力位协同控制下的机翼壁板定位及柔性调姿技术

Wing panel positioning and flexible attitude adjustment technology under force and position coordination control

摘要:

调姿过程中受力节点的错误选定会导致机翼壁板的承力能力大幅下降，因此准确定位受力节点才能降低壁板调姿偏差。为此，针对力位协同控制下的机翼壁板定位及柔性调姿技术展开研究。按照力位协同控制原则，建立机翼壁板的力位结构模型；并根据力学协同作用描述条件，求解机翼力位的阻抗作用效果；再通过齐次变换定位坐标的方式，推导具体的机翼壁板定位模型，实现基于力位协同控制的机翼壁板定位。分析机翼壁板的柔性等效力作用，参考调姿位移计算结果，确定位移绝对向量，定义调姿自由点所处位置，并完成柔性调姿目标模型的构建，实现力位协同控制下机翼壁板定位及柔性调姿方法的设计。实验结果表明，上述算法的应用，可将调姿受力节点与标准受力点之间的定位坐标误差控制在3mm之内，能够解决由错误选定调姿受力节点造成的机翼壁板承力能力下降的问题，符合实际应用需求。

Abstract:

The incorrect selection of force nodes during the attitude adjustment process can lead to a significant decrease in the load-bearing capacity of the wing panel. Therefore, accurately locating the force nodes can reduce the deviation of the panel attitude adjustment. Therefore, research is being conducted on the wing panel positioning and flexible attitude adjustment technology under force position collaborative control. According to the principle of force position collaborative control, establish a force position structural model of the wing wall panel; And based on the description conditions of mechanical synergy, calculate the impedance effect of wing force position; By homogeneous transformation of positioning coordinates, a specific wing panel positioning model is derived to achieve wing panel positioning based on force position collaborative control. Analyze the flexible equivalent force of the wing panel, refer to the calculation results of the attitude adjustment displacement, determine the absolute vector of displacement, define the position of the free point of the attitude adjustment, complete the construction of the target model of the flexible attitude adjustment, and realize the design of the wing panel positioning and flexible attitude adjustment method under the coordinated control of force and position. The experimental results show that the application of the above algorithm can control the positioning coordinate error between the attitude adjustment force node and the standard force point within 3mm, and can solve the problem of reduced bearing capacity of the wing wall panel caused by incorrect selection of attitude adjustment force nodes, which is in line with practical application requirements.