

[0067] Example 4 Figure 5 This is a structural block diagram of an aircraft fairing lifting control device provided in Embodiment 4 of the present invention. The device specifically includes: The segmented lifting execution module 401 is used to obtain the target lifting distance of the aircraft fairing and divide the target lifting distance into multiple segmented distances, so as to execute the segmented lifting control of the aircraft fairing through multiple servo motors according to the multiple segmented distances; The lifting compensation execution module 402 is used to perform lifting compensation by the first servo motor in at least one subsequent segment distance based on the first lifting error if a first lifting error is detected in the first segment distance. The fine-tuning control execution module 403 is used to respond to the detection that the segmented lifting control of the aircraft fairing has been completed, and to obtain the fine-tuning distance of each of the servo motors based on the spatial linear analysis method, so as to adjust the lifting position of the aircraft fairing by the fine-tuning distance of each of the servo motors.

[0068] The technical solution of this invention involves obtaining the target lifting distance of the aircraft fairing and dividing it into multiple segmented distances. Multiple servo motors are then used to perform segmented lifting control of the aircraft fairing based on these segmented distances. If a first lifting error is detected in the first servo motor within the first segmented distance, the first servo motor performs lifting compensation based on this error within at least one subsequent segmented distance. In response to the detection that the segmented lifting control of the aircraft fairing has been completed, the fine-tuning distance of each servo motor is obtained based on a spatial linear analytical method, and the lifting position of the aircraft fairing is adjusted using these fine-tuning distances. This not only reduces the manpower and time costs associated with the aircraft fairing lifting process but also avoids issues such as personnel exhaustion and hoisting safety, improving the safety of the lifting process. Simultaneously, it enhances the control precision of the lifting process, ensuring the accurate installation position of the aircraft fairing.

[0069] Optionally, the segmented lifting execution module 401 is further configured to compare the actual torque of each servo motor within the current segmented distance with the target torque; if it is determined that the difference between the actual torque of the second servo motor and the target torque within the current segmented distance is greater than or equal to a preset deviation threshold and less than or equal to a preset compensation threshold, torque compensation is performed on the second servo motor within the next segmented distance.

[0070] Optionally, the segmented lifting execution module 401 is further configured to: if it is determined that the difference between the actual torque and the target torque of the third servo motor within the current segment distance is greater than a preset compensation threshold and less than a preset safety threshold, perform torque compensation on the third servo motor until the third servo motor completes torque compensation, and initiate the lifting control of the next segment distance of the aircraft fairing through the plurality of servo motors; if it is determined that the difference between the actual torque and the target torque of the fourth servo motor within the current segment distance is greater than or equal to a preset safety threshold, stop the segmented lifting control of the aircraft fairing through the plurality of servo motors and issue a lifting control alarm.

[0071] Optionally, the aircraft fairing lifting control device is also used to update the height of the next segment distance based on the distance control error and torque control error of each servo motor at the current segment distance, as well as the height of the current segment distance.

[0072] Optionally, the plurality of servo motors form at least three servo motor columns, each servo motor column including two symmetrically placed servo motors; the fine-tuning control execution module 403 is specifically used to take the position of the fifth servo motor in the first servo motor column as the first reference coordinate and the position of the sixth servo motor in the first servo motor column as the second reference coordinate; and to obtain the fine-tuning distance of other servo motors based on the first reference coordinate and the second reference coordinate using a spatial linear analysis method.

[0073] Optionally, the fine-tuning control execution module 403 is further configured to use the position of the seventh servo motor in the second servo motor column as the third reference coordinate and the position of the eighth servo motor in the second servo motor column as the fourth reference coordinate; wherein, the second servo motor column is the servo motor column farthest from the first servo motor column; and to obtain the fine-tuning distance of other servo motors based on the third reference coordinate and the fourth reference coordinate using a spatial linear analysis method.

[0074] The above-described device can execute the aircraft fairing lifting control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in this embodiment can be found in the aircraft fairing lifting control method provided in any embodiment of the present invention.

[0075] Example 5 Figure 6A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, electronic devices, blade electronic devices, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0076] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0077] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0078] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for controlling the lifting of an aircraft fairing.

[0079] In some embodiments, the aircraft fairing lifting control method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program can be loaded and / or installed on a heterogeneous hardware accelerator via ROM and / or a communication unit. When the computer program is loaded into RAM and executed by a processor, one or more steps of the aircraft fairing lifting control method described above can be performed. Alternatively, in other embodiments, the processor can be configured to perform the aircraft fairing lifting control method by any other suitable means (e.g., by means of firmware).

[0080] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0081] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0082] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0083] To provide user interaction, the systems and techniques described herein can be implemented on a heterogeneous hardware accelerator, which includes: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the heterogeneous hardware accelerator. Other types of devices can also be used to provide user interaction; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or haptic feedback); and input from the user can be received in any form (including sound input, voice input, or haptic input).

[0084] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0085] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0086] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0087] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling the lifting of an aircraft fairing, characterized in that, include: The target lifting distance of the aircraft fairing is obtained and the target lifting distance is divided into multiple segment distances, so as to perform segmented lifting control of the aircraft fairing by multiple servo motors according to the multiple segment distances; If a first lifting error is detected in the first segment distance, the first servo motor will perform lifting compensation in at least one subsequent segment distance based on the first lifting error. In response to the detection that the segmented lifting control of the aircraft fairing has been completed, the fine-tuning distance of each servo motor is obtained based on the spatial linear analysis method, so as to adjust the lifting position of the aircraft fairing by the fine-tuning distance of each servo motor.

2. The method for controlling the lifting of an aircraft fairing according to claim 1, characterized in that, The method of controlling the segmented lifting of the aircraft fairing using multiple servo motors according to the multiple segmented distances also includes: Compare the actual torque of each servo motor within the current segment distance with the target torque; If the difference between the actual torque and the target torque of the second servo motor within the current segment distance is determined to be greater than or equal to a preset deviation threshold and less than or equal to a preset compensation threshold, torque compensation is performed on the second servo motor within the next segment distance.

3. The method for controlling the lifting of an aircraft fairing according to claim 2, characterized in that, After comparing the actual torque of each servo motor within the current segment distance with the target torque, the process also includes: If the difference between the actual torque and the target torque of the third servo motor within the current segment distance is determined to be greater than the preset compensation threshold and less than the preset safety threshold, torque compensation is performed on the third servo motor until the third servo motor completes torque compensation, and the lifting control of the next segment distance of the aircraft fairing is started through the multiple servo motors. If the difference between the actual torque of the fourth servo motor and the target torque within the current segment distance is determined to be greater than or equal to a preset safety threshold, the segmented lifting control of the aircraft fairing will be stopped by the multiple servo motors, and a lifting control alarm will be issued.

4. The method for controlling the lifting of an aircraft fairing according to claim 1 or 2, characterized in that, After dividing the target lifting distance into multiple segmented distances, the method further includes: Based on the distance control error and torque control error of each servo motor at the current segment distance, and the height of the current segment distance, update the height of the next segment distance.

5. The method for controlling the lifting of an aircraft fairing according to claim 1, characterized in that, The plurality of servo motors form at least three servo motor columns, and each servo motor column includes two servo motors placed symmetrically. The method for obtaining the fine-tuning distance of each servo motor based on spatial linear analytical methods includes: The position of the fifth servo motor in the first servo motor column is used as the first reference coordinate, and the position of the sixth servo motor in the first servo motor column is used as the second reference coordinate. Based on the first reference coordinates and the second reference coordinates, the fine-tuning distance of other servo motors is obtained using a spatial linear analysis method.

6. The method for controlling the lifting of an aircraft fairing according to claim 5, characterized in that, After obtaining the fine-tuning distance of each servo motor based on the first reference coordinate and the second reference coordinate using a spatial linear analytical method, the method further includes: The position of the seventh servo motor in the second servo motor column is used as the third reference coordinate, and the position of the eighth servo motor in the second servo motor column is used as the fourth reference coordinate; wherein, the second servo motor column is the servo motor column that is farthest from the first servo motor column; Based on the third and fourth reference coordinates, the fine-tuning distances of other servo motors are obtained using a spatial linear analytical method.

7. A lifting control device for an aircraft fairing, characterized in that, include: The segmented lifting execution module is used to obtain the target lifting distance of the aircraft fairing and divide the target lifting distance into multiple segmented distances, so as to execute the segmented lifting control of the aircraft fairing through multiple servo motors according to the multiple segmented distances; The lifting compensation execution module is used to perform lifting compensation by the first servo motor in at least one subsequent segment distance based on the first lifting error if a first lifting error is detected in the first servo motor in the first segment distance. The fine-tuning control execution module is used to respond to the detection that the segmented lifting control of the aircraft fairing has been completed, and to obtain the fine-tuning distance of each servo motor based on the spatial linear analysis method, so as to adjust the lifting position of the aircraft fairing by the fine-tuning distance of each servo motor.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the aircraft fairing lifting control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the aircraft fairing lifting control method according to any one of claims 1-6.

10. A computer program product comprising a computer program that, when executed by a processor, implements the method for controlling the lifting of an aircraft fairing as described in any one of claims 1-6.

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