【摘要】：作為提供動(dòng)力的核心元件,飛機(jī)發(fā)動(dòng)機(jī)是飛機(jī)的最重要組成部分。在飛機(jī)的裝配過(guò)程中,發(fā)動(dòng)機(jī)的安裝工作是一個(gè)重要的環(huán)節(jié),而發(fā)動(dòng)機(jī)的重量重、體積大、外形結(jié)構(gòu)復(fù)雜,加之安裝間隙狹小等因素的存在,導(dǎo)致發(fā)動(dòng)機(jī)的安裝工作非常困難。目前國(guó)內(nèi)一些企業(yè)的飛機(jī)發(fā)動(dòng)機(jī)安裝工作是通過(guò)人工手動(dòng)操作液壓設(shè)備來(lái)進(jìn)行,這種方法不能精確地對(duì)發(fā)動(dòng)機(jī)位姿進(jìn)行調(diào)整,存在耗費(fèi)人力成本、難以保證安裝精度和效率等問(wèn)題。為了解決飛機(jī)發(fā)動(dòng)機(jī)人工安裝方法效率差、精度低等問(wèn)題,本文通過(guò)對(duì)國(guó)內(nèi)外相關(guān)研究現(xiàn)狀進(jìn)行分析,根據(jù)發(fā)動(dòng)機(jī)安裝過(guò)程中的難點(diǎn)和要求,提出了一種基于雙CPU、具有視覺(jué)測(cè)量功能、能夠?qū)崿F(xiàn)發(fā)動(dòng)機(jī)自動(dòng)安裝的發(fā)動(dòng)機(jī)數(shù)字化安裝系統(tǒng)的設(shè)計(jì)方案。論文先對(duì)飛機(jī)發(fā)動(dòng)機(jī)數(shù)字化安裝系統(tǒng)的控制系統(tǒng)進(jìn)行了設(shè)計(jì)。提出基于“IPC+GALIL"的雙CPU數(shù)控系統(tǒng)總體方案,設(shè)計(jì)了系統(tǒng)的主電路和控制電路；針對(duì)發(fā)動(dòng)機(jī)數(shù)字化安裝的需要,設(shè)計(jì)了基于位置的視覺(jué)伺服系統(tǒng),介紹了視覺(jué)測(cè)量系統(tǒng)的原理；對(duì)控制系統(tǒng)的電磁兼容性進(jìn)行了設(shè)計(jì),闡述了系統(tǒng)運(yùn)行在特殊情況下的安全保護(hù)措施。根據(jù)視覺(jué)系統(tǒng)的成像原理,提出發(fā)動(dòng)機(jī)的位姿測(cè)量算法。通過(guò)分析攝像機(jī)在成像過(guò)程中的幾何模型,對(duì)發(fā)動(dòng)機(jī)標(biāo)靶圖像進(jìn)行徑向?qū)ΨQ(chēng)變換和對(duì)正變換；通過(guò)對(duì)標(biāo)靶圖像的低秩像素矩陣復(fù)原進(jìn)行了攝像機(jī)參數(shù)的標(biāo)定,運(yùn)用增廣拉格朗日乘子法對(duì)優(yōu)化問(wèn)題進(jìn)行求解,得出攝像機(jī)的內(nèi)外參數(shù),從而獲得發(fā)動(dòng)機(jī)在攝像機(jī)坐標(biāo)系下的位姿。對(duì)發(fā)動(dòng)機(jī)安裝系統(tǒng)的數(shù)控調(diào)姿平臺(tái)進(jìn)行運(yùn)動(dòng)學(xué)分析,求取升降俯仰機(jī)構(gòu)的運(yùn)動(dòng)學(xué)正解和逆解,并闡明發(fā)動(dòng)機(jī)位姿在空間中的表示方法和坐標(biāo)變換方法。在此基礎(chǔ)上,根據(jù)發(fā)動(dòng)機(jī)在短艙內(nèi)的標(biāo)準(zhǔn)安裝路徑,進(jìn)行發(fā)動(dòng)機(jī)安裝的離線(xiàn)軌跡規(guī)劃,提出了通過(guò)視覺(jué)測(cè)量系統(tǒng)對(duì)離線(xiàn)軌跡進(jìn)行在線(xiàn)修正的方法,并編寫(xiě)了飛機(jī)發(fā)動(dòng)機(jī)自動(dòng)安裝的多通道程序。構(gòu)建飛機(jī)發(fā)動(dòng)機(jī)模擬安裝實(shí)驗(yàn)平臺(tái),對(duì)系統(tǒng)硬件和軟件進(jìn)行聯(lián)調(diào)；對(duì)上述各項(xiàng)研究?jī)?nèi)容進(jìn)行驗(yàn)證,進(jìn)行了飛機(jī)發(fā)動(dòng)機(jī)模擬安裝實(shí)驗(yàn),分析了實(shí)驗(yàn)數(shù)據(jù)及引起發(fā)動(dòng)機(jī)安裝誤差的因素。實(shí)踐證明,應(yīng)用本文研究的飛機(jī)發(fā)動(dòng)機(jī)數(shù)字化安裝系統(tǒng),能夠確保發(fā)動(dòng)機(jī)穩(wěn)定、高效和精確地安裝到飛機(jī)短艙中,有效地提高了勞動(dòng)生產(chǎn)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.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：V263

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本文編號(hào)：2449406