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浙江大学学报(工学版)
机械工程     
飞机大部件调姿平台力位混合控制系统设计
罗中海1, 孟祥磊2, 巴晓甫2, 费少华1, 方强1
1. 浙江大学 流体传动及控制国家重点实验室, 浙江 杭州 310027; 2. 西安飞机工业(集团)有限责任公司, 陕西 西安 710089
Design on hybrid force position control of large aircraft components posture alignment platform
LUO Zhong-hai1, MENG Xiang-lei2, BA Xiao-fu2, FEI Shao-hua1, FANG Qiang1
1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China; 2. Aviation Industry Corporation of China Xi’an Aircraft Industry(Group) Limited Company, Xi’an 710089, China
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摘要:

为了解决调姿平台中,由于三坐标定位器自身各轴垂直度和相互各轴平行度误差引起的调姿误差以及对飞机大部件造成内力的问题,提出一种飞机大部件调姿平台的力/位置混合控制方法.通过建立调姿误差模型,分析三坐标定位器自身垂直度和相互平行度误差对姿态控制以及部件内力的影响;根据机构雅可比矩阵条件数,提出调姿平台力控制轴和位置控制轴分配策略;通过静态误差计算得到,在三坐标定位器垂直度误差为0.05 mm/m,同向轴两两之间最大平行度误差为0.1 mm/m且平均平行度误差为0.07 mm/m时,在给定的部件尺寸和调姿轨迹下,力/位置混合控制方法的调姿精度优于全位置控制方法,并且显著降低了调姿部件内力.实验结果表明,力控制器在位置扰动下能够稳定跟随力矩指令,动态误差在±0.03 N·m内,满足定位器调姿控制要求.

Abstract:

In order to solve the problem that perpendicularity and parallelism error of three-axis localizers cause posture alignment error and internal force of aircraft components, the paper introduces a hybrid force position control system for posture alignment platform of large aircraft components. Error model of posture alignment was established to explain the problem. Then the strategy to select axes under position control and axes under force control was proposed based on condition number of mechanism’s Jacobian matrix. Static error calculation indicates that hybrid control strategy may improve posture accuracy and reduce internal force significantly under the given posture alignment condition when 0.05 mm/m perpendicularity error exists on each localizer and the maximum parallelism error was 0.1 mm/m and the averaged parallelism error was 0.07 mm/m between localizers. The experiment indicates that the torque controller follows the desire torque signal properly with disturbing position signal and the dynamic torque error is below 0.03 N·m, which is applicable on real posture alignment platform.

出版日期: 2015-02-01
:  TP 273  
基金资助:

浙江省自然科学基金资助项目(LY13E05009)

通讯作者: 方强,男,副教授     E-mail: fangqiang@zju.edu.cn
作者简介: 罗中海(1990—),男,硕士生,主要从事伺服控制技术等研究.E-mail: luozhonghaizju@163.com
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罗中海, 孟祥磊, 巴晓甫, 费少华, 方强. 飞机大部件调姿平台力位混合控制系统设计[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2015.02.011.

LUO Zhong-hai, MENG Xiang-lei, BA Xiao-fu, FEI Shao-hua, FANG Qiang. Design on hybrid force position control of large aircraft components posture alignment platform. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2015.02.011.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2015.02.011        http://www.zjujournals.com/eng/CN/Y2015/V49/I2/265

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