大跨度横梁双驱消隙同步控制系统设计

发布时间：2018-05-13 13:34

本文选题：翼盒数字化装配 + 大跨度可移动横梁　；参考：《浙江大学》2017年硕士论文

【摘要】：大型飞机外翼翼盒通常采用垂直装配的方式。为了给翼盒前缘组件定位器提供安装基础,同时方便大部件的垂直吊装,翼盒数字化装配系统框架需要采用可以整体平移的大跨度横梁结构。这种大跨度横梁系统负载大、同步精度和定位精度要求高,因而给运动控制系统设计带来极大难度。论文针对某大型飞机翼盒数字化装配系统中双边齿轮齿条驱动的大跨度横梁同步运动控制问题,研究龙门轴同步耦合双驱消隙的位置闭环控制系统设计方法,实现大跨度横梁的高精度同步运动。论文主要研究内容如下:分析某大型飞机外翼翼盒数字化装配系统的组成和功能,对大跨度横梁系统的机械结构和驱动系统进行详细设计,在总结大跨度横梁系统功能的基础上,引出双边齿轮齿条驱动的大跨度横梁同步运动控制问题,并且提出横梁控制系统的设计要求和控制策略。建立大跨度横梁系统动力学模型,提出龙门轴同步耦合双驱消隙的位置闭环控制系统结构,在提出双驱消隙系统软件实现方式的基础上,设计偏置电流控制器来实现偏置电流的动态调整,并且采用自适应摩擦观测器来补偿横梁系统中未知和时变的摩擦力,最后利用仿真实验验证所设计控制器的有效性。详细描述大跨度横梁系统的硬件和软件组成,利用Mechaware搭建控制器,并对控制系统的性能进行实验验证。实验结果表明,大跨度横梁系统的定位精度为0.017mm,重复定位精度为0.003mm,并且在40mm/s的最大速度下运行时,横梁系统的单轴跟踪误差为0.05mm,双轴同步误差为0.011mm,满足实验指标的要求,从而证明本文所设计控制系统的有效性。最后总结全文,并对未来的研究方向进行展望。
[Abstract]:The wing box of the outer wing of a large aircraft is usually assembled vertically. In order to provide the installation foundation for the positioner of the wing box leading edge assembly and to facilitate the vertical lifting of the large parts, the frame of the wing box digital assembly system needs to adopt the large-span beam structure which can be moved as a whole. This kind of large span crossbeam system requires heavy load and high precision of synchronization and positioning, which brings great difficulty to the design of motion control system. Aiming at the problem of synchronous motion control of long span crossbeam driven by bilateral gear rack in a digital assembly system of wing box of a large aircraft, this paper studies the design method of position closed loop control system of gantry shaft synchronously coupled double drive. The high precision synchronous motion of long span crossbeam is realized. The main contents of this paper are as follows: the composition and function of the digital assembly system of a large aircraft outer wing box are analyzed, and the mechanical structure and drive system of the large span crossbeam system are designed in detail. On the basis of summing up the function of the long-span crossbeam system, the synchronous motion control problem of the long-span crossbeam driven by bilateral gear rack is introduced, and the design requirements and control strategies of the crossbeam control system are put forward. The dynamic model of large span cross beam system is established, and the position closed loop control system structure of the gantry shaft synchronous coupling dual drive system is presented. Based on the software realization of double drive and eliminating gap system, the structure of position closed loop control system is put forward. A bias current controller is designed to dynamically adjust the bias current, and an adaptive friction observer is used to compensate the unknown and time-varying friction forces in the crossbeam system. Finally, the effectiveness of the proposed controller is verified by simulation experiments. The hardware and software components of the long span beam system are described in detail. The controller is built with Mechaware, and the performance of the control system is verified experimentally. The experimental results show that the positioning accuracy of long-span beam system is 0.017 mm, the precision of repeated positioning is 0.003 mm, and the single-axis tracking error is 0.05mm and the biaxial synchronization error is 0.011mm when the system is running at the maximum speed of 40mm/s, which meets the requirements of the experiment. Thus, the effectiveness of the control system designed in this paper is proved. Finally, the paper summarizes the full text and prospects the future research direction.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TG95;TP273

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