基于时间动态规划的机身冗余控制对接算法  

Redundancy Control Docking Algorithm for Fuselage Based on Dynamic Programming of Position Adjustment Time

作　　者：杨超[1,2] YANG Chao(School of Mechanical Engineering,Northwestern Polytechnical University Xi'an,710072,China;AVIC Beijing Chang Cheng Aeronautic Measurement and Control Technology Research Institute Beijing,101111,China)

机构地区：[1]西北工业大学机电学院,西安710072 [2]中国航空工业集团公司北京长城航空测控技术研究所,北京101111

出　　处：《振动．测试与诊断》2024年第1期30-36,195,共8页Journal of Vibration,Measurement & Diagnosis

摘　　要：为了提高中机身的对接精度,保证对接效率,减小支撑底板受力变形,提出了一种基于调姿时间动态规划的机身冗余控制对接算法。根据机身初始位姿以及机身对接精度要求计算机身目标位姿,以姿态调整量和调姿速度为约束条件计算调姿时间,规划调姿轨迹。通过调姿轨迹计算定位器各轴驱动量,控制电机联动实现中机身调姿对接。仿真实验结果表明,经过基于调姿时间动态规划的冗余控制对接,飞机机身调姿定位过程中支撑底板无受力变形,减小调姿时间的同时对接精度相对较高,满足机身对接同轴度要求。In order to improve the docking accuracy of the middle fuselage,a fuselage redundant control docking algorithm based on the dynamic programming of position adjustment time is proposed,to ensure the docking efficiency and reduce the deformation of the supporting base plate.According to the initial position of the fuselage and the requirements of the accuracy of the fuselage docking,the target position of the fuselage is calculated;the attitude adjustment time is calculated and the attitude adjustment trajectory is planned,with attitude adjustment quantity and attitude adjustment speed as constraints.On this basis,the redundant control position adjustment algorithm of the positioner is inverse solved,by controlling the coordinated movement of the positioner to realize the position adjustment and docking of the middle fuselage.The simulated and experimental results show that the redundant control docking based on the dynamic programming of position adjustment time has no deformation of the support plate in the process of aircraft fuselage position adjustment and positioning,the docking accuracy is relatively high while the time of attitude adjustment is reduced,meeting the requirements of the coaxiality of fuselage docking.

关 键 词：装配 机身 仿真 调姿算法 形状控制 

分 类 号：TH113.2[机械工程—机械设计及理论] TH744