The incorrect selection of force nodes during attitude adjustment process can lead to a significant decrease in the load-bearing capacity of wing panel.Therefore,to accurately locate force nodes,it can reduce the deviation of panel attitude adjustment.The wing panel positioning and flexible attitude adjustment technology under the collaborative control of force and position is re-searched.Based on the principle of force-position collaborative control,a force-position structural model of the wing panel is estab-lished.The impedance effect of the wing force position is calculated based on the description conditions of mechanical synergy.By u-sing homogeneous transformation of positioning coordinates,the specific wing panel positioning model is derived to achieve the wing panel positioning based on force-position collaborative control,and analyze the flexible equivalent force of the wing panel.By referring to the calculation results of attitude adjustment displacement,the free point position of attitude adjustment is defined,and the abso-lute vector of displacement is determined.The construction of the target model for flexible attitude adjustment is completed,realizing the design of the wing panel positioning and flexible attitude adjustment method under the collaborative control of force and position.Experimental results show that by using the above algorithm,the positioning coordinate error between the attitude adjustment force node and the standard force point is within 3mm,which effectively solves the reduced load-bearing capacity of the wing panel caused by the incorrect selection of attitude adjustment force nodes,meeting the requirements of practical applications.
关键词
力位协同控制/机翼壁板/柔性调姿/力位阻抗作用/齐次变换/等效力作用/绝对向量/自由点
Key words
force and position cooperative control/wing panel/flexible attitude adjustment/force potential impedance effect/homogeneous transformation/equal potency effect/absolute vector/free point
维普
万方数据