飞机部件调姿系统结构设计与误差补偿

发布时间：2018-01-03 17:07

本文关键词：飞机部件调姿系统结构设计与误差补偿　出处：《南京航空航天大学》2015年硕士论文　论文类型：学位论文

【摘要】：现代飞机装配过程中逐步使用数字化的柔性自动装配系统,其主要由机械定位系统、控制系统、测量系统和计算机软件等组成。调姿精度是影响飞机装配质量的主要因素。在实际飞机部件装配过程中,飞机部件的姿态调整是基于运动学反解调整的,即给定部件理论位姿求解各主动定位器驱动位移,在运动学反解过程中所用的结构参数是设计值,这与实际结构参数之间不可避免地存在误差,使得部件对合过程位姿误差较大,部件对合过程容易造成干涉。为此结合南京航空航天大学与国内某航空公司某型飞机机身与机翼对接,以3-PPPS飞机部件调姿机构为研究对象,开展了调姿系统误差分析与补偿方面的研究,以期通过误差补偿提高调姿精度,避免机翼机身对接过程中的干涉,提高飞机数字化装配自动化水平与效率。主要研究内容如下:1)分析影响部件调姿与对合过程中的误差因素,并针对调姿机构结构误差,以空间直线副运动误差模型为基础,得到结构误差对对接过程机翼位置误差影响模型。2)根据3-PPPS并联部件调姿机构结构上的特点,以三个随动式位移为切入点,建立球铰位置约束方程,通过求解球铰点的理论位置,给出一种高效的机构位姿正解的封闭解形式。采用运动矢量链路建立调姿机构运动学反解方程。采用激光跟踪仪,辨识出调姿机构结构参数误差,给出基于修正定位器主动轴驱动位移的误差补偿方法。3)设计飞机部件调姿模拟机构,根据设计指标,计算了定位器部分传动部件的结构参数,基于ABAQUS有限元软件对伸缩筒进行了变形校核。根据激光跟踪仪自带的SDK开发数据测量软件。使用单台Leica AT901-MR在部件调姿模拟系统上完成调姿机构运动误差补偿实验。
[Abstract]:In the process of modern aircraft assembly, the digital flexible automatic assembly system is used step by step, which is mainly composed of mechanical positioning system and control system. The precision of attitude adjustment is the main factor that affects the assembly quality of aircraft. In the actual assembly process of aircraft components, the attitude adjustment of aircraft components is based on the kinematics inverse solution adjustment. That is to say, when the driving displacement of each active positioner is solved by the given component theory, the structural parameter used in the kinematics inverse solution is the design value, which inevitably has errors with the actual structural parameters. The position and pose error of the involutive process of components is larger, and the involutive process of components is easy to interfere. Therefore, the fuselage and wing of an aircraft of Nanjing University of Aeronautics and Astronautics and a domestic airline are docked together with each other. Taking 3-PPPS aircraft components attitude adjusting mechanism as the research object, the research on attitude adjustment system error analysis and compensation is carried out in order to improve the attitude adjustment accuracy through error compensation. To avoid interference in the process of wing fuselage docking and to improve the automation level and efficiency of aircraft digital assembly, the main contents of this paper are as follows: 1) the error factors affecting the attitude adjustment and involution of components are analyzed. Aiming at the structural error of the attitude adjusting mechanism, the motion error model of the spatial straight line pair is used as the foundation. The model of influence of structure error on wing position error in docking process. 2) according to the structural characteristics of 3-PPPS parallel component attitude adjusting mechanism, three follower displacements are taken as the starting point. The position constraint equation of the spherical hinge is established, and the theoretical position of the spherical hinge is solved. In this paper, an efficient closed form of forward solution is given. The kinematics inverse solution equation of attitude adjusting mechanism is established by using motion vector link, and the error of configuration parameters of attitude adjusting mechanism is identified by laser tracker. An error compensation method based on the driving displacement of the driving shaft of the positioner is presented. (3) the attitude adjustment simulation mechanism of the aircraft components is designed. According to the design index, the structural parameters of the drive parts of the positioner are calculated. Based on the ABAQUS finite element software, the deformation check of the telescopic tube is carried out. The data measurement software is developed according to the SDK provided by the laser tracker. A single Leica is used. AT901-MR completes the motion error compensation experiment of the attitude adjusting mechanism on the component attitude adjusting simulation system.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V262.4

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