A multi-channel coordinated loading control method and system for structural static test

Abstract

The application relates to the technical field of structural static test, in particular to a multi-channel coordinated loading control method and system for structural static test. N The method comprises the following steps: obtaining a three-dimensional geometric model of a special-shaped curved surface component; calculating the loading distance and the loading direction required by a pre-configured N loading channel when the loading channel executes a pre-set moving task of the special-shaped curved surface component; obtaining the measured force data of the loading channel and the measured state data of the special-shaped curved surface component after an action feedback interval time; calculating the loading distance adjustment value of the loading channel and the loading direction adjustment value of the loading channel; recalculating the loading distance adjustment value of the loading channel and the loading direction adjustment value of the loading channel after the feedback interval time ends; and repeatedly executing until the loading is completed or the pre-set moving task is completed. N N N N The application improves the completion quality of the loading process by coordinating and controlling the multi-channel loading of the structural static test.​​​

Description

Technical Field

[0001] This invention relates to the field of structural static testing technology, specifically a multi-channel coordinated loading control method and system for structural static testing. Background Technology

[0002] In structural static tests, it is usually necessary to move the tested component from its initial position to a target position to simulate the load state and deformation process of the component under actual working conditions. In actual tests, the tested component can be placed on a test bench or supported by a flexible support device. For components with relatively regular shapes, they are usually mounted on guide rails and moved from the initial position to the target position by parallel pulling in a single direction using a hydraulic cylinder. However, for irregularly shaped curved components such as spacecraft modules and engine casings, their initial pose and target moving pose are usually inconsistent, requiring simultaneous translation and rotation. A single-dimensional parallel pulling method cannot change the pose state of the component, thus failing to meet the movement requirements of irregularly shaped curved components. For these special irregularly shaped curved components, multiple loading points can be set on their surface, and loads can be applied at each loading point by an external loading device to drive the irregularly shaped curved component to complete the predetermined movement task. The specific implementation method involves using multiple loading channels to coordinately load the irregular curved surface component from different directions, and controlling the translation and rotation of the component through multiple degrees of freedom. However, this method faces the following technical problems: First, the normal directions at each loading point on the surface of the irregular curved component are different. If the direction of the force applied by the contact deviates significantly from the normal direction at the loading point, the irregular curved component may experience lateral slippage during the loading process, causing the actual loading direction to deviate from the predetermined direction. Second, the number of loading channels is usually greater than the number of degrees of freedom of the rigid body motion of the irregular curved component, constituting a redundant drive system. To complete the same movement task, there are a large number of different combinations of loading distance and loading direction. The advantages and disadvantages of each combination vary, and existing technologies lack a mechanism for comparing and selecting various feasible combinations. Third, since the irregular curved component is a rigid object, when multiple contacts act on the surface of the component simultaneously, there is mechanical coupling between the contacts, and abnormal force conditions may occur at the contacts, but existing technologies have not studied this.

[0003] Therefore, it is necessary to provide a multi-channel coordinated loading control method and system for structural static tests. Before loading, feedforward planning is performed based on the geometric information of the irregular curved surface component. The optimal combination is selected from multiple feasible loading schemes. During the step-by-step loading process, different adjustment strategies are adopted for the abnormal and normal stress channels to improve the quality of the moving task. Summary of the Invention

[0004] (1) Technical problems to be solved The purpose of this invention is to provide a multi-channel coordinated loading control method and system for structural static tests, thereby realizing coordinated loading of multiple loading channels in structural static tests.

[0005] (2) Technical solution To achieve the above objectives, the present invention provides a multi-channel coordinated loading control method for structural static tests, the method comprising the following steps: S1, Obtain the three-dimensional geometric model of the irregular curved surface component; the irregular curved surface component has... N There are three pre-set loading points, denoted as the first loading point to the second loading point. N Loading point; extracted based on the three-dimensional geometric model N The normal direction of the irregular curved surface component at each loading point is used to obtain the normal direction from the first loading point to the second loading point. N Loading point normal direction.

[0006] S2, according to the normal direction of the first loading point to the... N The normal direction of the loading point is calculated using geometric relationship calculation methods to determine the pre-configured... N The loading channels determine the required loading distance and direction when performing a pre-set movement task on the irregular curved surface component, thus obtaining the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Feedforward loading direction.

[0007] S3, obtain the preset feedback interval and loading count. W ; respectively, the first feedforward loading distance is increased to the second N Dividing the feedforward loading distance by the number of loading cycles yields the first single loading distance up to the [number of cycles]. N Single load distance; based on the first single load distance to the next... N Single loading distance, first feedforward loading direction to the first N Feedforward loading direction control N After the feedback interval of the loading channel acting on the irregular curved surface component, the data is obtained. N Measured force data of each loading channel and measured state data of irregular curved surface components; based on N The measured force data of each loading channel and the measured state data of the irregular curved surface component were calculated to obtain... N The loading distance adjustment value for each loading channel and N The loading direction adjustment value for each loading channel.

[0008] S4, Control N Each loading channel uses [the following] during the next feedback interval. N The loading distance adjustment value for each loading channel and NThe loading direction adjustment value of each loading channel applies an action to the irregular curved surface component, and is recalculated after the feedback interval. N The loading distance adjustment value for each loading channel and N Adjust the loading direction value for each loading channel; repeat step S4 until completion. W This will load or complete a pre-defined movement task.

[0009] Furthermore, the direction of the normal from the first loading point to the first... N The normal direction of the loading point is calculated using geometric relationship calculation methods to determine the pre-configured... N The loading channels determine the required loading distance and direction when performing a pre-set movement task on the irregular curved surface component, thus obtaining the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Methods for feedforward loading direction include: Will N The loading channels are denoted as the first loading channel to the sixth loading channel. N Loading channels; the first loading channel to the second loading channel N Loading channel and first loading point to the N The loading points are one-to-one; the parameters of each loading channel include: initial loading position, loading distance, and loading direction; each loading channel includes a contact; the initial position of the contact of each loading channel is located at the initial loading position; the initial loading position of each loading channel is set as the corresponding loading point; the pre-set movement task of the irregular curved surface component is obtained; the pre-set movement task of the irregular curved surface component includes the initial state of the irregular curved surface component and the target state of the irregular curved surface component; the initial state of the irregular curved surface component includes the initial position and the initial pose of the irregular curved surface component; the target state of the irregular curved surface component includes the target movement position and the target movement pose of the irregular curved surface component.

[0010] Based on the initial state of the irregular curved surface component, the target state of the irregular curved surface component, and the direction of the normal of the first loading point to the... N The loading point normal direction is used to calculate the loading distance and loading direction of each loading channel required to move the irregular curved surface component from its initial state to its target state using geometric relationship calculation methods. These are denoted as the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Feedforward loading direction.

[0011] Furthermore, the initial state of the irregular curved surface component, the target state of the irregular curved surface component, and the direction of the normal to the first loading point are determined according to the initial state of the irregular curved surface component and the target state of the irregular curved surface component. NThe loading point normal direction is used to calculate the loading distance and loading direction of each loading channel required to move the irregular curved surface component from its initial state to its target state using geometric relationship calculation methods. These are denoted as the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Methods for feedforward loading direction include: Construct a three-dimensional spatial coordinate system; obtain the values ​​from the first loading point to the second loading point based on the initial state of the irregular curved surface component. N The coordinates of the loading points are denoted as the first initial coordinates to the second initial coordinates. N Initial coordinates; calculate the first loading point to the first loading point under the target state of the irregular curved surface component. N The coordinates of the loading points are denoted as the first termination coordinate to the second termination coordinate. N Termination coordinates; calculate the first initial coordinates to the... N The initial coordinates point to the first termination coordinate to the 1st termination coordinate. N The vectors of the terminating coordinates are denoted as the first movement vector to the second movement vector. N Movement vector.

[0012] Treating the irregular curved surface component as a rigid body, the first loading channel is connected to the second... N The loading channel is considered as a driving unit that can extend and retract along the loading direction of the corresponding loading point; constraints are set, including a first constraint and a second constraint; the first constraint is: the angle between the loading direction of each loading channel and the normal direction of the irregular curved surface component at the corresponding loading point at the initial moment is less than a preset angle deviation threshold; the second constraint is: all loading channels act simultaneously on the irregular curved surface component and jointly drive the irregular curved surface component to move from the initial state to the target state, so that the first loading point to the second loading point... N The loading point is from the first initial coordinate to the second initial coordinate. N The initial coordinates are moved to the first movement vector to the second. N The movement vector; under the premise of satisfying the first and second constraints, the multibody dynamics simulation method is used to obtain all feasible combinations of loading distances and loading directions that enable the irregular curved surface component to achieve the aforementioned movement task, wherein... N The number of rigid body motion degrees of freedom is greater than that of the irregular curved surface component, so that there are at least two different combinations of feasible loading distances and feasible loading directions that can drive the irregular curved surface component to complete the moving task.

[0013] From all feasible combinations of loading distance and loading direction, the optimal loading distance and loading direction are selected to obtain the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Feedforward loading direction.

[0014] Furthermore, the optimal loading distance and loading direction are selected from all feasible combinations of loading distance and feasible loading direction to obtain the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Methods for feedforward loading direction include: All feasible loading distance and feasible loading direction combinations are denoted as the first feasible combination to the second feasible combination. M Feasible combinations; among which M This represents the number of feasible loading distance and feasible loading direction combinations; multibody dynamics simulation methods are used to identify the combinations from the first feasible combination to the second feasible combination. M Under feasible combinations of conditions, during the process of completing the mobile task N The cumulative rotation angles along the normal direction of the irregular curved surface component at each loading point are denoted as the first cumulative rotation angle to the second cumulative rotation angle. M Cumulative rotation angle; calculate the first feasible combination up to the second feasible combination respectively. M Among feasible combinations N The sum of the loading distances of each loading channel is recorded as the first cumulative loading distance to the second cumulative loading distance. M Cumulative loading distance.

[0015] For each feasible combination of conditions, the cumulative rotation angle and cumulative loading distance are weighted and summed to obtain the first loading cost index up to the second. M Loading cost metrics; search for the feasible combination with the lowest loading cost metrics. N The loading distance and loading direction of each loading channel are used as the first feedforward loading distance to the second loading channel. N Feedforward loading distance, first feedforward loading direction to the first N Feedforward loading direction.

[0016] Furthermore, the distance from the first single loading to the... N Single loading distance, first feedforward loading direction to the first N Feedforward loading direction control N After the feedback interval of the loading channel acting on the irregular curved surface component, the data is obtained. N The methods for obtaining measured force data for each loading channel and measured state data for irregular curved surface components include: For the first loading channel to the... N Each loading channel in the loading channel takes the feedforward loading direction corresponding to the loading channel as the current loading direction and the single loading distance corresponding to the loading channel as the current loading distance. During the feedback interval, the contact of the loading channel is driven to extend along the current loading direction by the current loading distance, applying a load to the corresponding loading point. After the feedback interval ends, the load is obtained... NThe force exerted by the corresponding contact of each loading channel on the irregular curved surface component is used as the measured force data; the force from the first loading point to the second loading point is obtained. N The coordinates of the loading point are used as the measured state data of the irregular curved surface component.

[0017] Furthermore, the aforementioned according to N The measured force data of each loading channel and the measured state data of the irregular curved surface component were calculated to obtain... N The loading distance adjustment value for each loading channel and N The methods for adjusting the loading direction value of each loading channel include: search N The measured force data of each loading channel is collected; if the measured force data is greater than the preset upper limit of force, the corresponding loading channel is marked as an abnormal loading channel; the loading distance adjustment value of the abnormal loading channel is set to a preset protection distance; the loading direction adjustment value of the abnormal loading channel is set to the opposite direction of the loading direction in the previous feedback interval; if the measured force data is less than or equal to the preset upper limit of force, the corresponding loading channel is marked as a normal loading channel; the loading distance adjustment value and loading direction adjustment value of each normal loading channel are calculated based on the measured state data of the irregular curved surface component.

[0018] Furthermore, the method for calculating the loading distance adjustment value and loading direction adjustment value of each normally loaded channel based on the measured state data of the irregular curved surface component includes: Calculate the remaining feedback interval time; the remaining feedback interval time is equal to the number of loading times minus the number of feedback interval times that have been statistically obtained; calculate the direction from the coordinates of the corresponding loading point of each normal loading channel in the measured state data of the irregular curved surface component to the termination coordinates of the corresponding loading point as the first adjustment value of the loading direction of the normal loading channel; weight the first adjustment value of the loading direction of each normal loading channel with the feedforward loading direction corresponding to each normal loading channel according to the preset first direction weight and second direction weight to obtain the loading direction adjustment value of each normal loading channel.

[0019] The first adjustment value of the loading distance of the normal loading channel is obtained by dividing the Euclidean distance between the coordinates of the loading point and the termination coordinate of the corresponding loading point in the measured state data of the irregular curved surface component by the number of remaining feedback intervals. The first adjustment value of the loading distance of the normal loading channel is then weighted with the single loading distance corresponding to each normal loading channel according to the preset first distance weight and second distance weight to obtain the loading distance adjustment value of each normal loading channel.

[0020] Based on the same inventive concept, this invention also provides a multi-channel coordinated loading control system for structural static tests, the system comprising, in sequence: a model building module, a feedforward calculation module, an adjustment calculation module, and an execution module.

[0021] The model building module is used to obtain a three-dimensional geometric model of the irregular curved surface component; the irregular curved surface component has... N There are three pre-set loading points, denoted as the first loading point to the second loading point. N Loading point; extracted based on the three-dimensional geometric model N The normal direction of the irregular curved surface component at each loading point is used to obtain the normal direction from the first loading point to the second loading point. N Loading point normal direction.

[0022] The feedforward calculation module is used to calculate the distance from the normal direction of the first loading point to the first... N The normal direction of the loading point is calculated using geometric relationship calculation methods to determine the pre-configured... N The loading channels determine the required loading distance and direction when performing a pre-set movement task on the irregular curved surface component, thus obtaining the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Feedforward loading direction.

[0023] The adjustment calculation module is used to obtain the preset feedback interval time and loading count. W ; respectively, the first feedforward loading distance is increased to the second N Dividing the feedforward loading distance by the number of loading cycles yields the first single loading distance up to the [number of cycles]. N Single load distance; based on the first single load distance to the next... N Single loading distance, first feedforward loading direction to the first N Feedforward loading direction control N After the feedback interval of the loading channel acting on the irregular curved surface component, the data is obtained. N Measured force data of each loading channel and measured state data of irregular curved surface components; based on N The measured force data of each loading channel and the measured state data of the irregular curved surface component were calculated to obtain... N The loading distance adjustment value for each loading channel and N The loading direction adjustment value for each loading channel.

[0024] The execution module is used to control N Each loading channel uses [the following] during the next feedback interval. N The loading distance adjustment value for each loading channel and N The loading direction adjustment value of each loading channel applies an action to the irregular curved surface component, and is recalculated after the feedback interval.N The loading distance adjustment value for each loading channel and N Adjust the loading direction value for each loading channel; repeat step S4 until completion. W This will load or complete a pre-defined movement task.

[0025] (3) Beneficial effects Compared with the prior art, the beneficial effects of the present invention are: By combining the extraction of normal direction, feedforward planning, step-by-step loading and feedback correction, and cyclic execution, the feedforward link based on the geometric information of the irregular curved surface component is integrated with the feedback link based on the measured force data and measured state data. Differentiated adjustment strategies are adopted for the abnormal loading channel and the normal loading channel, so that the multi-channel coordinated loading process takes into account the accuracy of loading direction, optimization of loading scheme and fault tolerance of abnormal working conditions, thereby improving the completion quality of the irregular curved surface component from the initial state to the target state. Attached Figure Description

[0026] Figure 1 This is a flowchart of a multi-channel coordinated loading control method for structural static testing according to Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the module composition of a multi-channel coordinated loading control system for a structural static test according to Embodiment 2 of the present invention. Detailed Implementation

[0027] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Before providing examples, it is necessary to describe the application scenarios of this invention. This invention is applied to the structural static testing of irregularly shaped curved surface components such as spacecraft modules and engine casings. These components need to be moved from an initial state to a target state during testing, and there are differences in translation and rotation between the initial and target states. Using this method and system, feedforward planning can be performed based on the normal directions of each loading point on the component surface before loading. This allows for the selection of combinations with lower loading costs from multiple feasible loading schemes. Furthermore, during the step-by-step loading process, loading channels with abnormal stress and those with normal stress are differentiated and processed to avoid interruption of the movement mission due to excessive stress in individual channels. This invention is suitable for testing scenarios in aerospace equipment manufacturing and testing fields where high accuracy in loading direction and stability of the loading process are required.

[0029] Example 1: As Figure 1As shown in the figure, this embodiment provides a multi-channel coordinated loading control method for structural static tests, the method including the following steps: S1, Obtain the three-dimensional geometric model of the irregular curved surface component; the irregular curved surface component has... N There are three pre-set loading points, denoted as the first loading point to the second loading point. N Loading point; extracted based on the three-dimensional geometric model N The normal direction of the irregular curved surface component at each loading point is used to obtain the normal direction from the first loading point to the second loading point. N Loading point normal direction.

[0030] S2, according to the normal direction of the first loading point to the... N The normal direction of the loading point is calculated using geometric relationship calculation methods to determine the pre-configured... N The loading channels determine the required loading distance and direction when performing a pre-set movement task on the irregular curved surface component, thus obtaining the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Feedforward loading direction.

[0031] S3, obtain the preset feedback interval and loading count. W ; respectively, the first feedforward loading distance is increased to the second N Dividing the feedforward loading distance by the number of loading cycles yields the first single loading distance up to the [number of cycles]. N Single load distance; based on the first single load distance to the next... N Single loading distance, first feedforward loading direction to the first N Feedforward loading direction control N After the feedback interval of the loading channel acting on the irregular curved surface component, the data is obtained. N Measured force data of each loading channel and measured state data of irregular curved surface components; based on N The measured force data of each loading channel and the measured state data of the irregular curved surface component were calculated to obtain... N The loading distance adjustment value for each loading channel and N The loading direction adjustment value for each loading channel.

[0032] S4, Control N Each loading channel uses [the following] during the next feedback interval. N The loading distance adjustment value for each loading channel and N The loading direction adjustment value of each loading channel applies an action to the irregular curved surface component, and is recalculated after the feedback interval. N The loading distance adjustment value for each loading channel and N Adjust the loading direction value for each loading channel; repeat step S4 until completion. WThis will load or complete a pre-defined movement task.

[0033] For example, the irregular curved surface component is an engine casing, placed on a test bench. Flexible support devices are provided around the bench to assist in supporting the engine casing, which maintains its initial position when not under load. A three-dimensional geometric model of the engine casing is obtained using a three-dimensional scanning device. This model includes the spatial coordinates and curvature distribution information of the casing's outer surface. Ten loading points are pre-set on the outer surface of the engine casing, denoted as the first loading point to the tenth loading point. The loading points are evenly distributed at the intersections of the reinforcing ribs on the outer surface of the casing. Each intersection of reinforcing ribs has high local stiffness, preventing local plastic deformation in the loading point area when the contact force is applied. Based on the surface coordinates in the neighborhood of each loading point in the three-dimensional geometric model, the tangent plane of the outer surface of the casing at each loading point is calculated, thus obtaining the outward normal direction perpendicular to the tangent plane, denoted as the normal direction from the first loading point to the tenth loading point. The purpose of extracting the normal direction is to ensure that when a load is applied along the normal direction to the contact, no lateral force along the tangential plane is generated between the contact and the engine casing surface, thereby reducing the risk of lateral slippage of the casing during loading. Therefore, the normal direction of the loading point should be used as a reference in determining the loading direction.

[0034] The loading channels consist of an actuator, a contact, a force sensor, and a displacement sensor. The actuator is an electric cylinder, and the contact is mounted at the front end of the actuator. The contact front end has a spherical structure to adapt to changes in the curvature of the casing surface. The force sensor is installed between the contact and the actuator to measure the force applied by the contact to the loading point. The displacement sensor is integrated inside the actuator to measure the extension length of the contact. The 10 loading channels are designated as the first loading channel to the tenth loading channel, corresponding one-to-one with the first loading point to the tenth loading point. The initial loading position of each loading channel is set at the corresponding loading point. The actuator base is fixed to the load-bearing frame around the test bench, and the load-bearing frame is rigidly connected to the test bench to provide reaction force support for the actuator. Based on the normal direction from the first loading point to the tenth loading point, the loading distance and loading direction required for the 10 loading channels to perform the movement task are calculated using a geometric calculation method, resulting in the first feedforward loading distance to the tenth feedforward loading distance and the first feedforward loading direction to the tenth feedforward loading direction. The movement task involves moving the engine casing from its initial state to a target state. The initial state includes the initial position and initial pose, while the target state includes the target movement position and target movement pose. The first feedforward loading distance represents the total length that the contact of the first loading channel needs to extend during this movement task, and the first feedforward loading direction represents the spatial orientation that the contact should maintain when applying force. The purpose of calculating the feedforward loading distance and feedforward loading direction is to obtain the loading scheme of each channel in advance before the formal loading begins, so that the force direction of each contact is as close as possible to the normal direction of the corresponding loading point, and to provide a total stroke reference for step-by-step loading.

[0035] The preset feedback interval is 1 second, and the loading count is 80 times. The feedback interval setting needs to balance the smoothness of the loading process and the system's responsiveness. If the single loading time is too short, the loading channel will not have enough time to respond, and too many loading counts will lead to high computational complexity; if it is too long, the single loading distance will be too large, and the loading will not be smooth enough. Setting the loading count to 80 times results in a small single displacement, which helps to ensure the smoothness of the loading process and the adjustment accuracy. Dividing the first feedforward loading distance to the tenth feedforward loading distance by the loading count of 80 yields the first single loading distance to the tenth single loading distance. Taking the first loading channel as an example, the calculated first feedforward loading distance is 187 mm, so the first single loading distance is 2.3375 mm. Using the first single loading distance to the tenth single loading distance and the first feedforward loading direction to the tenth feedforward loading direction, the contacts of the 10 loading channels are controlled to apply force to the engine casing for 1 second. After the feedback interval ends, measured force data for 10 loading channels are acquired using force sensors, and measured state data for the engine casing is obtained by measuring the coordinates of 10 loading points. Based on the measured force and state data, the adjustment values ​​for the loading distance and loading direction of the 10 loading channels are calculated. The calculation of the loading distance and loading direction adjustment values ​​is based on the following principle: feedforward calculation relies on a geometric model and rigid body assumptions, and does not take into account the elastic deformation of the casing during loading and the real-time changes in the contact state of each contact. After a single loading, there is a deviation between the actual coordinates and the expected coordinates of each loading point, and the force on the contacts of some channels may exceed the preset force limit. Therefore, it is necessary to correct the subsequent loading distance and loading direction of each channel based on the measured force and state data to gradually compensate for the deviation in subsequent loading.

[0036] Ten loading channels are controlled to apply force to the engine casing using their respective loading distance and loading direction adjustment values ​​during the next 1-second feedback interval. The loading distance adjustment value is the actual length the contact needs to extend further within the current feedback interval compared to the length extended at the end of the previous feedback interval. The loading direction adjustment value is the actual spatial direction in which the contact applies force within the current feedback interval. After the feedback interval ends, the measured force data and measured state data are reacquired, the loading distance and loading direction adjustment values ​​for each channel are recalculated, and the above control process is executed again. This process is repeated, with the number of elapsed feedback intervals incremented by 1 after each loading adjustment. After each feedback interval ends, the Euclidean distance between the coordinates of each loading point and the corresponding termination coordinate in the measured state data is calculated. When the Euclidean distance between the coordinates of all 10 loading points and the corresponding termination coordinate is less than the preset completion threshold of 0.1 mm, the movement task is considered complete, and the loading process ends prematurely. In this embodiment, after the 79th loading, the Euclidean distance between the measured coordinates and the termination coordinates of all 10 loading points is less than 0.1 mm, indicating that the movement task is complete. The actual number of loadings is 79, which does not reach the preset number of loadings of 80. If, after completing 80 loadings, there are still loading points whose Euclidean distance is greater than the completion threshold, then completing 80 loadings is used as the termination condition, and steps S1 to S4 are re-executed after completing 80 loadings. In this embodiment, the completion threshold condition was met during the 79th loading, so the process was terminated early.

[0037] Furthermore, the direction of the normal from the first loading point to the first... N The normal direction of the loading point is calculated using geometric relationship calculation methods to determine the pre-configured... N The loading channels determine the required loading distance and direction when performing a pre-set movement task on the irregular curved surface component, thus obtaining the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Methods for feedforward loading direction include: Will N The loading channels are denoted as the first loading channel to the sixth loading channel. N Loading channels; the first loading channel to the second loading channel N Loading channel and first loading point to the NThe loading points are one-to-one; the parameters of each loading channel include: initial loading position, loading distance, and loading direction; each loading channel includes a contact; the initial position of the contact of each loading channel is located at the initial loading position; the initial loading position of each loading channel is set as the corresponding loading point; the pre-set movement task of the irregular curved surface component is obtained; the pre-set movement task of the irregular curved surface component includes the initial state of the irregular curved surface component and the target state of the irregular curved surface component; the initial state of the irregular curved surface component includes the initial position and the initial pose of the irregular curved surface component; the target state of the irregular curved surface component includes the target movement position and the target movement pose of the irregular curved surface component.

[0038] Based on the initial state of the irregular curved surface component, the target state of the irregular curved surface component, and the direction of the normal of the first loading point to the... N The loading point normal direction is used to calculate the loading distance and loading direction of each loading channel required to move the irregular curved surface component from its initial state to its target state using geometric relationship calculation methods. These are denoted as the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Feedforward loading direction.

[0039] Furthermore, the initial state of the irregular curved surface component, the target state of the irregular curved surface component, and the direction of the normal to the first loading point are determined according to the initial state of the irregular curved surface component and the target state of the irregular curved surface component. N The loading point normal direction is used to calculate the loading distance and loading direction of each loading channel required to move the irregular curved surface component from its initial state to its target state using geometric relationship calculation methods. These are denoted as the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Methods for feedforward loading direction include: Construct a three-dimensional spatial coordinate system; obtain the values ​​from the first loading point to the second loading point based on the initial state of the irregular curved surface component. N The coordinates of the loading points are denoted as the first initial coordinates to the second initial coordinates. N Initial coordinates; calculate the first loading point to the first loading point under the target state of the irregular curved surface component. N The coordinates of the loading points are denoted as the first termination coordinate to the second termination coordinate. N Termination coordinates; calculate the first initial coordinates to the... N The initial coordinates point to the first termination coordinate to the 1st termination coordinate. N The vectors of the terminating coordinates are denoted as the first movement vector to the second movement vector. N Movement vector.

[0040] Treating the irregular curved surface component as a rigid body, the first loading channel is connected to the second... NThe loading channel is considered as a driving unit that can extend and retract along the loading direction of the corresponding loading point; constraints are set, including a first constraint and a second constraint; the first constraint is: the angle between the loading direction of each loading channel and the normal direction of the irregular curved surface component at the corresponding loading point at the initial moment is less than a preset angle deviation threshold; the second constraint is: all loading channels act simultaneously on the irregular curved surface component and jointly drive the irregular curved surface component to move from the initial state to the target state, so that the first loading point to the second loading point... N The loading point is from the first initial coordinate to the second initial coordinate. N The initial coordinates are moved to the first movement vector to the second. N The movement vector; under the premise of satisfying the first and second constraints, the multibody dynamics simulation method is used to obtain all feasible combinations of loading distances and loading directions that enable the irregular curved surface component to achieve the aforementioned movement task, wherein... N The number of rigid body motion degrees of freedom is greater than that of the irregular curved surface component, so that there are at least two different combinations of feasible loading distances and feasible loading directions that can drive the irregular curved surface component to complete the moving task.

[0041] From all feasible combinations of loading distance and loading direction, the optimal loading distance and loading direction are selected to obtain the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Feedforward loading direction.

[0042] For example, the pre-set angle deviation threshold in the first constraint is 5 degrees. The setting of the angle deviation threshold is related to the material of the irregular curved surface component and the surface curvature at the loading point. When the material of the irregular curved surface component is hard and the surface curvature is large, the contact area between the contact and the surface of the loading point decreases rapidly with the increase of the angle deviation, which easily leads to stress concentration, so a smaller angle deviation threshold needs to be set; when the material is soft and the surface curvature is small, the contact can adapt to a slightly larger angle deviation without slipping, so a larger angle deviation threshold can be set. In this embodiment, the engine casing is made of titanium alloy with a surface curvature range of 0.02 to 0.05 millimeters. After experimental calibration, setting the angle deviation threshold to 5 degrees can retain a sufficient number of feasible solutions while ensuring the accuracy of the loading direction.

[0043] Multibody dynamics simulation was performed using ADAMS multibody dynamics simulation software. The 3D geometric model of the irregular curved surface component was imported into ADAMS, set as a rigid body, and assigned titanium alloy material properties. In ADAMS, the first to tenth loading channels were modeled as driving units capable of movement in their corresponding loading directions. The first constraint was set as the angle between the loading direction of each driving unit and the normal direction of the irregular curved surface component at the corresponding loading point at the initial moment being less than 5 degrees. The second constraint was set as the irregular curved surface component moving from the initial state to the target state with each loading point displacement satisfying the corresponding movement vector. ADAMS' parametric simulation function was used to iterate through the combinations of expansion and contraction of each driving unit, automatically recording all feasible loading distance and direction combinations that satisfy the constraints. It is important to note that, to limit the number of feasible loading distance and direction combinations, the upper bound of the expansion and contraction of each driving unit in the multibody dynamics simulation was set to the magnitude of the corresponding movement vector at the loading point, and the lower bound was set to 0, avoiding the search for physically infeasible combinations of excessively large expansion and contraction during the simulation. Meanwhile, the simulation scan step size is set to one-tenth of the expansion / contraction range of each driving unit, and the continuous expansion / contraction is discretized into a finite number of sampling points, thereby controlling the number of feasible solutions within a reasonable range. If the irregular curved surface component has a moving track constraint, the moving track constraint can also be added to the simulation model to further reduce the feasible solution space.

[0044] Furthermore, the optimal loading distance and loading direction are selected from all feasible combinations of loading distance and feasible loading direction to obtain the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Methods for feedforward loading direction include: All feasible loading distance and feasible loading direction combinations are denoted as the first feasible combination to the second feasible combination. M Feasible combinations; among which M This represents the number of feasible loading distance and feasible loading direction combinations; multibody dynamics simulation methods are used to identify the combinations from the first feasible combination to the second feasible combination. M Under feasible combinations of conditions, during the process of completing the mobile task N The cumulative rotation angles along the normal direction of the irregular curved surface component at each loading point are denoted as the first cumulative rotation angle to the second cumulative rotation angle. M Cumulative rotation angle; calculate the first feasible combination up to the second feasible combination respectively. M Among feasible combinations N The sum of the loading distances of each loading channel is recorded as the first cumulative loading distance to the second cumulative loading distance. M Cumulative loading distance.

[0045] For each feasible combination of conditions, the cumulative rotation angle and cumulative loading distance are weighted and summed to obtain the first loading cost index up to the second. MLoading cost metrics; search for the feasible combination with the lowest loading cost metrics. N The loading distance and loading direction of each loading channel are used as the first feedforward loading distance to the second loading channel. N Feedforward loading distance, first feedforward loading direction to the first N Feedforward loading direction.

[0046] For example, the cumulative rotation angle reflects the severity of the overall attitude change of the irregular curved surface component during the completion of the movement task. The larger the cumulative rotation angle, the greater the amplitude of the rotation of the normal direction in space at each loading point, the stronger the tendency for relative slippage between the contact and the surface of the loading point, and the higher the risk of the loading direction deviating from the predetermined direction. The cumulative loading distance reflects the total stroke of the contact movement in each loading channel. The larger the cumulative loading distance, the higher the overall energy consumption of the actuator, and the greater the possibility of mechanical interference between the channels. Therefore, the cumulative rotation angle and the cumulative loading distance are chosen as indicators to evaluate the merits of feasible combinations.

[0047] In this embodiment, the weight of the cumulative rotation angle is set to 0.7, and the weight of the cumulative loading distance is set to 0.3. The weight settings should consider the material of the irregular curved surface component and the surface curvature at the loading point. When the material of the irregular curved surface component is hard and the surface curvature is large, the contact area between the contact and the surface of the loading point decreases rapidly with increasing angle deviation, easily leading to stress concentration; therefore, the weight of the cumulative rotation angle should be set to a larger value. When the material is soft and the surface curvature is small, the contact can adapt to slightly larger angle deviations without slipping; therefore, a smaller weight of the cumulative rotation angle can be set. The sum of the weight of the cumulative rotation angle and the weight of the cumulative loading distance is 1, and both values ​​range from 0 to 1.

[0048] Furthermore, the distance from the first single loading to the... N Single loading distance, first feedforward loading direction to the first N Feedforward loading direction control N After the feedback interval of the loading channel acting on the irregular curved surface component, the data is obtained. N The methods for obtaining measured force data for each loading channel and measured state data for irregular curved surface components include: For the first loading channel to the... N Each loading channel in the loading channel takes the feedforward loading direction corresponding to the loading channel as the current loading direction and the single loading distance corresponding to the loading channel as the current loading distance. During the feedback interval, the contact of the loading channel is driven to extend along the current loading direction by the current loading distance, applying a load to the corresponding loading point. After the feedback interval ends, the load is obtained... N The force exerted by the corresponding contact of each loading channel on the irregular curved surface component is used as the measured force data; the force from the first loading point to the second loading point is obtained. NThe coordinates of the loading point are used as the measured state data of the irregular curved surface component.

[0049] Furthermore, the aforementioned according to N The measured force data of each loading channel and the measured state data of the irregular curved surface component were calculated to obtain... N The loading distance adjustment value for each loading channel and N The methods for adjusting the loading direction value of each loading channel include: search N The measured force data of each loading channel is collected; if the measured force data is greater than the preset upper limit of force, the corresponding loading channel is marked as an abnormal loading channel; the loading distance adjustment value of the abnormal loading channel is set to a preset protection distance; the loading direction adjustment value of the abnormal loading channel is set to the opposite direction of the loading direction in the previous feedback interval; if the measured force data is less than or equal to the preset upper limit of force, the corresponding loading channel is marked as a normal loading channel; the loading distance adjustment value and loading direction adjustment value of each normal loading channel are calculated based on the measured state data of the irregular curved surface component.

[0050] For example, the preset upper limit of the load is 25 kN. The setting of the upper limit of the load is related to the yield strength of the material of the irregular curved surface component, the magnitude of the normal force applied by the contacts, and the structural stiffness of the stiffeners at the loading point. In this embodiment, the yield strength of the titanium alloy material of the engine casing corresponds to an upper limit of 55 kN at the loading point, and a safety factor of 2.2 is used to obtain an upper limit of 25 kN. In addition, the magnitude of the normal force applied by the contacts is also an important reference factor for setting the upper limit of the load. In this embodiment, calculations using multibody dynamics simulation software show that the force exerted by each contact on the loading point during the stable loading stage is usually maintained in the range of 8 kN to 15 kN, which is less than the upper limit of 25 kN. Therefore, the selected upper limit of the load meets the actual engineering needs. If the normal force is even smaller, the safety factor can be further increased to increase the margin between the upper limit of the load and the normal force, and reduce the risk of local overload of the component.

[0051] In this embodiment, taking the end of the 12th loading cycle as an example: After the 12th loading cycle, the measured force data of 10 loading channels are searched. The measured force data of the third loading channel is 26.1 kN, the sixth loading channel is 27.2 kN, and the eighth loading channel is 28.5 kN, all of which are greater than the upper limit of 25 kN. Therefore, the third, sixth, and eighth loading channels are marked as abnormal loading channels. The measured force data of the remaining 7 loading channels are between 11 kN and 15 kN, all of which are less than the upper limit of 25 kN, and are marked as normal loading channels. For the abnormal loading channels, the loading distance adjustment value is set to a pre-given protection distance of 2 mm, and the loading direction adjustment value is set to the opposite direction of the loading direction in the previous feedback interval, so that the contact retracts 2 mm in the opposite direction, reducing the force at the loading point, unloading local stress, and avoiding local overload of the component. The selected protection distance should effectively reduce stress within a single feedback interval while avoiding excessive retraction that could cause sudden changes in stress in other channels. For loading channels with normal stress, the loading distance and loading direction adjustment values ​​are calculated based on the measured data, and subsequent adjustment steps are executed to maintain the movement task. It is worth noting that if the measured stress data for all 10 loading channels exceeds 25 kN, all loading channels are marked as abnormal stress loading channels. In this case, the loading distance adjustment value for all abnormal stress loading channels is set to the protection distance, and the loading direction adjustment value is set to the opposite direction of the loading direction in the previous feedback interval. This means all contacts retract synchronously. After retraction, the measured stress and status data are reacquired, and subsequent steps are re-executed according to the calculation logic for normal stress loading channels. Because the measured status data of the irregular curved surface component changes after retraction, in most cases, a loop of continuous abnormal stress in all channels will not occur. In extreme cases, if all loading channels are abnormal stress loading channels five times consecutively, an alarm is triggered, the protection distance is corrected, and the loading operation is re-executed.

[0052] Furthermore, the method for calculating the loading distance adjustment value and loading direction adjustment value of each normally loaded channel based on the measured state data of the irregular curved surface component includes: Calculate the remaining feedback interval time; the remaining feedback interval time is equal to the number of loading times minus the number of feedback interval times that have been statistically obtained; calculate the direction from the coordinates of the corresponding loading point of each normal loading channel in the measured state data of the irregular curved surface component to the termination coordinates of the corresponding loading point as the first adjustment value of the loading direction of the normal loading channel; weight the first adjustment value of the loading direction of each normal loading channel with the feedforward loading direction corresponding to each normal loading channel according to the preset first direction weight and second direction weight to obtain the loading direction adjustment value of each normal loading channel.

[0053] The first adjustment value of the loading distance of the normal loading channel is obtained by dividing the Euclidean distance between the coordinates of the loading point and the termination coordinate of the corresponding loading point in the measured state data of the irregular curved surface component by the number of remaining feedback intervals. The first adjustment value of the loading distance of the normal loading channel is then weighted with the single loading distance corresponding to each normal loading channel according to the preset first distance weight and second distance weight to obtain the loading distance adjustment value of each normal loading channel.

[0054] For example, the first directional weight represents the weight of the first adjustment value of the loading direction for each normally loaded channel, and the second directional weight represents the weight of the feedforward loading direction corresponding to each normally loaded channel. The sum of the first directional weight and the second directional weight is 1. The first directional weight and the second directional weight change with the number of remaining feedback intervals.

[0055] The formula for calculating the weight in the first direction is: ; in, Indicates the weight in the first direction. Indicates the number of remaining feedback intervals. Greater than 0.

[0056] When the remaining feedback interval is large, the loading is in its initial stage, and the actual position of the irregular curved surface component deviates significantly from the target movement position. At this time, the first adjustment value of the loading direction is significantly affected by single measurement errors and local contact state fluctuations. Therefore, the weight of the first direction is set to a smaller value, while the weight of the second direction is set to a larger value, with the feedforward loading direction as the dominant factor to ensure the coordination and stability of the loading directions of each channel. As loading progresses, the remaining feedback interval gradually decreases, and the actual position of the irregular curved surface component gradually approaches the target movement position. The first adjustment value of the loading direction becomes more direct and accurate in guiding the completion of the movement task, and the weight of the first direction gradually increases while the weight of the second direction gradually decreases.

[0057] The first distance weight represents the weight of the first adjustment value of the loading distance for each normally loaded channel, and the second distance weight represents the weight of the single loading distance for each normally loaded channel. The sum of the first distance weight and the second distance weight is 1. The first distance weight and the second distance weight also change with the number of remaining feedback intervals.

[0058] The formula for calculating the first distance weight is: ; in, This represents the first distance weight.

[0059] The principle for setting the first distance weight is similar to that for the first direction weight, and will not be repeated here.

[0060] By dynamically adjusting the weights, stability and convergence accuracy can be balanced throughout the loading process. This avoids sudden changes in direction or step size due to measurement noise in the early stages of loading, and also avoids slow convergence in the later stages of loading due to over-reliance on feedforward values.

[0061] Example 2: Based on the same inventive concept, such as Figure 2 As shown in the figure, this embodiment also provides a multi-channel coordinated loading control system for structural static tests. The system includes, in sequence, a model building module, a feedforward calculation module, an adjustment calculation module, and an execution module.

[0062] The model building module is used to obtain a three-dimensional geometric model of the irregular curved surface component; the irregular curved surface component has... N There are three pre-set loading points, denoted as the first loading point to the second loading point. N Loading point; extracted based on the three-dimensional geometric model N The normal direction of the irregular curved surface component at each loading point is used to obtain the normal direction from the first loading point to the second loading point. N Loading point normal direction.

[0063] The feedforward calculation module is used to calculate the distance from the normal direction of the first loading point to the first... N The normal direction of the loading point is calculated using geometric relationship calculation methods to determine the pre-configured... N The loading channels determine the required loading distance and direction when performing a pre-set movement task on the irregular curved surface component, thus obtaining the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Feedforward loading direction.

[0064] The adjustment calculation module is used to obtain the preset feedback interval time and loading count. W ; respectively, the first feedforward loading distance is increased to the second NDividing the feedforward loading distance by the number of loading cycles yields the first single loading distance up to the [number of cycles]. N Single load distance; based on the first single load distance to the next... N Single loading distance, first feedforward loading direction to the first N Feedforward loading direction control N After the feedback interval of the loading channel acting on the irregular curved surface component, the data is obtained. N Measured force data of each loading channel and measured state data of irregular curved surface components; based on N The measured force data of each loading channel and the measured state data of the irregular curved surface component were calculated to obtain... N The loading distance adjustment value for each loading channel and N The loading direction adjustment value for each loading channel.

[0065] The execution module is used to control N Each loading channel uses [the following] during the next feedback interval. N The loading distance adjustment value for each loading channel and N The loading direction adjustment value of each loading channel applies an action to the irregular curved surface component, and is recalculated after the feedback interval. N The loading distance adjustment value for each loading channel and N Adjust the loading direction value for each loading channel; repeat step S4 until completion. W This will load or complete a pre-defined movement task.

[0066] It should be noted that the specific methods by which each module performs operations in the system described in the above embodiments have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0067] Finally, it should be noted that although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-channel coordinated loading control method for structural static testing, characterized in that, The method includes the following steps: S1, Obtain the three-dimensional geometric model of the irregular curved surface component; the irregular curved surface component has... N There are three pre-set loading points, denoted as the first loading point to the second loading point. N Loading point; extracted based on the three-dimensional geometric model N The normal direction of the irregular curved surface component at each loading point is used to obtain the normal direction from the first loading point to the second loading point. N Loading point normal direction; S2, according to the normal direction of the first loading point to the... N The normal direction of the loading point is calculated using geometric relationship calculation methods to determine the pre-configured... N The loading channels determine the required loading distance and direction when performing a pre-set movement task on the irregular curved surface component, thus obtaining the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Feedforward loading direction; S3, obtain the preset feedback interval and loading count. W ; respectively, the first feedforward loading distance is increased to the second N Dividing the feedforward loading distance by the number of loading cycles yields the first single loading distance up to the [number of cycles]. N Single load distance; based on the first single load distance to the next... N Single loading distance, first feedforward loading direction to the first N Feedforward loading direction control N After the feedback interval of the loading channel acting on the irregular curved surface component, the data is obtained. N Measured force data of each loading channel and measured state data of irregular curved surface components; based on N The measured force data of each loading channel and the measured state data of the irregular curved surface component were calculated to obtain... N The loading distance adjustment value for each loading channel and N The loading direction adjustment value for each loading channel; S4, Control N Each loading channel uses [the following] during the next feedback interval. N The loading distance adjustment value for each loading channel and N The loading direction adjustment value of each loading channel applies an action to the irregular curved surface component, and is recalculated after the feedback interval. N The loading distance adjustment value for each loading channel and N Adjust the loading direction value for each loading channel; repeat step S4 until completion. W This will load or complete a pre-defined movement task.

2. The multi-channel coordinated loading control method for structural static testing as described in claim 1, characterized in that, The direction of the normal to the first loading point is as follows: N The normal direction of the loading point is calculated using geometric relationship calculation methods to determine the pre-configured... N The loading channels determine the required loading distance and direction when performing a pre-set movement task on the irregular curved surface component, thus obtaining the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Methods for feedforward loading direction include: Will N The loading channels are denoted as the first loading channel to the sixth loading channel. N Loading channels; the first loading channel to the second loading channel N Loading channel and first loading point to the N The loading points are one-to-one; the parameters of each loading channel include: initial loading position, loading distance, and loading direction; each loading channel includes a contact; the initial position of the contact of each loading channel is located at the initial loading position; the initial loading position of each loading channel is set as the corresponding loading point; the pre-set movement task of the irregular curved surface component is obtained; the pre-set movement task of the irregular curved surface component includes the initial state of the irregular curved surface component and the target state of the irregular curved surface component; the initial state of the irregular curved surface component includes the initial position and the initial pose of the irregular curved surface component; the target state of the irregular curved surface component includes the target movement position and the target movement pose of the irregular curved surface component; Based on the initial state of the irregular curved surface component, the target state of the irregular curved surface component, and the direction of the normal to the first loading point to the... N The loading point normal direction is used to calculate the loading distance and loading direction of each loading channel required to move the irregular curved surface component from its initial state to its target state using geometric relationship calculation methods. These are denoted as the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Feedforward loading direction.

3. The multi-channel coordinated loading control method for structural static testing as described in claim 2, characterized in that, The initial state of the irregular curved surface component, the target state of the irregular curved surface component, and the normal direction of the first loading point to the first... N The loading point normal direction is used to calculate the loading distance and loading direction of each loading channel required to move the irregular curved surface component from its initial state to its target state using geometric relationship calculation methods. These are denoted as the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Methods for feedforward loading direction include: Construct a three-dimensional spatial coordinate system; obtain the values ​​from the first loading point to the second loading point based on the initial state of the irregular curved surface component. N The coordinates of the loading points are denoted as the first initial coordinates to the second initial coordinates. N Initial coordinates; calculate the first loading point to the first loading point under the target state of the irregular curved surface component. N The coordinates of the loading points are denoted as the first termination coordinate to the second termination coordinate. N Termination coordinates; calculate the first initial coordinates to the... N The initial coordinates point to the first termination coordinate to the 1st termination coordinate. N The vectors of the terminating coordinates are denoted as the first movement vector to the second movement vector. N Movement vector; Treating the irregular curved surface component as a rigid body, the first loading channel is connected to the second... N The loading channel is considered as a driving unit that can extend and retract along the loading direction of the corresponding loading point; constraints are set, including a first constraint and a second constraint; the first constraint is: the angle between the loading direction of each loading channel and the normal direction of the irregular curved surface component at the corresponding loading point at the initial moment is less than a preset angle deviation threshold; the second constraint is: all loading channels act simultaneously on the irregular curved surface component and jointly drive the irregular curved surface component to move from the initial state to the target state, so that the first loading point to the second loading point... N The loading point is from the first initial coordinate to the second initial coordinate. N The initial coordinates are moved to the first movement vector to the second. N The movement vector; under the premise of satisfying the first and second constraints, the multibody dynamics simulation method is used to obtain all feasible combinations of loading distances and feasible loading directions that enable the irregular curved surface component to achieve the aforementioned movement task, wherein... N The number of rigid body motion degrees of freedom is greater than that of the irregular curved surface component, so that there are at least two different combinations of feasible loading distances and feasible loading directions that can drive the irregular curved surface component to complete the moving task; From all feasible combinations of loading distance and loading direction, the optimal loading distance and loading direction are selected to obtain the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Feedforward loading direction.

4. The multi-channel coordinated loading control method for structural static testing as described in claim 3, characterized in that, The optimal loading distance and loading direction are selected from all feasible combinations of loading distance and feasible loading direction to obtain the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Methods for feedforward loading direction include: All feasible loading distance and feasible loading direction combinations are denoted as the first feasible combination to the second feasible combination. M Feasible combinations; among which M This represents the number of feasible loading distance and feasible loading direction combinations; multibody dynamics simulation methods are used to identify the combinations from the first feasible combination to the second feasible combination. M Under feasible combinations of conditions, during the process of completing the mobile task N The cumulative rotation angles along the normal direction of the irregular curved surface component at each loading point are denoted as the first cumulative rotation angle to the second cumulative rotation angle. M Cumulative rotation angle; calculate the first feasible combination up to the second feasible combination. M Among feasible combinations N The sum of the loading distances of each loading channel is recorded as the first cumulative loading distance to the second cumulative loading distance. M Cumulative loading distance; For each feasible combination of conditions, the cumulative rotation angle and cumulative loading distance are weighted and summed to obtain the first loading cost index up to the second. M Loading cost metrics; search for the feasible combination with the lowest loading cost metrics. N The loading distance and loading direction of each loading channel are used as the first feedforward loading distance to the second loading channel. N Feedforward loading distance, first feedforward loading direction to the first N Feedforward loading direction.

5. The multi-channel coordinated loading control method for structural static testing as described in claim 4, characterized in that, The distance from the first single loading to the [number]th N Single loading distance, first feedforward loading direction to the first N Feedforward loading direction control N After the feedback interval of the loading channel acting on the irregular curved surface component, the data is obtained. N The methods for obtaining measured force data for each loading channel and measured state data for irregular curved surface components include: For the first loading channel to the... N Each loading channel in the loading channel takes the feedforward loading direction corresponding to the loading channel as the current loading direction and the single loading distance corresponding to the loading channel as the current loading distance. During the feedback interval, the contact of the loading channel is driven to extend along the current loading direction by the current loading distance, applying a load to the corresponding loading point. After the feedback interval ends, the load is obtained... N The force exerted by the corresponding contact of each loading channel on the irregular curved surface component is used as the measured force data; the force from the first loading point to the second loading point is obtained. N The coordinates of the loading point are used as the measured state data of the irregular curved surface component.

6. The multi-channel coordinated loading control method for structural static testing as described in claim 5, characterized in that, According to N The measured force data of each loading channel and the measured state data of the irregular curved surface component were calculated to obtain... N The loading distance adjustment value for each loading channel and N The methods for adjusting the loading direction value of each loading channel include: search N The measured force data of each loading channel is collected; if the measured force data is greater than the preset upper limit of force, the corresponding loading channel is marked as an abnormal loading channel; the loading distance adjustment value of the abnormal loading channel is set to a preset protection distance; the loading direction adjustment value of the abnormal loading channel is set to the opposite direction of the loading direction in the previous feedback interval; if the measured force data is less than or equal to the preset upper limit of force, the corresponding loading channel is marked as a normal loading channel; the loading distance adjustment value and loading direction adjustment value of each normal loading channel are calculated based on the measured state data of the irregular curved surface component.

7. The multi-channel coordinated loading control method for structural static testing as described in claim 6, characterized in that, The method for calculating the adjustment values ​​of the loading distance and loading direction for each normally loaded channel based on the measured state data of the irregular curved surface component includes: Calculate the remaining feedback interval time; the remaining feedback interval time is equal to the number of loading times minus the number of feedback interval times that have been statistically obtained; calculate the direction from the coordinates of the corresponding loading point of each normal loading channel in the measured state data of the irregular curved surface component to the termination coordinates of the corresponding loading point as the first adjustment value of the loading direction of the normal loading channel; weight the first adjustment value of the loading direction of each normal loading channel with the feedforward loading direction corresponding to each normal loading channel according to the preset first direction weight and second direction weight to obtain the loading direction adjustment value of each normal loading channel; The first adjustment value of the loading distance of the normal loading channel is obtained by dividing the Euclidean distance between the coordinates of the loading point and the termination coordinate of the corresponding loading point in the measured state data of the irregular curved surface component by the number of remaining feedback intervals. The first adjustment value of the loading distance of the normal loading channel is then weighted with the single loading distance corresponding to each normal loading channel according to the preset first distance weight and second distance weight to obtain the loading distance adjustment value of each normal loading channel.

8. A multi-channel coordinated loading control system for structural static testing, used to execute the method described in any one of claims 1-7, characterized in that, The system comprises, in sequence, a model building module, a feedforward calculation module, an adjustment calculation module, and an execution module; The model building module is used to obtain a three-dimensional geometric model of the irregular curved surface component; the irregular curved surface component has... N There are three pre-set loading points, denoted as the first loading point to the second loading point. N Load point; Extract from the three-dimensional geometric model N The normal direction of the irregular curved surface component at each loading point is used to obtain the normal direction from the first loading point to the second loading point. N Loading point normal direction; The feedforward calculation module is used to calculate the distance from the normal direction of the first loading point to the first... N The normal direction of the loading point is calculated using geometric relationship calculation methods to determine the pre-configured... N The loading channels determine the required loading distance and direction when performing a pre-set movement task on the irregular curved surface component, thus obtaining the first feedforward loading distance to the second... N Feedforward loading distance, first feedforward loading direction to the first N Feedforward loading direction; The adjustment calculation module is used to obtain the preset feedback interval time and loading count. W ; respectively, the first feedforward loading distance is increased to the second N Dividing the feedforward loading distance by the number of loading cycles yields the first single loading distance up to the [number of cycles]. N Single load distance; based on the first single load distance to the next... N Single loading distance, first feedforward loading direction to the first N Feedforward loading direction control N After the feedback interval of the loading channel acting on the irregular curved surface component, the data is obtained. N Measured force data of each loading channel and measured state data of irregular curved surface components; based on N The measured force data of each loading channel and the measured state data of the irregular curved surface component were calculated to obtain... N The loading distance adjustment value for each loading channel and N The loading direction adjustment value for each loading channel; The execution module is used to control N Each loading channel uses [the following] during the next feedback interval. N The loading distance adjustment value for each loading channel and N The loading direction adjustment value of each loading channel applies an action to the irregular curved surface component, and is recalculated after the feedback interval. N The loading distance adjustment value for each loading channel and N The loading direction adjustment value for each loading channel; Repeat step S4 until completion. W This will load or complete a pre-defined movement task.

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