轻型自主爬行钻铆系统加工任务自适应控制策略研究

发布时间：2018-01-04 06:24

本文关键词：轻型自主爬行钻铆系统加工任务自适应控制策略研究　出处：《南京航空航天大学》2016年硕士论文　论文类型：学位论文

【摘要】：随着飞机装配质量要求的不断提高,高柔性化和智能化已经成为现代飞机装配技术的发展趋势。机身大部件对接对缝处的制孔铆接任务对飞机装配技术提出了新的需求,传统的飞机装配方式已不能满足其装配要求,轻型自主爬行钻铆系统作为一种新型的自动化制孔解决方案,依靠吸盘吸附于产品表面完成制孔工作,以其小型化高柔性的特点逐渐成为航空制造领域的焦点。本文主要从系统的智能化控制策略出发,围绕轻型自主爬行钻铆系统加工任务的自适应修正技术展开研究。主要研究内容如下:(1)提出钻铆系统加工任务自适应控制策略的总体方案。从系统的加工任务需求入手,分析并提出了系统加工中爬行钻铆系统的定位、行走路线识别和产品误差的自适应识别与修正方法,并对系统自适应控制进行总体方案设计;(2)根据钻铆系统具体的技术指标对系统的初定位和行走路径识别任务进行方案设计。分析钻铆系统的实际工作状态,提出系统在产品表面的定位检测需求,针对任务需求进行详细方案设计,提出基于单目视觉检测的定位识别方法,并对系统坐标系的转换与定位算法进行研究,求解出多基准下的定位检测方法与定位算法。针对行走路径的检测任务提出了选择性站位路径识别的方法,并提出了基于重力的路径调整方案;(3)开展产品装配误差的检测与修正算法的研究工作,包括产品的位置误差与孔位的姿态误差。根据钻铆系统具体的制孔位置精度与法向垂直精度指标要求,对产品误差进行在线检测方案设计,提出基于单目视觉检测系统的位置误差检测方案和基于多传感器测距的孔位法向检测方案。并对检测结果进行位置误差修正算法研究和法向误差调整方案设计,在满足系统重量要求的前提下提出了三自由度并联机构调姿方案,完成了系统调姿自由度的计算验证,研究了调姿算法,并通过Matlab软件对算法进行了仿真验证;(4)针对钻铆系统实验需求提出实验方案,搭建相应的实验平台,进行钻铆系统定位实验验证、产品误差的在线检测与系统姿态调整方案的实验验证,实验结果表明本文提出的解决方案结构上可行,算法上满足系统的技术指标要求。
[Abstract]:With the continuous improvement of aircraft assembly quality requirements, high flexibility and intelligence has become the development trend of modern aircraft assembly technology. Large parts of the fuselage docking butt hole riveting task has put forward new demands on the aircraft assembly technology, the traditional way of aircraft assembly can not meet the requirements of assembly, light autonomous crawling drilling automatic drilling system as a new solution, depending on the suction hole to complete the work on the surface of the product, with its small high flexibility has gradually become the focus in the field of aviation manufacture. Based on intelligent control strategy in this paper mainly from the system, the light independent adaptive crawling drilling and riveting system correction task to launch the research. The main research contents are as follows: (1) puts forward the overall scheme of drilling machining task riveting system adaptive control strategy. From the demand of the system in processing tasks, Analysis of the system in the process of crawling positioning drilling and riveting system, adaptive identification and correction method of route recognition and product error, and the overall design of adaptive control system; (2) according to the technical index of drilling and riveting system specific to the system initial location and path recognition task was designed. The analysis of actual working condition of drilling and riveting system, put forward the system requirements in product positioning surface detection, detailed design according to the task requirement, put forward position recognition method of monocular vision based detection and localization research and transformation of coordinate system algorithm, solving the multiple reference positioning detection method and positioning algorithm for. Detection method of selective path path station identification is proposed, and puts forward the path adjustment scheme based on gravity; (3) to carry out product assembly error. Research of measurement and correction algorithm, including position error and attitude error of the hole position of the product. The vertical accuracy index according to the requirements of drilling and riveting system specific hole position accuracy and method of design of online detection scheme of product error, put forward the position error of monocular vision detection system detection scheme and multi sensor location hole a method based on the detection scheme based on. And to design error adjustment scheme of position error correction method and Algorithm Research on the test results, the three degree of freedom parallel mechanism adjusting scheme satisfies the system weight requirements, complete the calculation of degrees of freedom pose adjusting system of verification, attitude control algorithm, and the algorithm was verified by Matlab simulation software; (4) according to the experimental requirements drill riveting system put forward the experiment scheme, the corresponding experimental platform, drilling riveting system positioning experiment, product error Experimental verification of differential online detection and system attitude adjustment scheme shows that the solution proposed in this paper is feasible and the algorithm meets the technical requirements of the 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】：2016
【分类号】：V262.4

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