【摘要】：保證飛機(jī)氣動(dòng)外形并消除裝配應(yīng)力是飛機(jī)裝配追求的目標(biāo)。某大型飛機(jī)采用多個(gè)三坐標(biāo)數(shù)控定位器對機(jī)翼和機(jī)身分別進(jìn)行支撐和調(diào)姿,通過機(jī)身中段開口處的四個(gè)接頭與機(jī)翼中央翼盒處四個(gè)接頭對接實(shí)現(xiàn)翼身對接裝配。機(jī)身中段大開口結(jié)構(gòu)降低了機(jī)身段整體剛度,在三坐標(biāo)數(shù)控定位器支撐下,包括起落架在內(nèi)的機(jī)身重力載荷使得翼身對接區(qū)產(chǎn)生變形,導(dǎo)致較大裝配應(yīng)力產(chǎn)生。本文針對該調(diào)姿對接系統(tǒng)提出力位混合控制方法,在保證機(jī)身段氣動(dòng)外形的前提下,通過各三坐標(biāo)數(shù)控定位器的協(xié)同運(yùn)動(dòng),對翼身對接區(qū)實(shí)施變形校正措施,實(shí)現(xiàn)翼身保形對接,減小翼身對接區(qū)裝配應(yīng)力。主要研究內(nèi)容如下：首先,介紹國內(nèi)外飛機(jī)大部件調(diào)姿系統(tǒng)的研究發(fā)展現(xiàn)狀,總結(jié)變形校正理論技術(shù)以及飛機(jī)大部件保形裝配的發(fā)展,并從并聯(lián)機(jī)構(gòu)學(xué)的角度綜述調(diào)姿系統(tǒng)控制方法。其次闡述某大型飛機(jī)翼身調(diào)姿對接系統(tǒng)的調(diào)姿過程和系統(tǒng)組成,基于SynqNet現(xiàn)場總線技術(shù)設(shè)計(jì)多個(gè)三坐標(biāo)數(shù)控定位器的協(xié)同運(yùn)動(dòng)控制系統(tǒng)。對翼身對接裝配工藝和翼身對接區(qū)的機(jī)身大開口特殊結(jié)構(gòu)進(jìn)行詳細(xì)分析,提出翼身對接裝配中存在的變形問題及變形校正思路。然后設(shè)計(jì)實(shí)現(xiàn)翼身保形對接的力位混合控制系統(tǒng)。提出力位混合控制系統(tǒng)結(jié)構(gòu),應(yīng)用螺旋理論和橢球法,選定參與機(jī)身調(diào)姿的6個(gè)三坐標(biāo)數(shù)控定位器的位置控制軸和力控制軸組合。位置控制軸根據(jù)設(shè)定的調(diào)姿路徑運(yùn)動(dòng),實(shí)現(xiàn)機(jī)身調(diào)姿定位。力控制軸根據(jù)由正交試驗(yàn)和偏最小二乘回歸反解得到的接觸力作力伺服運(yùn)動(dòng),對機(jī)身大開口處進(jìn)行變形校正。接著采用計(jì)算機(jī)仿真技術(shù)研究調(diào)姿機(jī)構(gòu)力位混合控制方法的變形校正效果。應(yīng)用ABAQUS軟件建立機(jī)身有限元簡化模型,對采用力位混合控制的機(jī)身調(diào)姿系統(tǒng)進(jìn)行有限元仿真。仿真結(jié)果表明翼身對接區(qū)的8個(gè)測點(diǎn)中有7個(gè)測點(diǎn)的變形得到了明顯改善,證明了力位混合控制方法的變形校正效果。之后通過實(shí)際系統(tǒng)實(shí)驗(yàn)驗(yàn)證力位混合控制方法的變形校正效果。設(shè)計(jì)滿足實(shí)際裝配需要的定位器單軸控制系統(tǒng),分別設(shè)計(jì)單軸控制系統(tǒng)的位置和力控制器。設(shè)計(jì)一維變形校正實(shí)驗(yàn),采用力位混合控制方法對試件一維變形進(jìn)行校正,實(shí)驗(yàn)結(jié)果表明力位混合控制方法對試件的變形校正效果優(yōu)于位置控制方法。最后對本文的研究工作進(jìn)行總結(jié),并對未來研究工作進(jìn)行展望。
[Abstract]:It is the goal of aircraft assembly to ensure the pneumatic shape of aircraft and eliminate the assembly stress. A large aircraft uses multiple three-coordinate NC locators to support and adjust the wing and fuselage respectively, and the wing body docking assembly is realized by docking the four joints at the middle opening of the fuselage with the four joints at the central wing box of the fuselage. The large opening structure in the middle part of the fuselage reduces the overall stiffness of the fuselage segment. Under the support of the three-coordinate NC locator, the gravity load of the fuselage, including the landing gear, causes the deformation of the opposite area of the wing body, resulting in a large assembly stress. In this paper, a force-level hybrid control method is proposed for the attitude adjustment and docking system. On the premise of ensuring the pneumatic shape of the fuselage section, through the cooperative motion of each three-coordinate NC locator, the deformation correction measures are carried out on the alignment area of the wing body, so as to realize the conformal docking of the wing body and reduce the assembly stress of the wing body alignment area. The main research contents are as follows: firstly, the research and development status of aircraft large component attitude adjustment system at home and abroad is introduced, the theory and technology of deformation correction and the development of aircraft large component conformal assembly are summarized, and the control methods of attitude adjustment system are summarized from the point of view of parallel mechanism. Secondly, the attitude adjustment process and system composition of a large aircraft wing pose adjustment and docking system are described. Based on SynqNet field bus technology, the cooperative motion control system of three coordinate NC locators is designed. The assembly technology of wing body docking and the special structure of fuselage with large opening in wing body docking area are analyzed in detail, and the deformation problems and deformation correction ideas in wing body docking assembly are put forward. Then the force level hybrid control system of wing shape-keeping docking is designed and realized. The structure of force level hybrid control system is put forward. The position control axis and force control axis combination of six three coordinate NC locators involved in fuselage attitude adjustment are selected by using spiral theory and ellipsoid method. The position control axis moves according to the set attitude adjustment path to realize the fuselage attitude adjustment and positioning. According to the contact force servo motion obtained by orthogonal test and partial least square regression inverse solution, the force control shaft corrects the deformation at the large opening of the fuselage. Then the deformation correction effect of the hybrid control method of attitude adjustment mechanism is studied by using computer simulation technology. The finite element simplified model of fuselage is established by using ABAQUS software, and the finite element simulation of fuselage attitude adjustment system with hybrid force and position control is carried out. The simulation results show that the deformation of 7 of the 8 measuring points in the opposite region of the wing body is obviously improved, and the deformation correction effect of the hybrid force and position control method is proved. Then the deformation correction effect of the force level hybrid control method is verified by the actual system experiment. The single axis control system of locator is designed to meet the needs of actual assembly, and the position and force controllers of single axis control system are designed respectively. The one-dimensional deformation correction experiment is designed, and the force-level hybrid control method is used to correct the one-dimensional deformation of the specimen. The experimental results show that the force-level hybrid control method is superior to the position control method in the deformation correction effect of the specimen. Finally, the research work of this paper is summarized, and the future research work is prospected.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：V262.4

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 尚濤;張近樂;袁曉軍;;中國大型商用飛機(jī)產(chǎn)業(yè)鏈構(gòu)建、技術(shù)積累與成長策略分析[J];西北工業(yè)大學(xué)學(xué)報(bào)(社會(huì)科學(xué)版);2015年01期

2 羅中海;孟祥磊;巴曉甫;費(fèi)少華;方強(qiáng);;飛機(jī)大部件調(diào)姿平臺(tái)力位混合控制系統(tǒng)設(shè)計(jì)[J];浙江大學(xué)學(xué)報(bào)(工學(xué)版);2015年02期

3 許國康;高明輝;侯志霞;鄒冀華;周萬勇;;飛機(jī)大部件數(shù)字化對接關(guān)鍵問題及應(yīng)用分析[J];航空制造技術(shù);2011年22期

4 邱寶貴;蔣君俠;畢運(yùn)波;方強(qiáng);王青;詹建潮;李江雄;柯映林;;大型飛機(jī)機(jī)身調(diào)姿與對接試驗(yàn)系統(tǒng)[J];航空學(xué)報(bào);2011年05期

5 劉瑞江;張業(yè)旺;聞崇煒;湯建;;正交試驗(yàn)設(shè)計(jì)和分析方法研究[J];實(shí)驗(yàn)技術(shù)與管理;2010年09期

6 郭志敏;蔣君俠;柯映林;;基于三坐標(biāo)定位器支撐的飛機(jī)大部件調(diào)姿內(nèi)力[J];浙江大學(xué)學(xué)報(bào)(工學(xué)版);2010年08期

7 張洪偉;張以都;吳瓊;代軍;;航空整體結(jié)構(gòu)件加工變形校正技術(shù)研究[J];兵工學(xué)報(bào);2010年08期

8 李晨;方強(qiáng);李江雄;;基于三坐標(biāo)定位器的大部件調(diào)姿機(jī)構(gòu)誤差分析[J];機(jī)電工程;2010年03期

9 許國康;;飛機(jī)大部件數(shù)字化對接技術(shù)[J];航空制造技術(shù);2009年24期

10 ;A novel posture alignment system for aircraft wing assembly[J];Journal of Zhejiang University(Science A:An International Applied Physics & Engineering Journal);2009年11期

相關(guān)博士學(xué)位論文 前10條

1 嚴(yán)偉苗;大型飛機(jī)壁板裝配變形控制與校正技術(shù)研究[D];浙江大學(xué);2015年

2 蓋宇春;飛機(jī)數(shù)字化裝配調(diào)姿工裝系統(tǒng)設(shè)計(jì)[D];浙江大學(xué);2013年

3 應(yīng)征;飛機(jī)部件數(shù)字化調(diào)姿過程建模與仿真關(guān)鍵技術(shù)研究[D];浙江大學(xué);2013年

4 梁順攀;五自由度冗余驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)性能分析與力/位混合控制研究[D];燕山大學(xué);2013年

5 李彬;支鏈布局對一類三自由度并聯(lián)機(jī)構(gòu)結(jié)構(gòu)約束及運(yùn)動(dòng)學(xué)性能的影響研究[D];天津大學(xué);2012年

6 郝齊;一種兩自由度并聯(lián)機(jī)構(gòu)優(yōu)化設(shè)計(jì)及動(dòng)力學(xué)控制研究[D];清華大學(xué);2011年

7 李正義;機(jī)器人與環(huán)境間力/位置控制技術(shù)研究與應(yīng)用[D];華中科技大學(xué);2011年

8 劉楚輝;飛機(jī)機(jī)身數(shù)字化對接裝配中的翼身交點(diǎn)加工關(guān)鍵技術(shù)研究[D];浙江大學(xué);2011年

9 王中秋;航空整體結(jié)構(gòu)件加工變形滾壓校正理論及方法研究[D];山東大學(xué);2009年

10 張旭;飛機(jī)大部件對接裝配過程中的干涉檢測技術(shù)研究[D];浙江大學(xué);2008年

相關(guān)碩士學(xué)位論文 前4條

1 羅中海;調(diào)姿機(jī)構(gòu)力/位置混合控制系統(tǒng)設(shè)計(jì)[D];浙江大學(xué);2014年

2 覃海強(qiáng);機(jī)械臂力/位置混合控制方法研究[D];重慶大學(xué);2013年

3 靳思源;飛機(jī)壁板件裝配偏差的剛?cè)峤Y(jié)合建模與工藝優(yōu)化方法[D];上海交通大學(xué);2013年

4 姜飛榮;永磁同步電機(jī)伺服控制系統(tǒng)研究[D];浙江大學(xué);2006年

，

本文編號：2506364