A method and system for collaborative positioning control of multiple actuators for arc-shaped components

Abstract

This invention discloses a multi-actuator collaborative positioning control method and system for arc-shaped components, belonging to the field of automatic control and intelligent assembly positioning technology. The method includes: establishing an assembly task parameter set containing target position parameters, target attitude parameters, allowable deviation thresholds, and freedom constraint relationships; collecting position and attitude detection data from multiple measuring points and converting them to a reference coordinate system; calculating position deviation vectors and attitude deviation vectors; decoupling the deviation vectors into initial horizontal and initial height control quantities for each execution unit based on the component-measuring point-execution unit mapping matrix; generating adaptive step size coefficients based on the deviation amplitude, rate of change, and direction reversal, and performing amplitude limiting correction on the control quantities; outputting the control quantities to the corresponding execution units for adjustment; and re-collecting detection data after each round of adjustment and determining whether the allowable deviation requirements are continuously met. This invention can improve the automation, collaboration, and closed-loop convergence stability of the assembly positioning process for multi-segment arc-shaped components.

Description

Technical Field

[0001] This invention relates to the field of automatic control and intelligent assembly positioning technology, specifically to a method and system for collaborative positioning control of multiple actuators for arc-shaped components. This invention is particularly applicable to the pre-assembly positioning control of arc-shaped metal components, arc-shaped frame components, or arc-shaped connecting components in the manufacturing process of engineering equipment. Background Technology

[0002] Before pre-assembly, splicing, calibration, or subsequent transportation, multi-segment arc-shaped components typically require alignment and attitude adjustment between adjacent components. Due to the curvature variations, end docking direction variations, and attitude differences at multiple measuring points of the arc-shaped components, the positioning process is often not a single-direction position adjustment, but rather a coordinated adjustment among multiple support points, multiple actuators, and multiple detection points.

[0003] Existing positioning methods typically rely on manual measurement, manual judgment of adjustment direction, or local adjustment of individual actuators. This method makes it difficult to uniformly correlate target position parameters, target attitude parameters, detection data, actuator numbers, and freedom constraint relationships, which can easily lead to situations where one measurement point is close to the target value while another measurement point still has a large deviation.

[0004] Meanwhile, the length, radius of curvature, number of segments, arrangement of measuring points, and arrangement of actuators are not consistent for different arc-shaped components. If the control system directly outputs the adjustment amount based solely on a single positional deviation, it will be difficult to adapt to assembly positioning scenarios with multiple measuring points, multiple degrees of freedom, and multiple actuators simultaneously. Especially when multiple actuators act on the same arc-shaped component, the horizontal or vertical adjustment of one actuator may affect the displacement and attitude of other measuring points through the curvature and support relationship of the arc-shaped component, resulting in coupling between control quantities.

[0005] In addition, existing control processes typically only perform simple "detection-comparison-adjustment" operations, lacking iterative convergence control logic for deviation change rate, adjustment direction reversal, control quantity limit, and continuous pass / fail judgment, which can easily lead to problems such as over-adjustment, repeated correction, or unstable convergence speed.

[0006] Therefore, a collaborative control method is needed for multi-point positioning scenarios of arc-shaped components in engineering equipment manufacturing. This method integrates multi-point detection data, target parameters, execution unit mapping relationships, degree-of-freedom constraint relationships, curvature-related coupling compensation, and adaptive step size control into the closed-loop control process to improve the automation, collaboration, and convergence stability of positioning control. Summary of the Invention

[0007] The purpose of this invention is to provide a collaborative positioning control method and system for multiple execution units of arc-shaped components, in order to solve the problems of lack of unified mapping relationship between detection data, target parameters and execution units in the existing positioning process of multi-segment arc-shaped components, coupling of control quantities of multiple execution units due to arc curvature and support relationship, and easy over-adjustment or unstable convergence in the iterative adjustment process.

[0008] To achieve the above objectives, the present invention employs the following technical solution: Firstly, a method for collaborative positioning control of multiple actuators for arc-shaped components is provided, comprising the following steps: S1: Establish an assembly task parameter set, which includes at least the target position parameters, target attitude parameters, allowable position deviation threshold, allowable attitude deviation threshold, correspondence between the arc-shaped components and the multi-point positioning execution units, and the degree of freedom constraint relationship of each multi-point positioning execution unit. S2: Collect position detection data and attitude detection data of each arc component at multiple measuring points, and establish a reference coordinate system based on a preset reference point, reference line or reference surface, and convert the position detection data and attitude detection data to the reference coordinate system to obtain normalized detection data; S3: Compare the normalized detection data with the target position parameters and target attitude parameters in the assembly task parameter set to obtain the position deviation vector and attitude deviation vector of each arc component; S4: Based on the correspondence between the arc-shaped component and the multi-point positioning execution unit and the degree of freedom constraint relationship, establish a component-measuring point-execution unit mapping matrix, and use the component-measuring point-execution unit mapping matrix to decouple the position deviation vector and attitude deviation vector into the horizontal initial control quantity and the height initial control quantity of the corresponding multi-point positioning execution unit; The component-measuring point-execution unit mapping matrix is ​​used to record the arc component number, measuring point number, execution unit number, horizontal adjustment degree of freedom, vertical adjustment degree of freedom, degree of freedom weight coefficient, arc component radius of curvature, angular position of each measuring point along the arc length, and angular position of each execution unit along the arc length. When an arc component corresponds to two or more multi-point positioning execution units, the control quantity is allocated according to the distance between each execution unit and the corresponding measuring point, the force support relationship, the degree of freedom weight coefficient, and the curvature-related horizontal-height coupling influence. When allocating control quantities, the displacement contribution of each unit adjustment quantity to different measuring points is determined based on the curvature radius and angular position differences of the arc-shaped component. Cross-coupling compensation is performed on the initial horizontal control quantity and the initial height control quantity, so that the initial height control quantity includes the correction term for the horizontal displacement coupling effect of adjacent execution units, and the initial horizontal control quantity includes the correction term for the height displacement coupling effect of adjacent execution units. When the attitude deviation vector is not zero, the differential height adjustment amount is determined based on the arc length distance, tilt angle deviation and radius of curvature between different measuring points on the arc component, and the differential height adjustment amount is superimposed on the initial height control amount. S5: Based on the amplitude of the current wheel deviation vector, the deviation change rate after the previous wheel adjustment, whether the deviation direction has reversed, and the historical positioning data of similar arc-shaped components, an adaptive step size coefficient is generated; the adaptive step size coefficient includes a basic step size coefficient, a deviation amplitude adjustment term, a deviation change rate adjustment term, and a direction reversal damping term, and is limited to a preset upper and lower limit range; the adaptive step size coefficient is used to limit and correct the initial horizontal control quantity and the initial height control quantity to obtain the horizontal output control quantity and the height output control quantity; S6: According to the component-measuring point-execution unit mapping matrix, the horizontal output control quantity and the height output control quantity are sent to the corresponding multi-point positioning execution unit respectively, so that the corresponding multi-point positioning execution unit performs horizontal position adjustment and vertical height adjustment; S7: After each round of adjustment, re-collect position detection data and attitude detection data, and determine whether the position deviation vector of each arc component is within the allowable position deviation threshold and whether the attitude deviation vector is within the allowable attitude deviation threshold. If it is not within the allowable range, update the adjustment history data and repeat S3 to S6. If it is within the allowable range for a consecutive preset number of times, output the positioning completion result.

[0009] Specifically, in step S2, before converting the position detection data and attitude detection data to the reference coordinate system, the validity of multiple sampling values ​​of the same measurement point within the preset sampling time window is judged; when any sampling value exceeds the preset physical range or the difference between adjacent sampling values ​​exceeds the preset jump threshold, the sampling value is marked as an outlier and removed from the deviation calculation.

[0010] Specifically, in step S3, the position deviation vector includes at least a first horizontal deviation, a second horizontal deviation, and a vertical deviation, and the attitude deviation vector includes at least an inclination angle deviation; when the same arc-shaped component is provided with two or more measuring points, the overall position deviation and local attitude deviation of the arc-shaped component are calculated based on the detection data of each measuring point.

[0011] Specifically, in step S4, the displacement influence coefficients in the component-measuring point-execution unit mapping matrix include direct displacement influence coefficients and horizontal-height coupling influence coefficients; the horizontal-height coupling influence coefficients Determine using the following formula:

[0012] in Let be the coupling influence coefficient of the k-th adjacent execution unit on the i-th execution unit. These are the weighting coefficients for the degrees of freedom. The angular position of the k-th adjacent execution unit along the arc length. Let i be the angular position of the i-th execution unit along the arc length. The radius of curvature of the arc-shaped component. The reference radius of curvature is set in advance based on similar curved components; The horizontal coupling correction term in the initial height control of the i-th execution unit The high coupling correction term in the horizontal initial control quantity of the i-th execution unit , where Δx k Let Δh be the horizontal adjustment amount of the kth adjacent execution unit. k This represents the height adjustment amount of the kth adjacent execution unit; When the tilt angle deviation in the attitude deviation vector is Δθ, the mapping decoupling module determines the difference height adjustment amount based on the arc length distance between different measuring points on the arc-shaped component, the tilt angle deviation, and the radius of curvature. The formula is:

[0013] Where Lij is the arc length distance between the two measuring points that generate tilt angle deviation, qR is the curvature correction coefficient, and the difference height adjustment amount is superimposed on the initial height control amount of the corresponding multi-point positioning execution unit.

[0014] Specifically, in step S5, the adaptive step size coefficient The calculation formula is:

[0015] Where, α base Based on the step size factor, This is the deviation amplitude adjustment term. This is the adjustment term for the rate of change of deviation. For the reverse direction damping term, α min and α max These are the preset lower limit and the preset upper limit, respectively. This indicates amplitude limiting processing, where r represents the percentage decrease in the current round's deviation amplitude compared to the previous round's deviation amplitude, and n... rev This indicates the number of times the deviation direction reverses within the preset sliding window. This indicates amplitude limiting. If the deviation direction reverses relative to the previous round after the current round adjustment, the reverse direction damping term is reduced; if the decrease ratio of the deviation amplitude after the current round adjustment relative to the previous round is lower than the preset decrease ratio, the deviation change rate adjustment term is reduced or the current step size coefficient is maintained; if the deviation amplitude converges according to the preset decrease ratio for two or more consecutive rounds, the adaptive step size coefficient is increased within the preset upper limit range; the basic step size coefficient is initialized based on the number of iterations and the final deviation value in the historical positioning data of the same type of arc-shaped component. When there is no historical positioning data of the same type of arc-shaped component, the basic step size coefficient takes the preset default value.

[0016] Specifically, in step S6, when the adjustment actions of two or more multi-point positioning execution units have spatial interference, load interference, or control degree of freedom coupling, the two or more multi-point positioning execution units are divided into the same mutually exclusive control group, and the adjustment is performed sequentially according to the deviation amplitude from large to small or the preset priority order; when there is no mutual exclusion relationship between two or more multi-point positioning execution units, the adjustment is performed in parallel; wherein, the mutually exclusive control group is divided according to the execution unit interference relationship diagram, the nodes in the execution unit interference relationship diagram represent multi-point positioning execution units, and interference edges are established between nodes that have spatial interference, load interference, or control degree of freedom coupling relationship.

[0017] Secondly, a multi-actuator cooperative positioning control system for arc-shaped components is provided, including: The parameter management module is used to establish an assembly task parameter set, which includes at least the target position parameters, target attitude parameters, allowable position deviation threshold, allowable attitude deviation threshold, correspondence between the arc-shaped components and the multi-point positioning execution units, and the degree of freedom constraint relationship of each multi-point positioning execution unit. The detection and acquisition module is used to collect position and attitude detection data of each arc-shaped component at multiple measuring points. The coordinate normalization module is used to establish a reference coordinate system based on a preset reference point, reference line or reference plane, and to convert the position detection data and attitude detection data to the reference coordinate system to obtain normalized detection data; The deviation calculation module is used to calculate the position deviation vector and attitude deviation vector of each arc component based on the normalized detection data and the target position parameters and target attitude parameters. The mapping and decoupling module is used to establish a component-measuring point-execution unit mapping matrix based on the curvature radius of the arc component, the angular position of the measuring point along the arc length, the angular position of the execution unit along the arc length, and the degree of freedom constraint relationship. It also decouples the position deviation vector and attitude deviation vector into the horizontal initial control quantity and the height initial control quantity corresponding to the multi-point positioning execution unit, and performs curvature-related horizontal-height cross-coupling compensation on the horizontal initial control quantity and the height initial control quantity. The adaptive step size module is used to generate an adaptive step size coefficient based on the amplitude of the current wheel deviation vector, the deviation change rate after the previous wheel adjustment, whether the deviation direction has reversed, and the historical positioning data of the same type of arc-shaped component, and to perform amplitude limiting correction on the initial horizontal control quantity and the initial height control quantity. The control output module is used to send the horizontal output control quantity and the height output control quantity after the amplitude limiting correction to the corresponding multi-point positioning execution unit; The convergence judgment module is used to re-receive the detection data after each round of adjustment and determine whether each arc component continuously meets the allowable deviation requirements.

[0018] Specifically, the multi-point positioning execution unit includes a horizontal adjustment actuator, a vertical adjustment actuator, and a component holding actuator; the horizontal adjustment actuator is used to adjust the position of the arc-shaped component in the horizontal plane according to the horizontal output control amount, the vertical adjustment actuator is used to adjust the position of the arc-shaped component in the vertical direction according to the height output control amount, and the component holding actuator is used to maintain the relative positioning relationship between the arc-shaped component and the corresponding multi-point positioning execution unit during the adjustment process.

[0019] Specifically, the system is applied to pre-assembly positioning equipment in the manufacturing process of engineering equipment. The pre-assembly positioning equipment is used to support arc-shaped metal components, arc-shaped frame components, or arc-shaped connecting components, and to adjust the position and attitude of the arc-shaped metal components, arc-shaped frame components, or arc-shaped connecting components through the multi-point positioning execution unit.

[0020] Thirdly, an electronic device is provided, including a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein the processor executes the computer program to implement the aforementioned multi-execution unit cooperative positioning control method for arc-shaped components.

[0021] Compared with the prior art, the present invention has at least the following beneficial effects: First, the present invention establishes a clear correspondence between arc-shaped components, detection points, execution units, control degrees of freedom, radius of curvature, and positions along the arc length angle through a component-measuring point-execution unit mapping matrix, thereby avoiding the control system from blindly outputting adjustment amounts based solely on a single deviation.

[0022] Secondly, this invention unifies the multi-point position detection data and attitude detection data to the reference coordinate system, which can reduce the deviation calculation error caused by the inconsistency of the coordinate reference of different detection elements.

[0023] Third, the present invention decouples position deviation and attitude deviation into horizontal initial control quantity and height initial control quantity through a mapping decoupling module, and performs horizontal-height cross-coupling compensation based on the difference in curvature radius and angular position, which can adapt to the scenario where the same arc-shaped component is jointly adjusted by multiple execution units.

[0024] Fourth, this invention corrects the initial control quantity by using an adaptive step size coefficient, which can dynamically adjust the control quantity based on the error amplitude, error change rate, reverse adjustment direction, and historical positioning data of similar components, thereby reducing the risk of over-adjustment and repeated correction.

[0025] Fifth, the present invention uses the condition of passing the preset number of consecutive tests as the condition for completing the positioning, rather than relying solely on the result of a single test, which helps to improve the stability and reliability of the closed-loop positioning results.

[0026] Sixth, the present invention can adapt to the pre-assembly and positioning requirements of arc-shaped components in the process of engineering equipment manufacturing, so that detection and acquisition, deviation calculation, curvature-related mapping decoupling and execution unit adjustment form a unified control chain, which is conducive to improving the consistency of assembly and positioning in the process of engineering equipment manufacturing. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0028] Figure 1 This is a flowchart of the closed-loop control method according to an embodiment of the present invention. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0030] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0031] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0032] like Figure 1 As shown, this embodiment provides a collaborative positioning control method for multiple actuators of arc-shaped components. This method is applicable to closed-loop positioning control scenarios involving multiple arc-shaped components during pre-assembly, splicing, or calibration processes. The arc-shaped component can be an arc-shaped metal component, an arc-shaped frame component, an arc-shaped connecting component, or other arc-shaped components requiring multi-point positioning and attitude adjustment.

[0033] In engineering equipment manufacturing scenarios, arc-shaped components can be arc-shaped metal components, arc-shaped frame components, or arc-shaped connecting components in engineering machinery equipment, engineering vehicle parts, complete equipment frames, or assembly tooling. The collaborative positioning control method in this embodiment is used to uniformly control the detection data of multiple measuring points, the adjustment directions of multiple execution units, and the degree-of-freedom constraints of each execution unit before the above-mentioned components are assembled, calibrated, or transported.

[0034] In step S1, the control system establishes an assembly task parameter set. The assembly task parameter set includes the arc component number, measuring point number, target position parameters, target attitude parameters, allowable position deviation threshold, allowable attitude deviation threshold, the correspondence between the arc component and the multi-point positioning execution unit, and the degree of freedom constraint relationship of each multi-point positioning execution unit.

[0035] Target position parameters may include the target coordinates, target distance, or target displacement value of the curved component in the reference coordinate system. Target attitude parameters may include the target tilt angle, target attitude angle, or target attitude range. Allowable position deviation thresholds and allowable attitude deviation thresholds are used to determine whether the positioning results meet the assembly requirements.

[0036] The correspondence between the curved component and the multi-point positioning execution unit is used to determine which execution unit should be applied to the detection data of a certain measuring point of a certain curved component. The degree of freedom constraint relationship is used to limit the control directions that the execution unit can perform, such as one or more of the first horizontal direction, the second horizontal direction, and the vertical direction.

[0037] In step S2, the detection and acquisition module collects position and attitude detection data for each arc-shaped component at multiple measuring points. Position detection data can be collected by a laser ranging element, displacement detection element, visual measurement element, or other detection elements capable of obtaining position quantities. Attitude detection data can be collected by a tilt detection element, attitude detection element, or angle detection element.

[0038] In order to enable data obtained from different measuring points and different detection elements to participate in unified calculation, the coordinate normalization module establishes a reference coordinate system based on preset reference points, reference lines or reference surfaces, and transforms the detection data at each position and the attitude detection data into the reference coordinate system to obtain normalized detection data.

[0039] In one implementation, the control system first determines the validity of multiple sampled values ​​of the same measuring point within a preset sampling time window. If any sampled value exceeds a preset physical range, or the difference between adjacent samples exceeds a preset jump threshold, the sampled value is marked as an outlier and removed from the deviation calculation. For the retained sampled values, the average value, median value, or representative value within a stable interval can be taken as the valid detection value of the measuring point.

[0040] In step S3, the deviation calculation module compares the normalized detection data with the target position parameters and target attitude parameters to obtain the position deviation vector and attitude deviation vector. The position deviation vector can be represented as a combination of the first horizontal deviation, the second horizontal deviation, and the vertical deviation. The attitude deviation vector can be represented as the tilt angle deviation or the attitude angle deviation.

[0041] When the same arc-shaped component has two or more measuring points, the deviation calculation module can calculate the overall position deviation based on the position detection data of each measuring point, and calculate the local attitude deviation based on the height difference, angle difference, or attitude difference between different measuring points. Thus, the control system can simultaneously obtain both the overall offset and the local attitude offset of the arc-shaped component.

[0042] In step S4, the mapping decoupling module establishes a component-measuring point-execution unit mapping matrix based on the correspondence between the arc-shaped component and the multi-point positioning execution unit, as well as the degree-of-freedom constraint relationship. This mapping matrix records at least the arc-shaped component number, measuring point number, execution unit number, horizontal adjustment degree of freedom, vertical adjustment degree of freedom, degree-of-freedom weight coefficient, arc-shaped component radius of curvature, angular position of each measuring point along the arc length, and angular position of each execution unit along the arc length.

[0043] When one curved component corresponds to one execution unit, the mapping and decoupling module can directly assign the deviation vector of the curved component to the corresponding execution unit. When one curved component corresponds to two or more execution units, the mapping and decoupling module assigns control quantities according to the distance between each execution unit and the corresponding measuring point, the force support relationship, the degree of freedom weight coefficient, and the curvature-related horizontal-height coupling effect.

[0044] When the attitude deviation needs to be corrected by the height difference, the mapping decoupling module determines the difference height adjustment amount based on the arc length distance between different measuring points on the arc component, the tilt angle deviation, and the radius of curvature of the arc component, and adds the difference height adjustment amount to the initial height control amount of the corresponding multi-point positioning execution unit.

[0045] In one embodiment, the elements in the component-measuring point-execution unit mapping matrix may include direct displacement influence coefficients and horizontal-height coupling influence coefficients. The direct displacement influence coefficients describe the displacement contribution of the execution unit in its allowed degrees of freedom direction; the horizontal-height coupling influence coefficients describe the cross-influence caused by differences in the curvature of the arc-shaped component, the angular position difference of the measuring point, and the support position difference of the execution unit. The horizontal-height coupling influence coefficients can be determined based on the angular position difference term, the curvature radius correction term, and the degree of freedom weighting coefficients.

[0046] For example, the horizontal-height coupling influence coefficient can be calculated according to... Determined, where C ik w represents the coupling influence coefficient of the k-th adjacent execution unit on the i-th execution unit. ik θ represents the weighting coefficient for the degrees of freedom. k θ represents the angular position of the k-th adjacent execution unit along the arc length. i Indicates the angular position (θ) of the i-th execution unit along the arc length. k and θ i Expressed in radians; if using angles, they should be converted to radians first before being used in the calculation. R represents the radius of curvature of the arc-shaped component. ref This represents a reference radius of curvature pre-defined based on similar curved components. The above calculation method is used to illustrate an feasible method for determining coupling coefficients, and does not limit the coupling influence coefficients to this calculation method only.

[0047] When using the component-measurement point-execution unit mapping matrix for decoupling, the mapping decoupling module can, according to... Determine the horizontal coupling correction term in the initial control variable of the height of the i-th execution unit, and according to... Determine the high coupling correction term in the initial horizontal control quantity of the i-th execution unit, where Δx k Let Δh be the horizontal adjustment amount of the kth adjacent execution unit. k Let be the height adjustment amount of the kth adjacent execution unit, and the summation range is the adjacent execution units that have a coupling relationship with the i-th execution unit.

[0048] When the tilt angle deviation in the attitude deviation vector is Δθ, the mapping decoupling module can, according to... The differential height adjustment amount is determined, where Lij is the arc length distance between the two measuring points that generate the tilt angle deviation, and qR is the curvature correction coefficient determined based on the radius of curvature and the support spacing. By superimposing the differential height adjustment amount onto the initial height control amount of the corresponding actuator, overall position adjustment and local attitude correction can be simultaneously incorporated into the control amount allocation.

[0049] In step S5, the adaptive step size module generates an adaptive step size coefficient based on the amplitude of the current wheel deviation vector, the rate of change of deviation after the previous adjustment, whether the deviation direction has reversed, and historical positioning data of similar arc-shaped components. The adaptive step size coefficient is used to limit and correct the initial horizontal and initial height control values ​​to obtain the horizontal and height output control values.

[0050] In one implementation, if the deviation direction reverses relative to the previous adjustment after the current round, it indicates that the previous adjustment may have over-adjusted, and the adaptive step size module reduces the reverse direction damping term. If the decrease ratio of the deviation amplitude after the current adjustment relative to the previous round is lower than the preset decrease ratio, it indicates that the control quantity is not effective in converging the deviation, and the adaptive step size module reduces the deviation change rate adjustment term or maintains the current step size coefficient. If the deviation amplitude converges according to the preset decrease ratio for two or more consecutive rounds, the adaptive step size coefficient is increased within the preset upper limit range to improve the convergence speed. The basic step size coefficient can be initialized based on the number of iterations and the final deviation value in the historical positioning data of the same type of arc-shaped component; when there is no historical positioning data of the same type of arc-shaped component, the basic step size coefficient takes a preset default value.

[0051] In one implementation, the adaptive step size coefficient α can be determined according to... Determine, where α base Based on the step size factor, This is the deviation amplitude adjustment term. This is the adjustment term for the rate of change of deviation. For the reverse direction damping term, α min and α max These are the preset lower limit and the preset upper limit, respectively. This indicates amplitude limiting. r can represent the percentage decrease in the current round's deviation amplitude relative to the previous round's deviation amplitude, and n... rev It can represent the number of times the deviation direction reverses within a preset sliding window.

[0052] After each positioning task is completed, the control system can record the arc-shaped component type identifier, radius of curvature range, initial maximum deviation, number of iterations, final deviation value, and the basic step size coefficient used in this positioning task. When performing positioning tasks on the same type of arc-shaped component in subsequent tasks, the basic step size coefficient can be initialized based on the record with the better number of iterations and final deviation value in the historical positioning data; if there is no historical positioning data for the same type of arc-shaped component, the basic step size coefficient takes the preset default value.

[0053] In step S6, the control output module sends the horizontal output control quantity and the height output control quantity to the corresponding multi-point positioning execution unit according to the component-measuring point-execution unit mapping matrix. The multi-point positioning execution unit may include a horizontal adjustment actuator, a vertical adjustment actuator, and a component holding actuator. The horizontal adjustment actuator is used to adjust the position of the arc-shaped component in the horizontal plane, the vertical adjustment actuator is used to adjust the position of the arc-shaped component in the vertical direction, and the component holding actuator is used to maintain the relative positioning relationship between the arc-shaped component and the execution unit during the adjustment process.

[0054] When the adjustment actions of two or more multi-point positioning execution units exhibit spatial interference, load interference, or control degree-of-freedom coupling, the control output module divides them into the same mutually exclusive control group and executes the adjustments sequentially according to the deviation amplitude from largest to smallest or a preset priority order. When there is no mutual exclusion relationship between two or more multi-point positioning execution units, the control output module allows them to execute adjustments in parallel. In one embodiment, the control output module constructs an execution unit interference relationship diagram, where nodes represent multi-point positioning execution units. Interference edges are established between nodes exhibiting spatial interference, load interference, or control degree-of-freedom coupling relationships, and mutually exclusive control groups are formed based on these interference edges.

[0055] In step S7, the detection and acquisition module re-acquires position detection data and attitude detection data after each round of adjustment, the deviation calculation module recalculates the deviation vector, and the convergence judgment module judges whether the position deviation vector of each arc component is within the allowable position deviation threshold and whether the attitude deviation vector is within the allowable attitude deviation threshold.

[0056] If the position or attitude deviation vector of any arc-shaped component is outside the allowable range, the control system updates the historical adjustment data and re-executes deviation calculation, mapping decoupling, adaptive step size correction, and control output. If all arc-shaped components are within the allowable range for a preset number of consecutive iterations, the convergence judgment module outputs the positioning completion result. The preset number of consecutive iterations can be set to two, three, or other numbers according to the positioning accuracy requirements.

[0057] The method and system described in this embodiment are particularly applicable to pre-assembly positioning control scenarios for arc-shaped components in the manufacturing process of engineering equipment, such as the positioning of arc-shaped components in engineering vehicle arc-shaped supports, complete sets of equipment arc-shaped frame components, assembly tooling arc-shaped connectors, or other engineering equipment parts. In one specific embodiment, the number of consecutive preset times is set to two or three times according to the positioning accuracy requirements; the preset upper limits of the preset descent ratio, preset jump threshold, and adaptive step size coefficient are reasonably set by those skilled in the art based on the stiffness of the arc-shaped component, the response characteristics of the execution unit, and the on-site working conditions.

[0058] In one numerical implementation, the pre-assembly and positioning of an arc-shaped metal frame component in the manufacturing process of engineering equipment is taken as an example. The arc-shaped metal frame component is an arc segment with a radius of curvature R of 8m and an arc length of 6m. Three measuring points and three multi-point positioning execution units are set. The three measuring points are arranged at intervals along the arc length, and the three multi-point positioning execution units are arranged corresponding to the three measuring points. The control system establishes a component-measuring point-execution unit mapping matrix based on the angular position of each measuring point along the arc length, the angular position of each execution unit along the arc length, and the support distance.

[0059] For example, when the angular position difference between two adjacent execution units is 21.5°, the radius of curvature R is 8m, and the reference radius of curvature R... ref When the height is 5m and the degree-of-freedom weight coefficient wik is 1, the horizontal-height coupling influence coefficient can be determined according to... The calculated value is approximately 0.141. If the horizontal adjustment of an adjacent execution unit is 2 mm, then the coupling correction of that adjacent execution unit to the initial height control of the current execution unit is approximately 0.282 mm. This numerical implementation is used to illustrate the calculation process of curvature-related coupling compensation and is not intended to limit the scope of protection of this invention.

[0060] For example, when the arc length distance between two measuring points is 6m, the detected tilt angle deviation is 0.05°, and the curvature correction coefficient qR is 0.8, the differential height adjustment amount can be determined according to... The result is approximately 4.19 mm. The control system allocates and superimposes this height difference adjustment amount to the initial height control amount of the corresponding actuator, so that the attitude deviation correction and position deviation correction jointly participate in the subsequent amplitude limiting correction and output control.

[0061] In the numerical implementation described above, the adaptive step size coefficient can be adjusted based on the current maximum deviation, the deviation reduction ratio of the previous round, and the number of directional reversals. For example, when the current maximum deviation is 3.2 mm, the previous maximum deviation is 4.0 mm, and the deviation direction has not reversed, the control system obtains the adaptive step size coefficient for this round based on the deviation amplitude adjustment term, the deviation change rate adjustment term, and the directional reversal damping term, and limits it within a preset upper and lower limit range before using it to correct the initial horizontal control quantity and the initial height control quantity.

[0062] This embodiment also provides a multi-actuator collaborative positioning control system for arc-shaped components, including a parameter management module, a detection and acquisition module, a coordinate normalization module, a deviation calculation module, a mapping decoupling module, an adaptive step size module, a control output module, and a convergence judgment module.

[0063] In this embodiment, each module can be implemented by an industrial controller, a programmable controller, an embedded controller, host computer software, an edge controller, or a combination thereof. Each detection element and each execution unit can be connected to the control system via wired communication, wireless communication, industrial bus, or other signal connection methods.

[0064] This embodiment also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, it can implement the above-described multi-execution unit cooperative positioning control method for arc-shaped components.

[0065] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, it can implement the above-described method for cooperative positioning control of multiple execution units of an arc-shaped component.

[0066] For the foregoing embodiments, in order to simplify the description, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to this application.

[0067] The above embodiments describe the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Modifications and variations made by those skilled in the art without departing from the spirit and scope of the invention should be within the protection scope of the appended claims.

Claims

1. A method for collaborative positioning control of multiple actuators for arc-shaped components, characterized in that, Includes the following steps: S1: Establish an assembly task parameter set, which includes at least the target position parameters, target attitude parameters, allowable position deviation threshold, allowable attitude deviation threshold, correspondence between the arc-shaped components and the multi-point positioning execution units, and the degree of freedom constraint relationship of each multi-point positioning execution unit. S2: Collect position detection data and attitude detection data of each arc component at multiple measuring points, and establish a reference coordinate system based on a preset reference point, reference line or reference surface, and convert the position detection data and attitude detection data to the reference coordinate system to obtain normalized detection data; S3: Compare the normalized detection data with the target position parameters and target attitude parameters in the assembly task parameter set to obtain the position deviation vector and attitude deviation vector of each arc component; S4: Based on the correspondence between the arc-shaped component and the multi-point positioning execution unit and the degree of freedom constraint relationship, establish a component-measuring point-execution unit mapping matrix, and use the component-measuring point-execution unit mapping matrix to decouple the position deviation vector and attitude deviation vector into the horizontal initial control quantity and the height initial control quantity of the corresponding multi-point positioning execution unit; The component-measuring point-execution unit mapping matrix is ​​used to record the arc component number, measuring point number, execution unit number, horizontal adjustment degree of freedom, vertical adjustment degree of freedom, degree of freedom weight coefficient, arc component radius of curvature, angular position of each measuring point along the arc length, and angular position of each execution unit along the arc length. When an arc component corresponds to two or more multi-point positioning execution units, the control quantity is allocated according to the distance between each execution unit and the corresponding measuring point, the force support relationship, the degree of freedom weight coefficient, and the curvature-related horizontal-height coupling influence. When allocating control quantities, the displacement contribution of each unit adjustment quantity to different measuring points is determined based on the curvature radius and angular position differences of the arc-shaped component. Cross-coupling compensation is performed on the initial horizontal control quantity and the initial height control quantity, so that the initial height control quantity includes the correction term for the horizontal displacement coupling effect of adjacent execution units, and the initial horizontal control quantity includes the correction term for the height displacement coupling effect of adjacent execution units. When the attitude deviation vector is not zero, the differential height adjustment amount is determined based on the arc length distance, tilt angle deviation and radius of curvature between different measuring points on the arc component, and the differential height adjustment amount is superimposed on the initial height control amount. S5: Based on the amplitude of the current wheel deviation vector, the deviation change rate after the previous wheel adjustment, whether the deviation direction has reversed, and the historical positioning data of similar arc-shaped components, an adaptive step size coefficient is generated; the adaptive step size coefficient includes a basic step size coefficient, a deviation amplitude adjustment term, a deviation change rate adjustment term, and a direction reversal damping term, and is limited to a preset upper and lower limit range; the adaptive step size coefficient is used to limit and correct the initial horizontal control quantity and the initial height control quantity to obtain the horizontal output control quantity and the height output control quantity; S6: According to the component-measuring point-execution unit mapping matrix, the horizontal output control quantity and the height output control quantity are sent to the corresponding multi-point positioning execution unit respectively, so that the corresponding multi-point positioning execution unit performs horizontal position adjustment and vertical height adjustment; S7: After each round of adjustment, re-collect position detection data and attitude detection data, and determine whether the position deviation vector of each arc component is within the allowable position deviation threshold and whether the attitude deviation vector is within the allowable attitude deviation threshold. If it is not within the allowable range, update the adjustment history data and repeat S3 to S6. If it is within the allowable range for a consecutive preset number of times, output the positioning completion result.

2. The multi-actuator cooperative positioning control method for arc-shaped components according to claim 1, characterized in that, In step S2, before converting the position detection data and attitude detection data to the reference coordinate system, the validity of multiple sampling values ​​of the same measurement point within the preset sampling time window is judged; when any sampling value exceeds the preset physical range or the difference between adjacent sampling values ​​exceeds the preset jump threshold, the sampling value is marked as an outlier and removed from the deviation calculation.

3. The multi-actuator cooperative positioning control method for arc-shaped components according to claim 1, characterized in that, In step S3, the position deviation vector includes at least a first horizontal deviation, a second horizontal deviation, and a vertical deviation, and the attitude deviation vector includes at least an inclination deviation; when the same arc-shaped component is provided with two or more measuring points, the overall position deviation and local attitude deviation of the arc-shaped component are calculated based on the detection data of each measuring point.

4. The multi-actuator cooperative positioning control method for arc-shaped components according to claim 1, characterized in that, In step S4, the displacement influence coefficients in the component-measuring point-execution unit mapping matrix include direct displacement influence coefficients and horizontal-height coupling influence coefficients; the horizontal-height coupling influence coefficients Determine using the following formula: in Let be the coupling influence coefficient of the k-th adjacent execution unit on the i-th execution unit. These are the weighting coefficients for the degrees of freedom. The angular position of the k-th adjacent execution unit along the arc length. Let i be the angular position of the i-th execution unit along the arc length. The radius of curvature of the arc-shaped component. The reference radius of curvature is set in advance based on similar curved components; The horizontal coupling correction term in the initial height control of the i-th execution unit The high coupling correction term in the horizontal initial control quantity of the i-th execution unit , where Δx k Let Δh be the horizontal adjustment amount of the kth adjacent execution unit. k This represents the height adjustment amount of the kth adjacent execution unit; When the tilt angle deviation in the attitude deviation vector is Δθ, the mapping decoupling module determines the difference height adjustment amount based on the arc length distance between different measuring points on the arc-shaped component, the tilt angle deviation, and the radius of curvature. The formula is: Where Lij is the arc length distance between the two measuring points that generate tilt angle deviation, qR is the curvature correction coefficient, and the difference height adjustment amount is superimposed on the initial height control amount of the corresponding multi-point positioning execution unit.

5. The multi-actuator cooperative positioning control method for arc-shaped components according to claim 1, characterized in that, In step S5, the adaptive step size coefficient The calculation formula is: Where, α base Based on the step size factor, This is the deviation amplitude adjustment term. This is the adjustment term for the rate of change of deviation. For the reverse direction damping term, α min and α max These are the preset lower limit and the preset upper limit, respectively. This indicates amplitude limiting processing, where r represents the percentage decrease in the current round's deviation amplitude compared to the previous round's deviation amplitude, and n... rev This indicates the number of times the deviation direction reverses within the preset sliding window. This indicates a bandwidth limiting process; If the deviation direction reverses relative to the previous round after the current round adjustment, the reverse direction damping term is reduced; if the decrease ratio of the deviation amplitude after the current round adjustment relative to the previous round is lower than the preset decrease ratio, the deviation change rate adjustment term is reduced or the current step size coefficient is maintained; if the deviation amplitude converges according to the preset decrease ratio for two or more consecutive rounds, the adaptive step size coefficient is increased within the preset upper limit range; the basic step size coefficient is initialized based on the number of iterations and the final deviation value in the historical positioning data of the same type of arc-shaped component. When there is no historical positioning data of the same type of arc-shaped component, the basic step size coefficient takes the preset default value.

6. The multi-actuator cooperative positioning control method for arc-shaped components according to claim 1, characterized in that, In step S6, when the adjustment actions of two or more multi-point positioning execution units have spatial interference, load interference, or control degree of freedom coupling, the two or more multi-point positioning execution units are divided into the same mutually exclusive control group, and the adjustment is performed sequentially according to the deviation amplitude from large to small or the preset priority order; when there is no mutual exclusion relationship between two or more multi-point positioning execution units, the adjustment is performed in parallel; wherein, the mutually exclusive control group is divided according to the execution unit interference relationship diagram, the nodes in the execution unit interference relationship diagram represent multi-point positioning execution units, and interference edges are established between nodes that have spatial interference, load interference, or control degree of freedom coupling relationship.

7. A multi-actuator cooperative positioning control system for arc-shaped components, characterized in that, include: The parameter management module is used to establish an assembly task parameter set, which includes at least the target position parameters, target attitude parameters, allowable position deviation threshold, allowable attitude deviation threshold, correspondence between the arc-shaped components and the multi-point positioning execution units, and the degree of freedom constraint relationship of each multi-point positioning execution unit. The detection and acquisition module is used to collect position and attitude detection data of each arc-shaped component at multiple measuring points. The coordinate normalization module is used to establish a reference coordinate system based on a preset reference point, reference line or reference plane, and to convert the position detection data and attitude detection data to the reference coordinate system to obtain normalized detection data; The deviation calculation module is used to calculate the position deviation vector and attitude deviation vector of each arc component based on the normalized detection data and the target position parameters and target attitude parameters. The mapping and decoupling module is used to establish a component-measuring point-execution unit mapping matrix based on the radius of curvature of the arc-shaped component, the angular position of the measuring point along the arc length, the angular position of the execution unit along the arc length, and the degree of freedom constraint relationship. It decouples the position deviation vector and attitude deviation vector into the horizontal initial control quantity and the height initial control quantity corresponding to the multi-point positioning execution unit. The component-measuring point-execution unit mapping matrix is ​​used to record the arc-shaped component number, measuring point number, execution unit number, horizontal adjustment degree of freedom, vertical adjustment degree of freedom, degree of freedom weight coefficient, radius of curvature of the arc-shaped component, the angular position of each measuring point along the arc length, and the angular position of each execution unit along the arc length. When an arc-shaped component corresponds to two or more multi-point positioning execution units, the control quantity is allocated according to the distance between each execution unit and the corresponding measuring point, the force support relationship, the degree of freedom weight coefficient, and the curvature-related horizontal-height coupling effect. When allocating control quantities, the displacement contribution of each actuator unit's unit adjustment quantity to different measuring points is determined based on the curvature radius and angular position differences of the arc-shaped component. Cross-coupling compensation is performed on the initial horizontal control quantity and the initial height control quantity, so that the initial height control quantity includes a correction term for the horizontal displacement coupling effect of adjacent actuator units, and the initial horizontal control quantity includes a correction term for the height displacement coupling effect of adjacent actuator units. When the attitude deviation vector is not zero, the differential height adjustment quantity is determined based on the arc length distance, tilt angle deviation, and curvature radius between different measuring points on the arc-shaped component, and the differential height adjustment quantity is superimposed on the initial height control quantity. The adaptive step size module is used to generate an adaptive step size coefficient based on the amplitude of the current wheel deviation vector, the deviation change rate after the previous wheel adjustment, whether the deviation direction has reversed, and the historical positioning data of the same type of arc-shaped component, and to perform amplitude limiting correction on the initial horizontal control quantity and the initial height control quantity. The control output module is used to send the horizontal output control quantity and the height output control quantity after the amplitude limiting correction to the corresponding multi-point positioning execution unit; The convergence judgment module is used to receive the detection data again after each round of adjustment and to determine whether each arc component continuously meets the allowable deviation requirements.

8. The multi-actuator cooperative positioning control system for arc-shaped components according to claim 7, characterized in that, The multi-point positioning execution unit includes a horizontal adjustment actuator, a vertical adjustment actuator, and a component retainer; the horizontal adjustment actuator is used to adjust the position of the arc-shaped component in the horizontal plane according to the horizontal output control amount, the vertical adjustment actuator is used to adjust the position of the arc-shaped component in the vertical direction according to the height output control amount, and the component retainer is used to maintain the relative positioning relationship between the arc-shaped component and the corresponding multi-point positioning execution unit during the adjustment process.

9. The multi-actuator cooperative positioning control system for arc-shaped components according to claim 7 or 8, characterized in that, The system is applied to pre-assembly positioning equipment in the manufacturing process of engineering equipment. The pre-assembly positioning equipment is used to support arc-shaped metal components, arc-shaped frame components, or arc-shaped connecting components, and to adjust the position and attitude of the arc-shaped metal components, arc-shaped frame components, or arc-shaped connecting components through the multi-point positioning execution unit.

10. An electronic device, characterized in that, The method includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein the processor executes the computer program to implement the multi-execution unit cooperative positioning control method for arc-shaped components as described in any one of claims 1 to 6.

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