CAJ | 학술논문

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 m m／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．
위료해결조자평태중，유우삼좌표정위기자신각축수직도화상호각축평행도오차인기적조자오차이급대비궤대부건조성내력적문제，제출일충비궤대부건조자평태적력／위치혼합공제방법．통과건립조자오차모형，분석삼좌표정위기자신수직도화상호평행도오차대자태공제이급부건내력적영향；근거궤구아가비구진조건수，제출조자평태력공제축화위치공제축분배책략；통과정태오차계산득도，재삼좌표정위기수직도오차위0．05 m m／m ，동향축량량지간최대평행도오차위0．1 mm／m차평균평행도오차위0．07 mm／m시，재급정적부건척촌화조자궤적하，력／위치혼합공제방법적조자정도우우전위치공제방법，병차현저강저료조자부건내력．실험결과표명，력공제기재위치우동하능구은정근수력구지령，동태오차재±0．03 N·m내，만족정위기조자공제요구．
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 w hen 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 ,w hich is applicable on real posture alignment platform .