In order to improve the docking accuracy of the middle fuselage,a fuselage redundant control dock-ing algorithm based on the dynamic programming of position adjustment time is proposed,to ensure the docking efficiency and reduce the deformation of the supporting base plate.According to the initial position of the fuse-lage and the requirements of the accuracy of the fuselage docking,the target position of the fuselage is calcu-lated;the attitude adjustment time is calculated and the attitude adjustment trajectory is planned,with attitude adjustment quantity and attitude adjustment speed as constraints.On this basis,the redundant control position adjustment algorithm of the positioner is inverse solved,by controlling the coordinated movement of the posi-tioner to realize the position adjustment and docking of the middle fuselage.The simulated and experimental re-sults show that the redundant control docking based on the dynamic programming of position adjustment time has no deformation of the support plate in the process of aircraft fuselage position adjustment and positioning,the docking accuracy is relatively high while the time of attitude adjustment is reduced,meeting the require-ments of the coaxiality of fuselage docking.
关键词
装配/机身/仿真/调姿算法/形状控制
Key words
assembly/the fuselage/pose adjustment algorithm/the simulation results/shape control
维普
万方数据