飞机发动机安装系统主控电路与轨迹规划研究
发布时间：2019-03-29 09:47
【摘要】：作为提供动力的核心元件,飞机发动机是飞机的最重要组成部分。在飞机的装配过程中,发动机的安装工作是一个重要的环节,而发动机的重量重、体积大、外形结构复杂,加之安装间隙狭小等因素的存在,导致发动机的安装工作非常困难。目前国内一些企业的飞机发动机安装工作是通过人工手动操作液压设备来进行,这种方法不能精确地对发动机位姿进行调整,存在耗费人力成本、难以保证安装精度和效率等问题。为了解决飞机发动机人工安装方法效率差、精度低等问题,本文通过对国内外相关研究现状进行分析,根据发动机安装过程中的难点和要求,提出了一种基于双CPU、具有视觉测量功能、能够实现发动机自动安装的发动机数字化安装系统的设计方案。论文先对飞机发动机数字化安装系统的控制系统进行了设计。提出基于“IPC+GALIL"的双CPU数控系统总体方案,设计了系统的主电路和控制电路；针对发动机数字化安装的需要,设计了基于位置的视觉伺服系统,介绍了视觉测量系统的原理；对控制系统的电磁兼容性进行了设计,阐述了系统运行在特殊情况下的安全保护措施。根据视觉系统的成像原理,提出发动机的位姿测量算法。通过分析摄像机在成像过程中的几何模型,对发动机标靶图像进行径向对称变换和对正变换；通过对标靶图像的低秩像素矩阵复原进行了摄像机参数的标定,运用增广拉格朗日乘子法对优化问题进行求解,得出摄像机的内外参数,从而获得发动机在摄像机坐标系下的位姿。对发动机安装系统的数控调姿平台进行运动学分析,求取升降俯仰机构的运动学正解和逆解,并阐明发动机位姿在空间中的表示方法和坐标变换方法。在此基础上,根据发动机在短舱内的标准安装路径,进行发动机安装的离线轨迹规划,提出了通过视觉测量系统对离线轨迹进行在线修正的方法,并编写了飞机发动机自动安装的多通道程序。构建飞机发动机模拟安装实验平台,对系统硬件和软件进行联调；对上述各项研究内容进行验证,进行了飞机发动机模拟安装实验,分析了实验数据及引起发动机安装误差的因素。实践证明,应用本文研究的飞机发动机数字化安装系统,能够确保发动机稳定、高效和精确地安装到飞机短舱中,有效地提高了劳动生产效率
[Abstract]:As the core component of power supply, aircraft engine is the most important part of aircraft. In the process of aircraft assembly, the installation of engine is an important part. The installation of engine is very difficult because of its heavy weight, large volume, complicated configuration and narrow clearance. At present, the installation of aircraft engine in some domestic enterprises is carried out by manual operation of hydraulic equipment, this method can not accurately adjust the engine position and posture, and there is a cost of manpower. It is difficult to guarantee the accuracy and efficiency of installation. In order to solve the problems of low efficiency and low precision of manual installation of aircraft engine, this paper analyzes the current research situation at home and abroad, and according to the difficulties and requirements of engine installation, puts forward a new method based on double CPU,. It has the function of visual measurement and can realize the design of the digital installation system of the engine. Firstly, the control system of aircraft engine digital installation system is designed. The general scheme of double CPU numerical control system based on "IPC GALIL" is put forward, the main circuit and control circuit of the system are designed, and the visual servo system based on position is designed according to the need of digital installation of engine, and the principle of visual measurement system is introduced. The electromagnetic compatibility (EMC) of the control system is designed, and the safety protection measures of the system running under special circumstances are described. According to the imaging principle of vision system, an algorithm for measuring engine position and attitude is proposed. By analyzing the geometric model of the camera in the process of imaging, the radial symmetry transformation and the forward transformation of the engine target image are carried out. The camera parameters are calibrated by the low rank pixel matrix restoration of the target image. The optimization problem is solved by the augmented Lagrangian multiplier method, and the inner and outer parameters of the camera are obtained. Thus, the position and posture of the engine in the camera coordinate system are obtained. The kinematics analysis of the NC attitude adjusting platform of the engine installation system is carried out, the forward and inverse kinematics solutions of the lifting and lifting mechanism are obtained, and the representation method and the coordinate transformation method of the engine position and attitude in the space are expounded. On this basis, according to the standard installation path of the engine in the short cabin, the off-line trajectory planning of the engine installation is carried out, and an on-line correction method of the off-line trajectory through the visual measurement system is put forward. At the same time, the multi-channel program of aircraft engine auto-installation is compiled. The simulation installation experiment platform of aircraft engine is constructed, and the hardware and software of the system are adjusted together. The above research contents are verified, the simulation installation experiment of aircraft engine is carried out, and the experimental data and the factors causing the engine installation error are analyzed. It has been proved in practice that the digital installation system of aircraft engine studied in this paper can ensure the stable, efficient and accurate installation of the engine into the aircraft short cabin, and effectively improve the efficiency of labor production.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V263
本文编号：2449406
[Abstract]:As the core component of power supply, aircraft engine is the most important part of aircraft. In the process of aircraft assembly, the installation of engine is an important part. The installation of engine is very difficult because of its heavy weight, large volume, complicated configuration and narrow clearance. At present, the installation of aircraft engine in some domestic enterprises is carried out by manual operation of hydraulic equipment, this method can not accurately adjust the engine position and posture, and there is a cost of manpower. It is difficult to guarantee the accuracy and efficiency of installation. In order to solve the problems of low efficiency and low precision of manual installation of aircraft engine, this paper analyzes the current research situation at home and abroad, and according to the difficulties and requirements of engine installation, puts forward a new method based on double CPU,. It has the function of visual measurement and can realize the design of the digital installation system of the engine. Firstly, the control system of aircraft engine digital installation system is designed. The general scheme of double CPU numerical control system based on "IPC GALIL" is put forward, the main circuit and control circuit of the system are designed, and the visual servo system based on position is designed according to the need of digital installation of engine, and the principle of visual measurement system is introduced. The electromagnetic compatibility (EMC) of the control system is designed, and the safety protection measures of the system running under special circumstances are described. According to the imaging principle of vision system, an algorithm for measuring engine position and attitude is proposed. By analyzing the geometric model of the camera in the process of imaging, the radial symmetry transformation and the forward transformation of the engine target image are carried out. The camera parameters are calibrated by the low rank pixel matrix restoration of the target image. The optimization problem is solved by the augmented Lagrangian multiplier method, and the inner and outer parameters of the camera are obtained. Thus, the position and posture of the engine in the camera coordinate system are obtained. The kinematics analysis of the NC attitude adjusting platform of the engine installation system is carried out, the forward and inverse kinematics solutions of the lifting and lifting mechanism are obtained, and the representation method and the coordinate transformation method of the engine position and attitude in the space are expounded. On this basis, according to the standard installation path of the engine in the short cabin, the off-line trajectory planning of the engine installation is carried out, and an on-line correction method of the off-line trajectory through the visual measurement system is put forward. At the same time, the multi-channel program of aircraft engine auto-installation is compiled. The simulation installation experiment platform of aircraft engine is constructed, and the hardware and software of the system are adjusted together. The above research contents are verified, the simulation installation experiment of aircraft engine is carried out, and the experimental data and the factors causing the engine installation error are analyzed. It has been proved in practice that the digital installation system of aircraft engine studied in this paper can ensure the stable, efficient and accurate installation of the engine into the aircraft short cabin, and effectively improve the efficiency of labor production.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V263
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