本文選題：翼盒數(shù)字化裝配 + 大跨度可移動橫梁　； 參考：《浙江大學》2017年碩士論文

【摘要】：大型飛機外翼翼盒通常采用垂直裝配的方式。為了給翼盒前緣組件定位器提供安裝基礎,同時方便大部件的垂直吊裝,翼盒數(shù)字化裝配系統(tǒng)框架需要采用可以整體平移的大跨度橫梁結構。這種大跨度橫梁系統(tǒng)負載大、同步精度和定位精度要求高,因而給運動控制系統(tǒng)設計帶來極大難度。論文針對某大型飛機翼盒數(shù)字化裝配系統(tǒng)中雙邊齒輪齒條驅動的大跨度橫梁同步運動控制問題,研究龍門軸同步耦合雙驅消隙的位置閉環(huán)控制系統(tǒng)設計方法,實現(xiàn)大跨度橫梁的高精度同步運動。論文主要研究內容如下:分析某大型飛機外翼翼盒數(shù)字化裝配系統(tǒng)的組成和功能,對大跨度橫梁系統(tǒng)的機械結構和驅動系統(tǒng)進行詳細設計,在總結大跨度橫梁系統(tǒng)功能的基礎上,引出雙邊齒輪齒條驅動的大跨度橫梁同步運動控制問題,并且提出橫梁控制系統(tǒng)的設計要求和控制策略。建立大跨度橫梁系統(tǒng)動力學模型,提出龍門軸同步耦合雙驅消隙的位置閉環(huán)控制系統(tǒng)結構,在提出雙驅消隙系統(tǒng)軟件實現(xiàn)方式的基礎上,設計偏置電流控制器來實現(xiàn)偏置電流的動態(tài)調整,并且采用自適應摩擦觀測器來補償橫梁系統(tǒng)中未知和時變的摩擦力,最后利用仿真實驗驗證所設計控制器的有效性。詳細描述大跨度橫梁系統(tǒng)的硬件和軟件組成,利用Mechaware搭建控制器,并對控制系統(tǒng)的性能進行實驗驗證。實驗結果表明,大跨度橫梁系統(tǒng)的定位精度為0.017mm,重復定位精度為0.003mm,并且在40mm/s的最大速度下運行時,橫梁系統(tǒng)的單軸跟蹤誤差為0.05mm,雙軸同步誤差為0.011mm,滿足實驗指標的要求,從而證明本文所設計控制系統(tǒng)的有效性。最后總結全文,并對未來的研究方向進行展望。
[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.
【學位授予單位】：浙江大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TG95;TP273

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