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

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3 mm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。

The incorrect selection of force nodes during attitude adjustment process can lead to a significant decrease in the load-bearing capacity of wing panel.Therefore,to accurately locate force nodes,it can reduce the deviation of panel attitude adjustment.The wing panel positioning and flexible attitude adjustment technology under the collaborative control of force and position is researched.Based on the principle of force-position collaborative control,a force-position structural model of the wing panel is established.The impedance effect of the wing force position is calculated based on the description conditions of mechanical synergy.By using homogeneous transformation of positioning coordinates,the specific wing panel positioning model is derived to achieve the wing panel positioning based on force-position collaborative control,and analyze the flexible equivalent force of the wing panel.By referring to the calculation results of attitude adjustment displacement,the free point position of attitude adjustment is defined,and the absolute vector of displacement is determined.The construction of the target model for flexible attitude adjustment is completed,realizing the design of the wing panel positioning and flexible attitude adjustment method under the collaborative control of force and position.Experimental results show that by using the above algorithm,the positioning coordinate error between the attitude adjustment force node and the standard force point is within 3mm,which effectively solves the reduced load-bearing capacity of the wing panel caused by the incorrect selection of attitude adjustment force nodes,meeting the requirements of practical applications.