CN111708322A - Three-coordinate positioner posture adjusting operation and control method and system, posture adjusting controller and storage medium - Google Patents

Abstract

The invention discloses a three-coordinate positioner posture adjusting operation and control method, a three-coordinate positioner posture adjusting operation and control system, a posture adjusting controller and a storage medium, wherein the method comprises the following steps: resolving the translational movement amount and translational direction vector of the rigid body, and the rotation angle and rotation axis vector of the rigid body fixed axis rotation; resolving the circle center and radius of a space circular arc track of each locator in the rigid body fixed shaft rotation process, and resolving a circular arc angular velocity range and a rigid body angular velocity range; planning and finishing the rigid body composite motion speed; adjusting the speed and the acceleration of the rigid body composite motion according to the speed range and the acceleration range allowed by each positioner driving shaft, and planning and finishing the rigid body composite motion speed again; carrying out interpolation calculation according to a time division method, and outputting a three-axis instruction coordinate position of each locator; and carrying out space compensation according to the three-axis instruction coordinate position and the space error data of each positioner, and outputting the actual position of each axis driver. The invention can meet the acceleration requirement, has redundant driving shafts, and has stable and impact-free posture adjusting process.

Description

Three-coordinate positioner posture adjusting operation and control method and system, posture adjusting controller and storage medium

Technical Field

The invention relates to a three-coordinate positioner posture adjusting operation and control method, a three-coordinate positioner posture adjusting operation and control system, a posture adjusting controller and a storage medium, and belongs to the research field of airplane digital assembly.

Background

Aircraft assembly is one of the most important and complex links in aircraft manufacturing. The problem of spatial positioning of aircraft parts or assemblies is a common key problem in aircraft assembly, and the positioning accuracy directly influences the aerodynamic appearance, fatigue life, reliability and the like of aircraft products. In order to improve the quality and efficiency of the attitude adjustment of the aircraft components, the advanced attitude adjustment technology is developing towards digitization, automation and flexibility.

The automatic attitude adjusting mechanism for the airplane parts mainly comprises a plurality of three-coordinate numerical control positioners and a process interface. One end of the process joint is fixedly connected with the airplane component, and the other end of the process joint and the positioner form a spherical pair or a ball-and-socket pair. The positioner is movable in three mutually perpendicular directions (X, Y, Z) to change the position of its support point (the process connection center of sphere). The 3 points in space can define a plane, with the aircraft components supported by 3 or more than 3 locators. The multiple positioners can move along the respective X, Y, Z axes, and the airplane component can realize the pose adjustment with six degrees of freedom in three-dimensional space. 3 numerical control locator units can receive 9 control shaft motion instruction inputs and have redundant drive shafts. The large-part posture adjusting device is provided with 4 or 6 or 8 positioners, and a total of 12 or 18 or 24 driving shafts. The attitude adjusting device consisting of a plurality of positioners and airplane components is a redundant drive parallel structure. The axes move in concert so that the large part rests on the locators, can translate and rotate in space, and ensure that the large part or workpiece does not deform during movement. The parallel structure has the advantages of high rigidity, high precision, stable structure and uniform bearing capacity distribution. In the posture adjusting process, a key problem is how to ensure that all the support points of the numerical control positioner cooperatively move according to the rigid body motion rule.

The positioner drive placement direction is preferably parallel to the global coordinate system, and the X, Y, Z axes of the plurality of positioners are generally parallel and in the same direction. But the measurement precision of the positioner in the installation process is insufficient, and if the positioner is not adjusted in place, the installation angle error still exists.

The large part of the airplane is a rigid body, and rigid body motion comprises rigid body translation and rigid body dead axle rotation. The posture adjusting instruction data comprise X, Y, Z axis translation movement amount and A, B, C rotation angle increment. The attitude adjusting operation and control comprises attitude adjusting instruction decomposition, interpolation processing, speed planning and error compensation, and finally the actual position is output to the servo drive of each positioner.

The whole process of airplane posture adjustment and assembly is as follows.

(1) Positioning a component: hoisting the aircraft component to the positioner;

(2) initial measurement: measuring the position of a component measuring point by a laser tracker to obtain an initial position;

(3) initial adjustment: calculating deviation and sending a pose adjusting instruction, and adjusting the components through a positioner;

(4) and (3) accurate measurement: measuring the position of the measuring point of the component again by the laser tracker;

(5) and (3) precise adjustment: if the deviation exists, sending out an instruction again to adjust the pose;

(6) detecting whether the posture adjusting target is finished or not, and taking off the shelf or withdrawing the shelf when the assembly is finished; otherwise, repeating the step (4) and the step (5) to adjust the position.

At present, the operation and control method for adjusting the attitude of the domestic airplane has the following conditions:

(1) positioner posture adjustment without redundant shaft

A floating shaft or a follow-up shaft exists in a non-redundant driving shaft, the floating shaft can freely slide along with the change of the posture position of a large component in the posture adjusting process, the floating shaft can directly move from the starting point of the support point of the positioner to the final position of the posture adjusting, and the support point is not needed to be used as a particle on a rigid body for optimal path analysis. Six active control axes of three positioners can be adopted for the attitude adjustment of the six-degree-of-freedom airplane. For example, the wing attitude adjusting device is provided with 3 numerical control positioners, the first positioner is provided with X, Y, Z driving shafts, the 2 nd positioner is provided with only Y, Z driving shafts (X-axis floating), and the 3 rd positioner is provided with only Z driving shafts (XY-axis floating).

A. The number of active control shafts of the positioner is reduced, a part of shafts of the positioner adopt floating shafts, the positioner posture adjusting device with the floating shafts adjusts the posture of the airplane component by the active control shafts in the posture adjusting process, and the airplane component can drag the floating shafts to slide.

B. In the attitude adjusting mechanism force-position hybrid control system, one part of a positioner is an active control shaft, other redundant driving shafts are used as driven shafts, the active control shaft adjusts the attitude of an airplane component in the attitude adjusting process, and the driven shafts move along the direction of tension according to the feedback force of a force sensor on a process joint.

(2) Positioner attitude adjustment with redundant axes

The six-degree-of-freedom airplane attitude adjustment of the positioner with the redundant driving shafts needs to consider airplane components as rigid bodies for calculation, follows the principle that the distance between any two mass points in the rigid bodies is always kept unchanged, and has more complex interpolation algorithm processing. Pose adjustment is generally divided into a pose adjustment stage and a position adjustment stage, and generally does not overlap in time. The posture adjustment and the position adjustment are solved by adopting an algorithm of stepwise rotation and translation respectively according to time. The motion planning of each stage adopts a position-time mode, and generally adopts an integral cubic or cubic polynomial which is not segmented to carry out speed planning. And solving discrete points of each locator supporting point on a space moving curve, and directly outputting position coordinates to a driver of the locator.

The process of adjusting the posture with the redundant driving shaft 6 degrees of freedom generally comprises the following 4 stages:

A. the pitch angle, the deflection angle and the position are kept unchanged, the rotation is carried out around the coordinate axis of the device, and the roll angle is adjusted to a target angle.

B. And the roll angle, the deflection angle and the position are kept unchanged, the roll angle, the deflection angle and the position rotate around the coordinate axis of the roll angle, and the pitch angle is adjusted to a target angle.

C. The roll angle, the pitch angle and the position are kept unchanged, the device rotates around the coordinate axis of the device, and the deflection angle is adjusted to a target angle.

D. The attitude remains unchanged and the position is translated from the initial position to the target position.

In summary, the current situation analysis of the current posture adjusting operation and control method is as follows:

1) the positioner without the redundant active driving shaft mode has the advantages of less active driving shafts, simple control and low cost. The six-freedom-degree airplane posture adjusting device can adopt six active control shafts of three positioners and a positioner posture adjusting device with a floating shaft. The floating shaft mode needs large parts of the airplane to provide pulling force for dragging, and the large parts of the airplane have large internal stress. The follow-up mode follows the stress change and controls the driven shaft, can reduce the aircraft part stress of accent appearance process, but the driven shaft can not provide enough holding power voluntarily, and the accent appearance process can not be to the part shape keeping. The main defects of the mode without a redundant active driving shaft are that the number of the positioners is small, the supporting rigidity is insufficient, and the local deformation of the airplane is easily caused due to large local supporting force. This approach does not provide for the retention or support of aircraft components during attitude adjustment. Because the large airplane is large in size and heavy in weight, more positioners are needed for bearing, enough supporting points are provided to form a flexible support for shape keeping, and the positioner posture adjusting mode without a redundant active driving shaft is not suitable for large airplane posture adjustment;

2) the six-degree-of-freedom airplane attitude adjustment of the existing redundant driving shaft three-coordinate positioner generally comprises the steps of executing attitude adjustment step by step and then executing position adjustment, and the attitude adjustment time is longer;

3) acceleration is not accurately calculated in the motion planning process, the speed/acceleration allowable range of a driving motor of a three-coordinate numerical control positioner or the speed/acceleration allowable range of rotation or translation of a large part of an airplane is possibly exceeded in the airplane attitude adjusting process, the attitude adjusting operation is unstable or the attitude adjusting action is slow, and particularly the motor is easy to have impact when the attitude adjusting is started and finished;

4) the position error and the contour error of the supporting point are not accurately analyzed in the attitude adjusting process, and if the contour error is large or the mechanical positioning precision and the installation precision of a positioner are not high enough, a large part of the airplane may deform a small amount in the attitude adjusting process of the airplane, so that the airplane is subjected to overlarge stress and even is damaged.

Disclosure of Invention

In view of the above, the invention provides a three-coordinate positioner attitude adjusting operation and control method, a three-coordinate positioner attitude adjusting operation and control system, an attitude adjusting controller and a storage medium, which are applied to airplane digital assembly, can meet the acceleration requirement, have redundant driving shafts, do not need to rotate and translate step by step, do not need to limit the number of the shafts of drivers, have stable attitude adjusting process and no impact, and can overcome the defects of the three-coordinate positioner attitude adjusting operation and control processing in the existing airplane assembly.

The invention aims to provide a three-coordinate positioner posture adjusting operation and control method.

The invention also provides a three-coordinate positioner posture adjusting operation control system.

The third purpose of the invention is to provide a posture adjusting controller.

It is a fourth object of the present invention to provide a storage medium.

The first purpose of the invention can be achieved by adopting the following technical scheme:

a three-coordinate positioner posture adjusting operation and control method is applied to airplane digital assembly, and comprises the following steps:

establishing a local coordinate system of a rigid body of a large part of the airplane and a local coordinate system of a positioner, and resolving a translational movement amount and a translational direction vector of the rigid body, and a rotation angle and a rotation axis vector of the rigid body fixed axis rotation according to an attitude adjusting instruction;

according to the rotating shaft vector of the rigid body fixed shaft rotation, the rigid body rotating center position and the current position of each locator supporting point, taking each locator supporting point as a rigid body upper mass point, calculating the circle center and the radius of a space circular arc track of each locator in the rigid body fixed shaft rotation process, and calculating a corresponding circular arc angular velocity range and a rigid body angular velocity range according to the allowable error of each circular arc track;

planning and finishing the rigid body composite motion speed according to the rigid body angular speed range, and a rotation angular speed range, an angular acceleration range, a translation speed range and a translation acceleration range which are allowed by attitude adjustment of a large part of the airplane;

according to the velocity planning of the rigid body compound motion, taking each locator supporting point as a mass point on the rigid body, calculating the maximum velocity and the maximum acceleration on each locator driving shaft, and adjusting the velocity and the acceleration of the rigid body compound motion according to the velocity range and the acceleration range allowed by each locator driving shaft;

after the speed and the acceleration of the rigid body compound motion are adjusted, the rigid body compound motion speed is planned and maintained again;

according to the new speed plan of the rigid body compound motion, carrying out interpolation calculation according to a time segmentation method, and outputting a three-axis instruction coordinate position of each locator;

and carrying out space compensation according to the three-axis instruction coordinate position and the space error data of each positioner, and outputting the actual position of each axis driver.

Further, the establishing of the rigid body local coordinate system and the locator local coordinate system of the large aircraft component specifically includes:

establishing a global coordinate system Oxyz for a relative ground reference system;

establishing a rigid local coordinate system O for a large aircraft part_lxyz, the X, Y, Z axial direction of the local rigid body coordinate system is parallel to the X, Y, Z axial direction of the global coordinate system, the rotation center of the local rigid body coordinate system is set as the origin of the global coordinate system, and the coordinate in the global coordinate system before the origin of the local coordinate system is adjusted to the attitude is O_l(p_x，p_y，p_z)^T；

Establishing a locator local coordinate system O for the ith locator_ixyz, the X, Y, Z axial direction of the local coordinate system of the positioner is the driving moving direction of the supporting point of the positioner along the X, Y, Z axis of the positioner, the origin of the local coordinate system of the positioner is the supporting point position after the X, Y, Z axis of the positioner returns to zero, and the coordinate of the origin of the local coordinate system of the ith positioner in the global coordinate system is O_i(o_ix，o_iy，o_iz)^TThe coordinate of the ith locator supporting point in the global coordinate system is P_i(p_ix，p_iy，p_iz)^T。

Further, the resolving of the translational movement amount and the translational direction vector of the rigid body, and the rotation angle and the rotation axis vector of the rigid body fixed axis rotation according to the attitude adjusting instruction specifically includes:

resolving the translational motion quantity of the rigid body as follows:

resolving the translation direction vector of the rigid body as follows:

in the formula，

Firstly, rotating the rigid body around the Z axis by an angle A, then rotating the rigid body around the Y axis by an angle B, and finally rotating the rigid body around the X axis by an angle C, wherein the angle A is as follows:

wherein s1 ═ sin (a), c1 ═ cos (a), s2 ═ sin (b), c2 ═ cos (b), s3 ═ sin (c), c3 ═ cos (c);

resolving the rotation angle of the rigid body fixed shaft rotation, as follows:

solving a rotating shaft vector of the rigid body fixed shaft rotation, and adopting the following formula:

in the formula (I), the compound is shown in the specification,

further, the method specifically includes, according to the rotating axis vector of the rigid body fixed axis rotation, the rigid body rotation center position and the current position of each locator support point, using each locator support point as a mass point on the rigid body, calculating the circle center and the radius of the spatial circular arc track of each locator in the rigid body fixed axis rotation process, and calculating the corresponding circular arc angular velocity range and the rigid body angular velocity range according to the allowable error of each circular arc track:

according to the rotating shaft vector of the rigid body fixed shaft rotation, the rigid body rotating center position and the current position of each locator supporting point, taking each locator supporting point as a rigid body upper mass point, and calculating the circle center and the radius of a space circular arc track of each locator in the rigid body fixed shaft rotation process, wherein the following formula is as follows:

in the formula (I), the compound is shown in the specification,

is the circle center position of the spatial circular arc track of the ith positioner in the rotating process of the rigid body fixed shaft,

in the local rigid body coordinate system O before the orientation adjustment for the ith support point of the positioner_lThe position in the xyz is determined by the position,

rotation axis vector for rigid body fixed axis rotation, r_iRadius of the spatial circular arc track of the ith positioner in the rigid body dead axle rotation process:

let T_inpTo interpolate the cycle time, H_errFor error in height of bow, L_cTo interpolate the cycle output chord length, the following equation is used:

L_c ²＝8H_errr_i+4H_err ²

calculating the height error H_errThe chord length of (c) is as follows:

in the formula, L_c＝VT_inpo＝ω_ir_iT_inpThen, then

If the ith locator adjusts the posture processBy allowable bow height error H_errThen, the rotational angular velocity ω of the rigid body is required_iMaximum, and bow height error H_errRadius r when constant_iGreater allowable rigid body rotational angular velocity ω_iThe smaller;

and solving the maximum radius in the space circular arc track radii of all the positioners as follows:

r_max＝max(r₁,r₂,r₃,…,r_i,…,r_N)

during interpolation, the interpolation period time T_inpThe same angular speeds are the same when the rigid body fixed shaft rotates a plurality of circular arcs;

calculating the bow height error H_errRigid body winding meeting the requirements

Maximum rotational angular velocity, as follows:

further, the planning and trimming of the rigid body composite motion speed according to the rigid body angular speed range, and the rotation angular speed range, the angular acceleration range, the translation speed range and the translation acceleration range allowed by the attitude adjustment of the large airplane component specifically includes:

according to the maximum value of the angular velocity of the rigid body, the maximum angular velocity omega required by the strength of the rigid body fixed-axis rotating structure is adjusted_max＝min(ω_max1,ω_max2)；

Maximum angular acceleration α allowed by airplane large component attitude adjustment_maxMaximum translational velocity v_maxMaximum translational acceleration a_maxMaximum angular velocity omega required by strength of rigid body fixed-axis rotating structure_max＝min(ω_max1,ω_max2) Velocity v at the beginning and end of the set of postures_s＝v_e0, acceleration a at the beginning and end of posture adjustment_s＝a_eRotation angle theta of rigid body fixed axis rotation_eAnd the translational movement quantity S of the rigid body, respectively carrying out bell-shaped acceleration/decelerationPlanning and calculating the rigid body composite motion speed, and calculating the actual maximum acceleration a of the time and the translation of each stage_nowmaxActual maximum translational velocity v_nowmaxActual maximum angular acceleration of rotation α_nowmaxAnd the actual maximum angular velocity ω_nowmaxAnd then carrying out rigid body composite motion speed planning time trimming.

Further, the calculation of the bell-shaped acceleration/deceleration rigid body composite motion speed plan specifically includes:

according to the translational movement quantity s and the maximum translational speed v of the rigid body_maxMaximum translational acceleration a_maxAnd translation plus acceleration j_lThe method comprises the following steps of performing speed planning calculation in seven stages including an acceleration stage, a uniform acceleration stage, a deceleration stage, a uniform speed stage, an acceleration and deceleration stage, a uniform deceleration stage and a deceleration stage; wherein:

the acceleration is calculated as follows:

wherein J is J_l；

The acceleration is calculated as follows:

the velocity is calculated as follows:

in the formula, T₁＝t₁,T₂＝t₂-t₁,T₃＝t₃-t₂；T₄＝t₄-t₃,T₅＝t₅-t₄,T₆＝t₆-t₅；T₇＝t₇-t₆,T₁＝T₃,T₅＝T₇；

The translation movement amount is calculated as follows:

the translation speed is planned to be s ═ f_s1(t)，v＝f_v1(t)，a＝f_a1(t)，j_s＝J(t)；

According to bell type increasing/decreasing time T_1s＝T_3s,T_5s＝T_7sVelocity v at the beginning and end of the set of postures_s＝v_eAcceleration a at the beginning and end of the set-up_s＝a_e0, and the acceleration and deceleration stages are mirror symmetric, resulting in T_1s＝T_7s＝T_5s＝T_3s，T_2s＝T_6s；

The maximum speed and the maximum acceleration are limited as v in the safety range₃≤v_max，Jt₁≤a_maxCalculating the acceleration stage time T_1sTime T of uniform acceleration stage_2sDecreasing acceleration stage time T_3sTime T at uniform speed stage_4sAcceleration and deceleration stage time T_5sTime T of uniform deceleration stage_6sTime T of deceleration stage_7s；

Calculating the actual maximum acceleration a_nowmax＝j_lT_1sActual maximum velocity v_nowmax＝v₃And total translational time T_s＝T_1s+T_2s+T_3s+T_4s+T_5s+T_6s+T_7s；

Rotation angle theta according to rigid body fixed axis rotation_eMaximum angular velocity ω_maxMaximum angular acceleration α_maxAnd angle of rotation plus acceleration j_θThe method comprises the following steps of calculating speed planning in seven stages including an acceleration stage, a uniform acceleration stage, an acceleration reduction stage, a constant speed stage, an acceleration and deceleration stage, a uniform deceleration stage and a deceleration reduction stage; wherein:

the angular acceleration is calculated as follows:

wherein J is J_θ；

The angular acceleration is calculated as follows:

the angular velocity is calculated as follows:

in the formula, T₁＝t₁,T₂＝t₂-t₁,T₃＝t₃-t₂；T₄＝t₄-t₃,T₅＝t₅-t₄,T₆＝t₆-t₅；T₇＝t₇-t₆,T₁＝T₃,T₅＝T₇；

The rotation angle is calculated as follows:

the speed of rotation is programmed as j_θ＝J(t)，θ＝f_θ1(t)，ω＝f_ω1(t)，α＝f_α1(t)；

According to bell type increasing/decreasing time T_1θ＝T_3θ,T_5θ＝T_7θEstablishing a piecewise function of the rotation angle and adding an acceleration J ═ J according to the angle_θAngle of rotation and attitude increment theta_eAngular velocity ω of starting and ending of posture adjustment_s＝ω_e0, angular acceleration α of starting and ending of pose adjustment_s＝α_e0, and the acceleration and deceleration stages are mirror symmetric, resulting in T_1θ＝T_7θ＝T_5θ＝T_3θ，T_2θ＝T_6θ；T_1θ＝T_7θ＝T_5θ＝T_3θ，T_2θ＝T_6θ；

The maximum speed and the maximum acceleration are limited to be omega in a safety range₃≤ω_max，Jt₁≤α_maxCalculating the acceleration stage time T_1θTime T of uniform acceleration stage_2θDecreasing acceleration stage time T_3θTime T at uniform speed stage_4θAcceleration and deceleration stage time T_5θTime T of uniform deceleration stage_6θTime T of deceleration stage_7θ；

Calculating the actual maximum angular acceleration α_nowmaxActual maximum angular velocity ω_nowmaxAnd total time of rotation T_θ＝T_1θ+T_2θ+T_3θ+T_4θ+T_5θ+T_6θ+T_7θ。

Further, the time adjustment for planning the rigid body compound motion speed specifically includes:

two motion time trimming to interpolation period time T for bell-type acceleration/deceleration speed planning of rigid body fixed axis rotation and rigid body translation respectively_inpIntegral multiple, the translation time and the rotation time are adjusted to be equal, and the time of each stage after the time axis is adjusted and the actual maximum acceleration a of rigid translation after the time axis is adjusted are calculated_now2maxActual maximum velocity v of rigid translation_now2maxActual maximum angular acceleration α of rigid body fixed axis rotation_now2maxActual maximum angular velocity omega of rigid body fixed axis rotation_now2max。

Further, the calculation of the time of each stage after the time axis is adjusted and the actual maximum acceleration a of the rigid translation_now2maxActual maximum velocity v of rigid translation_now2maxActual maximum angular acceleration α of rigid body fixed axis rotation_now2maxActual maximum angular velocity omega of rigid body fixed axis rotation_now2maxThe method specifically comprises the following steps:

total translational time T_sOr total time of rotation T_θRounded up to an interpolation period time T_inpInteger multiple of (d) is as follows:

the rigid body translation and the rigid body dead axle rotation are synchronously carried out, and when the requirement is simultaneously started and finished, the translation time and the dead axle rotation time are adjusted to be the same time, as the following formula:

T_now＝T_nows＝T_nowθ＝max(T_nows,T_nowθ)

the time of each stage is adjusted proportionally as follows:

rigid body translation time adjustment proportion:

rigid body dead axle rotation time adjustment proportion:

T_1s＝T_7s＝T_5s＝T_3s＝T_1sK_nows，T_2s＝T_6s＝T_2sK_nows，T_4s＝T_4sK_nows

T_1θ＝T_7θ＝T_5θ＝T_3θ＝T_1θK_nowθ，T_2θ＝T_6θ＝T_2θK_nowθ，T_4θ＝T_4θK_nowθ

translation distance S and rotation angle theta_eRemains unchanged, T_nowsAnd T_nowθThe time is prolonged, the time of each stage is prolonged, and the actual speed, the actual acceleration and the actual jerk are adjusted as follows:

adjusting the actual maximum speed of rigid translation and the actual maximum angular speed of rigid fixed shaft rotation:

actual maximum acceleration and rigidity of rigid translationAdjusting the actual maximum angular acceleration of the body fixed shaft rotation:

the actual jerk of rigid translation and the actual jerk of rigid fixed axis rotation are adjusted:

after the time, speed, acceleration and jerk of each stage are adjusted in proportion, the rigid translation movement amount and the rigid fixed axis rotation angle of each stage are kept unchanged with the speed before adjustment, and the adjusted speed is planned as follows:

rigid translation: s ═ f_s(t)；v＝f_v(t)；a＝f_a(T) where T ∈ [0, T_now]；s∈[0,S]

Rigid body dead axle rotates: theta ═ f_θ(t)；ω＝f_ω(t)；α＝f_α(T) where T ∈ [0, T_now]；θ∈[0,θ_e]。

Further, the planning according to the velocity of the rigid body compound motion, using each locator support point as a mass point on the rigid body, calculating a maximum velocity and a maximum acceleration on each locator drive shaft, and adjusting the velocity and the acceleration of the rigid body compound motion according to a velocity range and an acceleration range allowed by each locator drive shaft specifically includes:

and taking each locator support point as a mass point on the rigid body, carrying out synchronous superposition motion of fixed axis rotation and translation on the rigid body, solving a space circular arc motion track, a speed and an acceleration of each locator drive shaft by utilizing inverse kinematics position inverse solution, calculating the maximum speed and the maximum acceleration on each locator drive shaft in a locator local coordinate system, and adjusting the speed and the acceleration of rigid body composite motion according to the speed range and the acceleration range allowed by each locator drive shaft.

Further, the method includes that each locator support point is used as a mass point on a rigid body, the rigid body performs synchronous superposition motion of fixed axis rotation and translation, inverse solution is performed by using a reverse kinematics position, a space circular arc motion track, a speed and an acceleration of each locator drive shaft are solved, the maximum speed and the maximum acceleration of each locator drive shaft are calculated in a local coordinate system of the locator, and the speed and the acceleration of rigid body composite motion are adjusted according to the speed range and the acceleration range allowed by each locator drive shaft, and specifically includes the following steps:

with the ith locator supporting point space arc C_iEstablishing a new local coordinate system C with the center of the circle as the origin of coordinates_ixyz, local coordinate system C_iThe X, Y, Z axis of xyz is parallel to the localizer local coordinate system O_iX, Y, Z axis of xyz;

the central angle in the space circular arc motion track is the angle theta of rigid rotation ═ f_θ(t)；

Local coordinate system C in rigid body translation process_iThe origin of xyz is in the localizer local coordinate system O_iTranslation distance s ═ f in xyz_s(t)；

Rigid translation direction vector

Wherein

Corresponding to a local coordinate system C_iThe origin of xyz is in the localizer local coordinate system O_iVector in xyz direction

Local coordinate system C in rigid body translation process_iThe origin of xyz is in the localizer local coordinate system O_iThe translational position component in xyz is in the form ofThe following:

f_is(t)＝[x_is(t) y_is(t) z_is(t)]^T

in the formula, x_is(t)＝u_ixf_s(t)，y_is(t)＝u_iyf_s(t)，z_is(t)＝u_izf_s(t)；

Local coordinate system C in rigid body translation process_iThe origin of xyz is in the localizer local coordinate system O_iThe translational velocity component in xyz is of the form:

f_iv(t)＝[x_iv(t) y_iv(t) z_iv(t)]^T

in the formula, x_iv(t)＝u_ixf_v(t)，y_iv(t)＝u_iyf_v(t)，z_iv(t)＝u_izf_v(t)；

Local coordinate system O of positioner_iThe maximum speed of X, Y, Z shaft translation process in xyz is as follows:

v_iSxmax＝max(|x_iv(t)|)＝|u_ix|max(f_v(t))＝|u_ix|v_now2max

v_iSymax＝max(|y_iv(t)|)＝|u_iy|max(f_v(t))＝|u_iy|v_now2max

v_iSzmax＝max(|z_iv(t)|)＝|u_iz|max(f_v(t))＝|u_iz|v_now2max

local coordinate system C in rigid body translation process_iThe origin of xyz is in the localizer local coordinate system O_iThe translational acceleration component in xyz is of the form:

f_ia(t)＝[x_ia(t) y_ia(t) z_ia(t)]^T

in the formula, x_ia(t)＝u_ixf_a(t)，y_ia(t)＝u_iyf_a(t)，z_ia(t)＝u_izf_a(t)；

Local coordinate system O of positioner_iX, Y, Z axis in xyzThe maximum acceleration of the translation process is as follows:

a_iSxmax＝max(|x_ia(t)|)＝|u_ix|max(f_a(t))＝|u_ix|a_now2max

a_iSymax＝max(|y_ia(t)|)＝|u_iy|max(f_a(t))＝|u_iy|a_now2max

a_iSzmax＝max(|z_ia(t)|)＝|u_iz|max(f_a(t))＝|u_iz|a_now2max。

further, the adjusting the speed and the acceleration of the rigid body composite motion according to the speed range and the acceleration range allowed by the driving shaft of each positioner specifically includes:

rigid body local coordinate system O in rigid body fixed axis rotation_lAxis of rotation of xyz

Rotation angle theta f of rigid body fixed axis rotation_θ(t)；ω＝f_ω(t)；α＝f_α(T) where T ∈ [0, T_now]；θ∈[0,θ_e]；

Before adjusting the posture, the support point of the ith positioner is in the local rigid coordinate system O_lPosition vector in xyz

I-th locator in rigid local coordinate system O_lRadius of rotation in xyz

Circle center coordinate

Rigid body fixed axis rotation angle theta ═ f_θ(t) rigid body rotation R_w,θThe following formula:

in the formula, s_θ＝sin(θ)，c_θ＝cos(θ),v_θ＝1-cos(θ)，θ＝f_θ(t)，t∈[0,T_now]，θ∈[0,θ_e](ii) a In the posture adjusting process, the support point of the ith positioner is in a rigid body local coordinate system O_lThe position vector in xyz is

Rigid body rotation axis in local coordinate system C_iIn xyz are

The support point of the ith positioner in the local coordinate system C_iPosition C in xyz_i(θ) is a function of the rotation angle θ, as follows:

the support point of the ith positioner in the local coordinate system C_iPosition C in xyz_iThe component form of (θ) is as follows:

C_i(θ)＝[x_i(θ) y_i(θ) z_i(θ)]^T，x_i(θ)，y_i(θ)，z_i(θ)

C_ithe normal direction vector for any θ position is given by:

C_ithe normal direction vector component for any θ position is of the form:

x_in(θ)，y_in(θ)，z_in(θ)；

x_int(f_θ(t))，y_int(f_θ(t))，z_int(f_θ(t))；

C_ithe maximum absolute value of the axis component of the normal direction vector X, Y, Z at any θ position is given by:

x_intmax＝max(|x_int(f_θ(t))|)＝max(|x_in(θ)|)

y_intmax＝max(|y_int(f_θ(t))|）＝max(|y_in(θ)|)

z_intmax＝max(|z_int(f_θ(t))|)＝max(|z_in(θ)|)

C_ithe tangential direction vector at any θ position is given by:

wherein

C_iThe tangential direction vector component at any θ position is of the form:

x_iτ(θ)，y_iτ(θ)，z_iτ(θ)；

x_iτt(f_θ(t))，y_iτt(f_θ(t))，z_iτt(f_θ(t))；

C_ithe maximum absolute value of the axial component of the tangential direction vector X, Y, Z at any θ position is given by:

x_iτtmax＝max(|x_iτt(f_θ(t))|)＝max(|x_iτ(θ)|)

y_iτtmax＝max(|y_iτt(f_θ(t))|)＝max(|y_iτ(θ)|)

z_iτtmax＝max(|z_iτt(f_θ(t))|)＝max(|z_iτ(θ)|)

the support point of the ith positioner in the local coordinate system C_iLinear velocity v in xyz_iτ(t)＝r_if_ω(t)；

The support point of the ith positioner in the local coordinate system C_iMaximum linear velocity max (v) in xyz_iτ(t))＝r_iω_now2max；

The support point of the ith positioner in the local coordinate system C_iSpeed of circular arc motion in xyz

The support point of the ith positioner in the local coordinate system C_iThe circular arc motion velocity component in xyz is of the form:

f_ivτ(t)＝[x_ivτ(t) y_ivτ(t) z_ivτ(t)]^T

in the formula, x_ivτ(t)＝v_iτ(t)x_iτt(f_θ(t))，y_ivτ(t)＝v_iτ(t)y_iτt(f_θ(t))，z_ivτ(t)＝v_iτ(t)z_iτt(f_θ(t))；

The support point of the ith positioner in the local coordinate system C_iThe maximum linear velocity of the circular arc motion in xyz multiplied by the maximum value of each axial component of the direction vector is not less than the circular arc motion f_ivτ(t) maximum speed of each axis, as follows:

max(|x_ivτ(t)|)＝max(v_iτ(t)|x_iτt(f_θ(t))|)≤max(v_iτ(t))max(|x_iτt(f_θ(t))|)

max(|y_ivτ(t)|)＝max(v_iτ(t)|y_iτt(f_θ(t))|)≤max(v_iτ(t))max(|y_iτt(f_θ(t))|)

max(|z_ivτ(t)|)＝max(v_iτ(t)|z_iτt(f_θ(t))|)≤max(v_iτ(t))max(|z_iτt(f_θ(t))|)

the support point of the ith positioner is in the local coordinate system O of the positioner_iThe motion speed in xyz is the circular motion speed f_ivτ(t) and translational velocity f_iv(t) the sum of the synchronous superposition speed, the maximum speed of the shaft component of the translational speed X, Y, Z and the maximum speed of the shaft component of the circular motion speed X, Y, Z is greater than the actual maximum speed of the positioner X, Y, Z, if the sum is less than the allowable speed range of each driving shaft, the safety is ensured, otherwise, the speed of the rigid body compound motion is reduced, and the method comprises the following steps:

v_ixtest≥max(v_iτ(t)|x_iτt(f_θ(t))|)+max(|x_iv(t)|)≥max(|x_ivτ(t)+x_iv(t)|)

v_iytest≥max(v_iτ(t)|y_iτt(f_θ(t))|)+max(|y_iv(t)|)≥max(|y_ivτ(t)+y_iv(t)|)

v_iztest≥max(v_iτ(t)|z_iτt(f_θ(t))|)+max(|z_iv(t)|)≥max(|z_ivτ(t)+z_iv(t)|)

in the formula, x_ivτ(t)+x_iv(t) is the X-axis actual speed, y_ivτ(t)+y_iv(t) is the actual speed of the Y-axis, z_ivτ(t)+z_iv(t) is the Z-axis actual speed;

v_ixtest＝max(v_iτ(t))max(|x_iτt(f_θ(t))|)+max(|x_iv(t)|)＝r_iω_now2maxx_iτtmax+|u_ix|v_now2max；

v_iytest＝max(v_iτ(t))max(|y_iτt(f_θ(t))|)+max(|y_iv(t)|)＝r_iω_now2maxy_iτtmax+|u_iy|v_now2max；

v_iztest＝max(v_iτ(t))max(|z_iτt(f_θ(t))|)+max(|z_iv(t)|)＝r_iω_now2maxz_iτtmax+|u_iz|v_now2max；

if v is_ixtest≤v_ixmaxIs provided with

Otherwise

If v is_iytest≤v_iymaxIs provided with

Otherwise

If v is_iztest≤v_izmaxIs provided with

Otherwise

Ith positioner velocity adjustment factor

The support point of the ith positioner in the local coordinate system C_iTangential acceleration f in xyz_iaτ(t)＝r_if_α(t)；

The support point of the ith positioner in the local coordinate system C_iMaximum value of tangential acceleration max (f) in xyz_iaτ(t))＝r_iα_now2max；

The support point of the ith positioner in the local coordinate system C_iCircular arc tangential acceleration vector in xyz

The support point of the ith positioner in the local coordinate system C_iThe circular arc tangential acceleration component in xyz is of the form:

a_iτ(t)＝[x_iaτ(t) y_iaτ(t) z_iaτ(t)]^T

in the formula, x_iaτ(t)＝f_iaτ(t)x_iτt(f_θ(t))，y_iaτ(t)＝f_iaτ(t)y_iτt(f_θ(t))，z_iaτ(t)＝f_iaτ(t)z_iτt(f_θ(t))；

The support point of the ith positioner in the local coordinate system C_iCentripetal acceleration f in xyz_ian(t)＝r_if_ω ²(t)；

The support point of the ith positioner in the local coordinate system C_iMaximum value of centripetal acceleration max (f) in xyz_ian(t))＝r_iω_now2max ²；

The support point of the ith positioner in the local coordinate system C_iCircular arc normal acceleration vector in xyz

The support point of the ith positioner in the local coordinate system C_iThe circular arc normal acceleration component in xyz is of the form:

a_in(t)＝[x_ian(t) y_ian(t) z_ian(t)]^T

in the formula, x_iaθ(t)＝f_iaτ(t)x_iτt(f_θ(t))+f_ian(t)x_int(f_θ(t))；y_iaθ(t)＝f_iaτ(t)y_iτt(f_θ(t))+f_ian(t)y_int(f_θ(t))；z_iaθ(t)＝f_iaτ(t)z_iτt(f_θ(t))+f_ian(t)z_int(f_θ(t))；

The support point of the ith positioner in the local coordinate system C_iCircular arc motion acceleration a in xyz_iθ(t) X, Y, Z axis component maximum value is not more than maximum value of angular acceleration and angular velocity and each axis normal component and tangential component maximum value are calculated as follows:

max(|x_iaθ(t)|)≤max(f_iaτ(t))max(|x_iτt(f_θ(t))|)+max(f_ian(t))max(|x_int(f_θ(t))|)

max(|y_iaθ(t)|)≤max(f_iaτ(t))max(|y_iτt(f_θ(t))|)+max(f_ian(t))max(|y_int(f_θ(t))|)

max(|z_iaθ(t)|)≤max(f_iaτ(t))max(|z_iτt(f_θ(t))|)+max(f_ian(t))max(|z_int(f_θ(t))|)

the support point of the ith positioner is in the local coordinate system O of the positioner_iThe motion speed in xyz is the circular motion acceleration a_iθ(t) and translational acceleration f_ia(t) the sum of the synchronous superimposed acceleration, the maximum value of the shaft component of the translational acceleration X, Y, Z and the maximum value of the shaft component of the circular arc motion acceleration X, Y, Z is greater than the actual maximum acceleration of the positioner X, Y, Z, if the sum is smaller than the allowable acceleration range of each driving shaft, the safety is ensured, otherwise, the acceleration and the angular speed of the rigid body composite motion are reduced, and the method comprises the following steps:

a_ixtest≥max(|x_iaθ(t)|)+max(|x_ia(t)|)≥max(|x_iaθ(t)+x_ia(t)|)

a_iytest≥max(|y_iaθ(t)|)+max(|y_ia(t)|)≥max(|y_iaθ(t)+y_ia(t)|)

a_iztest≥max(|z_iaθ(t)|)+max(|z_ia(t)|)≥max(|z_iaθ(t)+z_ia(t)|)

in the formula, x_iaθ(t)+x_ia(t) is the actual acceleration of the X-axis, y_iaθ(t)+y_ia(t) is the actual acceleration of the Y-axis, z_iaθ(t)+z_ia(t) is the Z-axis actual acceleration;

a_ixtest＝max(f_iaτ(t))max(|x_iτt(f_θ(t))|)+max(f_ian(t))max(|x_int(f_θ(t))|)+max(|x_ia(t)|)

＝r_iα_now2maxx_iτtmax+r_iω_now2max ²x_intmax+|u_ix|a_now2max；

a_iytest＝max(f_iaτ(t))max(|y_iτt(f_θ(t))|)+max(f_ian(t))max(|y_int(f_θ(t))|)+max(|y_ia(t)|)

＝r_iα_now2maxy_iτtmax+r_iω_now2max ²y_intmax+|u_iy|a_now2max；

a_iztest＝max(f_iaτ(t))max(|z_iτt(f_θ(t))|)+max(f_ian(t))max(|z_int(f_θ(t))|)+max(|z_ia(t)|)

＝r_iα_now2maxz_iτtmax+r_iω_now2max ²z_intmax+|u_iz|a_now2max；

if a_ixtest≤a_ixmaxIs provided with

Otherwise

If a_iytest≤a_iymaxIs provided with

Otherwise

If a_iztest≤a_izmaxIs provided with

Otherwise

Acceleration adjustment coefficient of ith positioner

If it is

And is

The rotational angular velocity of the rigid body is reduced, the centripetal acceleration is reduced, and the adjustment is performed

Determining the maximum value of the speed regulating coefficient in the attitude regulating process of the airplane

Solving the maximum value of the acceleration regulating coefficient in the process of adjusting the attitude of the airplane

And adjusting the speed and the acceleration of rigid translation and fixed shaft rotation according to the speed and the acceleration adjusting coefficient in the attitude adjusting process of the airplane, as follows:

maximum speed of rigid translation and maximum angular speed of rigid fixed shaft rotation:

maximum acceleration of rigid translation and maximum angular acceleration of rigid fixed axis rotation:

the jerk of rigid translation and the jerk of rigid fixed axis rotation: j is a function of_l＝j_l2，j_θ＝j_θ2。

Further, the planning and modifying of the rigid body compound motion speed again specifically includes:

and (3) re-planning the speed of the rigid body translation as follows:

according to the maximum velocity v of rigid translation_maxMaximum acceleration a_maxJerk jl, initial and final velocity of posture adjustment v_s＝v_eAcceleration a at the beginning and end of the set-up_s＝a_eWhen the rigid translation movement quantity S is equal to 0, the ring-type acceleration/deceleration rigid translation speed planning calculation is carried out, and the actual maximum speed v of the rigid translation is calculated_newmaxAnd the actual maximum acceleration a_newmax；

Recalculating translation run time T_sEach stage time T_1s,T_2s,T_3s,T_4s,T_5s,T_6s,T_7s(ii) a Wherein T is_1s＝T_7s＝T_5s＝T_3s，T_2s＝T_6s；

The speed planning time is rounded as follows:

and (3) re-planning the speed of the rigid body dead axle rotation, as follows:

maximum angular velocity omega based on rigid body dead axle rotation_maxMaximum angular acceleration α_maxAngular jerk j_θSpeed omega of starting and ending of posture adjustment_s＝ω_e0, acceleration α for start and end of stance turn_s＝α_eAngle increment theta of rigid body fixed axis rotation_ePerforming bell-shaped acceleration/deceleration planning calculation on the rotation speed of the rigid body fixed shaft to calculate the actual maximum angular speed omega of the rigid body fixed shaft rotation_newmaxAnd maximum angular acceleration α_newmax；

Recalculating rigid body dead axle rotation time T_θEach stage having a time T_1θ,T_2θ,T_3θ,T_4θ,T_5θ,T_6θ,T_7θ(ii) a Wherein T is_1θ＝T_7θ＝T_5θ＝T_3θ，T_2θ＝T_6θ；

The speed planning time is rounded as follows:

the rigid body translation and the rigid body fixed shaft rotation are synchronously carried out, and the translation time and the fixed shaft rotation time are adjusted to be the same time as follows:

T_new＝T_news＝T_newθ＝max(T_news,T_newθ)

wherein the time of each stage is proportionally adjusted as follows:

T_1s＝T_7s＝T_5s＝T_3s＝T_1sK_news，T_2s＝T_6s＝T_2sK_news，T_4s＝T_4sK_news

T_1θ＝T_7θ＝T_5θ＝T_3θ＝T_1θK_newθ，T_2θ＝T_6θ＝T_2θK_newθ，T_4θ＝T_4θK_newθ

in the formula (I), the compound is shown in the specification,

adjusting the proportion of rigid translation time;

rigid body fixed axis rotation time adjustment proportion;

adjusting the actual speed, the actual acceleration and the actual jerk as follows:

adjusting the actual maximum speed of rigid translation and the actual angular speed of rigid fixed shaft rotation:

adjusting the actual maximum acceleration of rigid translation and the actual angular acceleration of rigid fixed shaft rotation:

the actual jerk of rigid translation and the actual jerk of rigid fixed axis rotation are adjusted:

obtaining an adjusted speed plan:

rigid translation: s ═ f_s3(t)；v＝f_v3(t)；a＝f_a3(T) where T ∈ [0, T_new]；s∈[0,S]；

Rigid body dead axle rotates: theta ═ f_θ3(t)；ω＝f_ω3(t)；α＝f_α3(T) where T ∈ [0, T_new]；θ∈[0,θ_e]。

Further, the interpolating calculation is performed according to a time division method according to the new velocity plan of the rigid body compound motion, and the three-axis instruction coordinate position of each locator is output, which specifically includes:

according to the new speed plan of rigid body composite motion, rigid body fixed axis rotation interpolation and rigid body translation interpolation are respectively carried out according to a time division method, the position of each locator supporting point in a global coordinate system is calculated after synchronous superposition, then the locator supporting point is converted into a local coordinate system of each locator, and the three-axis instruction coordinate position of each locator is output.

Further, the planning according to the new velocity of the rigid body compound motion, respectively performing rigid body fixed axis rotation interpolation and rigid body translation interpolation according to a time division method, calculating the position of each locator supporting point in a global coordinate system after synchronous superposition, then converting to a local coordinate system of each locator, and outputting a three-axis instruction coordinate position of each locator specifically comprises:

rigid body local coordinate system O_lPosition in global coordinate system before origin attitude adjustment of xyz

Local coordinate system O of positioner_iLocation of origin of xyz in global coordinates

The position of the ith locator support point before attitude adjustment, including the position in the global coordinate system

In a rigid body local coordinate system O_lPosition in xyz

And in the localizer local coordinate system O_iPosition in xyz

The position of the ith locator support point after attitude adjustment is included in the rigid body local coordinate system O_lPosition in xyz

Position in global coordinates

And in the localizer local coordinate system O_iPosition in xyz

Calculating the interpolation position of the ith positioner supporting point attitude adjusting process as follows:

the rotation angle function of the rigid body fixed axis rotation is as follows:

θ＝f_θ3(t)；ω＝f_ω3(t)；α＝f_α3(t)；t∈[0,T_new]；θ∈[0,θ_e]；

rigid body rotation axis in rigid body local coordinate system O_lVector of xyz

The function of the amount of movement of the rigid translation is:

s＝f_s3(t)；v＝f_v3(t)；a＝f_a3(t)；t∈[0,T_new]；s∈[0,S]；

rigid translation direction vector

Solving the i-th locator supporting point in the local coordinate system O of the locator_ixyz location function

The following formula:

in the formula (I), the compound is shown in the specification,

for the position vector of the ith localizer support point in the global coordinate system, the following equation is used:

in the formula (I), the compound is shown in the specification,

is the position of the origin of the rigid body local coordinate system in the global coordinate system in the pose adjusting process,

when the rotation and translation of the rigid body fixed shaft are synchronously superposed, the support point of the ith positioner is in the local coordinate system O of the positioner_iThe position calculation formula for xyz is as follows:

in the formula (I), the compound is shown in the specification,

s_θ＝sin(θ)，c_θ＝cos(θ),v_θ＝1-cos(θ)，θ＝f_θ3(t)，t∈[0,T_new]，θ∈[0,θ_e]；

the attitude adjusting process of the ith positioner supporting point is carried out in a local coordinate system O of the positioner_iThe position component of xyz is of the form:

in the formula (I), the compound is shown in the specification,

for interpolationThe output X-axis instruction coordinate position,

in order to interpolate the output Y-axis command coordinate position,

the Z-axis command coordinate position is output for interpolation.

Further, the performing spatial compensation according to the three-axis instruction coordinate position of each locator and the spatial error data, and outputting the actual position of each axis driver specifically includes:

and performing reverse clearance compensation and pitch error compensation of each axis according to the three-axis instruction coordinate position of each positioner, performing three-axis compensation processing according to the spatial error data, and outputting the actual position of each axis driver.

Further, according to the three-axis instruction coordinate position of each positioner, reverse clearance compensation and pitch error compensation of each axis are performed, and then three-axis compensation processing is performed according to spatial error data, and the actual position of each axis driver is output, which specifically includes:

reading X, Y, Z shaft instruction coordinate position of each locator, performing reverse clearance compensation and pitch error compensation of each shaft, if the locator is at a single-shaft measuring point, directly reading reverse clearance compensation data and pitch error compensation data, if the locator is not at the single-shaft measuring point, performing linear interpolation according to error values of two end points of the single-shaft measuring interval, compensating the single-shaft pitch error of the single-shaft measuring interval, and adding a reverse clearance value;

reading X, Y, Z axis instruction coordinate position of each locator, performing spatial error compensation, directly reading data for compensation if the position is on the grid vertex of the spatial error measurement, reading eight vertex error data of a grid for spatial linear interpolation if the position is not on the grid vertex of the spatial error measurement in a certain grid, and solving the spatial error fitted by the eight vertices of the grid;

and after the reverse clearance compensation, the pitch error compensation and the space error compensation of each shaft are carried out, the actual position of each shaft driver is output.

The second purpose of the invention can be achieved by adopting the following technical scheme:

a three-coordinate locator posture-adjusting operation and control system is applied to airplane digital assembly, and comprises:

the first resolving module is used for establishing a local coordinate system of a rigid body of a large part of the airplane and a local coordinate system of a positioner, resolving the translational movement amount and the translational direction vector of the rigid body, and the rotation angle and the rotation axis vector of the rigid body in fixed-axis rotation according to the attitude adjusting instruction;

the second resolving module is used for resolving the circle center and the radius of a space circular arc track of each locator in the rigid body fixed axis rotation process according to the rotating shaft vector of the rigid body fixed axis rotation, the rigid body rotating center position and the current position of each locator supporting point as the mass point on the rigid body, and resolving the corresponding circular arc angular speed range and the rigid body angular speed range according to the allowable error of each circular arc track;

the first planning and finishing module is used for planning and finishing the rigid body composite motion speed according to the rigid body angular speed range, and the rotation angular speed range, the angular acceleration range, the translation speed range and the translation acceleration range which are allowed by the attitude adjustment of the large airplane component;

the adjusting module is used for calculating the maximum speed and the maximum acceleration of each locator driving shaft by taking each locator supporting point as a mass point on the rigid body according to the velocity plan of the rigid body composite motion, and adjusting the velocity and the acceleration of the rigid body composite motion according to the velocity range and the acceleration range allowed by each locator driving shaft;

the second planning and trimming module is used for re-planning and trimming the rigid body composite motion speed after adjusting the speed and the acceleration of the rigid body composite motion;

the interpolation calculation module is used for carrying out interpolation calculation according to a time division method according to a new speed plan of rigid body compound motion and outputting a three-axis instruction coordinate position of each locator;

and the compensation module is used for carrying out space compensation according to the three-axis instruction coordinate position and the space error data of each locator and outputting the actual position of each axis driver.

The third purpose of the invention can be achieved by adopting the following technical scheme:

a posture adjusting controller comprises a processor and a memory for storing an executable program of the processor, and when the processor executes the program stored in the memory, the posture adjusting operation and control method of the three-coordinate positioner is realized.

The fourth purpose of the invention can be achieved by adopting the following technical scheme:

a storage medium stores a program, and when the program is executed by a processor, the three-coordinate locator posture adjusting operation and control method is realized.

Compared with the prior art, the invention has the following beneficial effects:

1. the six-degree-of-freedom attitude adjusting process of the large part of the airplane is a rigid body compound motion of simultaneously executing rigid body translation and rigid body dead axle rotation, and the attitude adjusting time can be shortened; the attitude adjusting interpolation calculation has no limit on the number of redundant drive shafts, and each locator support point is calculated as a mass point on the rigid body, so that the requirement that the distance between any two points on the rigid body is kept unchanged in the attitude adjusting process is met, and the internal stress of airplane components is reduced. The device can be used for adjusting the attitude of a multi-positioner airplane with a redundant driving shaft, and meets the requirement of shape maintenance in the attitude adjusting process of a large airplane.

2. According to the invention, a user only needs to input an attitude adjusting instruction of an airplane component with six degrees of freedom, according to set attitude adjusting parameters, an attitude adjusting interpolation algorithm automatically calculates the maximum translational speed, the maximum translational acceleration, the maximum rotational angular speed and the maximum angular acceleration which meet the requirements of the airplane large component according to the current position of the airplane component and the attitude adjusting instruction, and performs speed planning according to the maximum speed and the maximum acceleration which meet the requirements of each locator driving shaft, and the finishing treatment is added aiming at the condition that the speed planning time is not integral multiple of the interpolation period time, so that the speed of the airplane in the whole attitude adjusting process is stable without impact, and the operation of the airplane large component in the attitude adjusting process is stable. Satisfactory results can be obtained without repeated attempts.

3. The invention limits and compensates the error of the positioner support point in the process of adjusting the attitude and interpolating the large part of the airplane, reduces the internal stress and the deformation of the large part of the airplane in the process of adjusting the attitude, improves the assembly quality, mainly analyzes the arc contour error in the rigid body rotation process, performs coordinate rotation processing on the condition that the axial direction of the positioner X, Y, Z is not parallel to the axial direction of the global coordinate system X, Y, Z, and performs space compensation on the positioning error of the positioner.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a flowchart of a three-coordinate positioner pose adjusting operation and control method in embodiment 1 of the present invention.

Fig. 2 is a block diagram of a three-coordinate positioner pose adjusting operation and control system according to embodiment 2 of the present invention.

Fig. 3 is a block diagram of a posture adjustment controller according to embodiment 3 of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps in the equation can be performed in parallel, concurrently, or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.

Example 1:

as shown in fig. 1, the present embodiment provides a three-coordinate positioner pose adjusting operation and control method, which is applied to a pose adjusting controller for butt joint of large components in airplane digital assembly, can meet acceleration requirements, has redundant driving shafts, and can support the large components of an airplane to perform pose adjusting control with six degrees of freedom, and includes the following steps:

s101, establishing a local rigid body coordinate system and a local positioner coordinate system of the large airplane component, and resolving the translation movement amount and the translation direction vector of the rigid body, and the rotation angle and the rotation axis vector of the rigid body fixed axis rotation according to the attitude adjusting instruction.

A. And establishing a rigid body local coordinate system and a locator local coordinate system of the large part of the airplane.

Describing the current aircraft large part and each locator position before attitude adjustment, establishing the following coordinates:

establishing a global coordinate system Oxyz for a relative ground reference system;

establishing a rigid local coordinate system O for a large aircraft part_lxyz, the X, Y, Z axial direction of the local rigid body coordinate system is parallel to the X, Y, Z axial direction of the global coordinate system, the rotation center of the local rigid body coordinate system is set as the origin of the global coordinate system, and the coordinate in the global coordinate system before the origin of the local coordinate system is adjusted to the attitude is O_l(p_x，p_y，p_z)^T；

Establishing a locator local coordinate system O for the ith locator_ixyz, the X, Y, Z axis of the positioner local coordinate system is the direction of the positioner support point along the X, Y, Z axis of the positioner (i.e. the direction of the X, Y, Z axis servo drive motor drive motion), which may be non-parallel to the X, Y, Z axis of the global coordinate system, and the attitude of the positioner local coordinate system that is not parallel to the X, Y, Z axis of the global coordinate system is known to adjust the euler angle or rotation matrix R_iOrigin of local coordinate system of positionerThe point is the position of the X, Y, Z axis zero-reset supporting point of the positioner, and the coordinate of the origin of the i-th positioner local coordinate system in the global coordinate system is O_i(o_ix，o_iy，o_iz)^TThe coordinate of the ith locator supporting point in the global coordinate system is P_i(p_ix，p_iy，p_iz)^T。

B. And resolving the translational movement amount and the translational direction vector of the rigid body, and the rotation angle and the rotation axis vector of the rigid body fixed axis rotation according to the attitude adjusting instruction.

Specifically, the compound motion of the six-degree-of-freedom pose adjustment of the airplane is decomposed into rigid translation and fixed-axis rotation synchronous superposition, the translation direction vector and the movement amount of the translation path of the position adjustment are calculated, the attitude adjustment instruction is converted into a rotation process which is completed by rotating around a rigid Euler axis (namely a rotating axis) once, and the rotation angle and the rotating axis vector of the rigid fixed-axis rotation (rotating around a rigid rotating center) are calculated.

The attitude adjusting instruction is an airplane six-degree-of-freedom attitude adjusting (pose adjusting) instruction, and is generally similar to a P _ Alignment (x, y, z, A, B and C), wherein x, y, z, A, B and C are generally a translational increment and a rotation angle increment relative to the position before attitude adjustment, x, y and z are rigid body translational movement increments of a large part of an airplane along the axial direction of a global coordinate system X, Y, Z, and A, B and C are rotation angle increments of the large part of the airplane along rigid body coordinate axes respectively.

Resolving the translational motion quantity of the rigid body as follows:

resolving the translation direction vector of the rigid body as follows:

in the formula (I), the compound is shown in the specification,

translation endRear rigid body local coordinate system O_lThe origin of xyz is represented by the coordinate O in the global coordinate system Oxyz_le(p_x+x，p_y+y，p_z+z)^T。

The rotation around the rotation center from the current posture can be described by the common conditions that the rotation is performed by an angle A around the Z axis of the rigid body, then the rotation is performed by an angle B around the Y axis of the rigid body, and finally the rotation is performed by an angle C around the X axis of the rigid body, or the rotation can be performed in other modes. The different euler angular rotations can be converted into corresponding rotation matrices R, as follows:

R＝R_A·R_B·R_C

firstly, rotating the rigid body around the Z axis by an angle A, then rotating the rigid body around the Y axis by an angle B, and finally rotating the rigid body around the X axis by an angle C, wherein the angle A is as follows:

wherein s1 ═ sin (a), c1 ═ cos (a), s2 ═ sin (b), c2 ═ cos (b), s3 ═ sin (c), c3 ═ cos (c);

can convert rigid body fixed axis rotation into rotation

The shaft rotates:

resolving the rotation angle of the rigid body fixed shaft rotation, as follows:

solving a rotating shaft vector of the rigid body fixed shaft rotation, and adopting the following formula:

in the formula (I), the compound is shown in the specification,

s102, according to a rotating shaft vector of the rigid body fixed shaft rotation, the rigid body rotating center position and the current position of each locator supporting point, each locator supporting point is used as a mass point on the rigid body, the circle center and the radius of a space circular arc track of each locator in the rigid body fixed shaft rotation process are calculated, and a corresponding circular arc angular speed range and a rigid body angular speed range are calculated according to the allowable error of each circular arc track.

Rigid body local coordinate system O_lPosition in global coordinate system before origin attitude adjustment of xyz

I-th locator local coordinate system O_iPlacement of xyz origin in position in global coordinate system

Position of ith locator support point in global coordinate system before attitude adjustment

Before the support point of the ith positioner is adjusted to the posture, the local rigid coordinate system O is positioned_lPosition in xyz

The support point of the ith positioner is in the local coordinate system O of the positioner_iPosition in xyz

According to the rotating shaft vector of the rigid body fixed shaft rotation, the rigid body rotating center position and the current position of each locator supporting point, taking each locator supporting point as a rigid body upper mass point, and calculating the circle center and the radius of a space circular arc track of each locator in the rigid body fixed shaft rotation process, wherein the following formula is as follows:

in the formula (I), the compound is shown in the specification,

is the circle center position of the spatial circular arc track of the ith positioner in the rotating process of the rigid body fixed shaft,

rotation axis vector for rigid body fixed axis rotation, r_iThe radius of the space circular arc track of the ith positioner in the rigid body dead axle rotation process.

Similar calculation is carried out to obtain the space circular arc radius r of all the locators₁,r₂,r₃,…,r_i,…,r_N。

A time division method is adopted to output a position coordinate on the circular arc each time through circular arc interpolation, the actual track replaces the arc with a string, and a bow height error (namely a circular arc track error) exists. The height of the bow can be considered as the deformation of the airplane during the posture adjustment process of the large parts. If the height error of the bow is not large, the posture adjusting process is safe because a small amount of gaps exist in the posture adjusting device; otherwise, too large a bow height error may cause deformation of the aircraft components, which is to be avoided.

Let T_inpTo interpolate the cycle time, H_errFor error in height of bow, L_cTo interpolate the cycle output chord length, the following equation is used:

L_c ²＝8H_errr_i+4H_err ²

calculating the height error H_errThe chord length of (c) is as follows:

in the formula, L_c＝VT_inpo＝ω_ir_iT_inpThen, then

If the ith positioner adjusts the attitude according to the allowable height error H_errThen, the rotational angular velocity ω of the rigid body is required_iMaximum, and bow height error H_errRadius r when constant_iGreater allowable rigid body rotational angular velocity ω_iThe smaller;

and solving the maximum radius in the space circular arc track radii of all the positioners as follows:

r_max＝max(r₁,r₂,r₃,…,r_i,…,r_N)

during interpolation, the interpolation period time T_inpThe same angular speeds are the same when the rigid body fixed shaft rotates a plurality of circular arcs;

calculating the bow height error H_errRigid body winding meeting the requirements

Maximum rotational angular velocity, as follows:

s103, planning and finishing the rigid body composite motion speed according to the rigid body angular speed range, and the rotation angular speed range, the angular acceleration range, the translation speed range and the translation acceleration range which are allowed by the attitude adjustment of the large airplane component.

S1031, adjusting the maximum angular velocity omega required by the rigid body fixed shaft rotation structure strength according to the maximum value of the rigid body angular velocity_max＝min(ω_max1,ω_max2)。

S1032, adjusting the maximum angular acceleration α allowed according to the airplane large component_maxMaximum translational velocity v_maxMaximum translational acceleration a_maxThen, considering omega of the bow height error requirement_max1Maximum angular velocity omega for adjusting rigid body fixed axis rotation structure strength requirement_max＝min(ω_max1,ω_max2) Velocity v at the beginning and end of the set of postures_s＝v_e0, acceleration a at the beginning and end of posture adjustment_s＝a_eRotation angle theta of rigid body fixed axis rotation_eAnd the translational movement quantity S of the rigid body, respectively carrying out bell-shaped acceleration/deceleration rigid body composite motion speed planning calculation, and calculating the actual maximum acceleration a of each stage time and translational movement_nowmaxActual maximum translational velocity v_nowmaxActual maximum angular acceleration of rotation α_nowmaxAnd the actual maximum angular velocity ω_nowmaxAnd then carrying out rigid body composite motion speed planning time trimming.

A. And performing bell-shaped acceleration/deceleration rigid body composite motion speed planning calculation.

Rotation angle of rigid body around fixed axis: theta ═ f_θ1(t)；t∈[0,T_θ]；θ∈[0,θ_e]；

Rigid body translation distance: s ═ f_s1(t)；t∈[0,T_s]；s∈[0,S]；

And (3) according to bell-type acceleration/deceleration speed planning, respectively calculating the speed planning of translation increment and angle increment bell-type acceleration/deceleration as follows:

according to the translational movement quantity S and the maximum translational speed v of the rigid body_maxMaximum translational acceleration a_maxAnd translation plus acceleration j_lThe method comprises the following steps of performing speed planning calculation in seven stages including an acceleration stage, a uniform acceleration stage, a deceleration stage, a uniform speed stage, an acceleration and deceleration stage, a uniform deceleration stage and a deceleration stage; wherein:

the acceleration is calculated as follows:

wherein J is J_l；

The acceleration is calculated as follows:

the velocity is calculated as follows:

in the formula, T₁＝t₁,T₂＝t₂-t₁,T₃＝t₃-t₂；T₄＝t₄-t₃,T₅＝t₅-t₄,T₆＝t₆-t₅；T₇＝t₇-t₆,T₁＝T₃,T₅＝T₇；

The translation movement amount is calculated as follows:

the translation speed is planned to be s ═ f_s1(t)，v＝f_v1(t)，a＝f_a1(t)，j_s＝J(t)；

According to bell type increasing/decreasing time T_1s＝T_3s,T_5s＝T_7sVelocity v at the beginning and end of the set of postures_s＝v_eAcceleration a at the beginning and end of the set-up_s＝a_e0, and the acceleration and deceleration stages are mirror symmetric, resulting in T_1s＝T_7s＝T_5s＝T_3s，T_2s＝T_6s。

The maximum speed and the maximum acceleration are limited as v in the safety range₃≤v_max，Jt₁≤a_maxCalculating the acceleration stage time T_1sTime T of uniform acceleration stage_2sDecreasing acceleration stage time T_3sTime T at uniform speed stage_4sAcceleration and deceleration stage time T_5sTime T of uniform deceleration stage_6sTime T of deceleration stage_7s。

Calculated according to the speed planning formula, if general conditions exist

When v is_max≤JT₁ ²If there is no even acceleration and even deceleration section, T appears_2s＝T_6s0; when the distance of translation is

In the mean time, without uniform velocity segment, T appears_4s0; when the distance of translation is

If there is no uniform velocity section, uniform acceleration section and uniform deceleration section, T appears_4s＝0，T_2s＝T_6s＝0。

Calculating the actual maximum acceleration a_nowmax＝j_lT_1sActual maximum velocity v_nowmax＝v₃And total translational time T_s＝T_1s+T_2s+T_3s+T_4s+T_5s+T_6s+T_7s。

The velocity schedule for rigid body dead axle rotational increments is similar to the velocity schedule for translational increments. Rotation angle theta according to rigid body fixed axis rotation_eMaximum angular velocity ω_maxMaximum angular acceleration α_maxAnd angle of rotation plus acceleration j_θThe method comprises the following steps of calculating speed planning in seven stages including an acceleration stage, a uniform acceleration stage, an acceleration reduction stage, a constant speed stage, an acceleration and deceleration stage, a uniform deceleration stage and a deceleration reduction stage; wherein:

the angular acceleration is calculated as follows:

wherein J is J_θ；

The angular acceleration is calculated as follows:

the angular velocity is calculated as follows:

in the formula, T₁＝t₁,T₂＝t₂-t₁,T₃＝t₃-t₂；T₄＝t₄-t₃,T₅＝t₅-t₄,T₆＝t₆-t₅；T₇＝t₇-t₆,T₁＝T₃,T₅＝T₇；

The rotation angle is calculated as follows:

similar to the translational velocity profile, the rotational velocity profile is j_θ＝J(t)，θ＝f_θ1(t)，ω＝f_ω1(t)，α＝f_α1(t)。

According to bell type increasing/decreasing time T_1θ＝T_3θ,T_5θ＝T_7θEstablishing a piecewise function of the rotation angle and adding an acceleration J ═ J according to the angle_θAngle of rotation and attitude increment theta_eAngular velocity ω of starting and ending of posture adjustment_s＝ω_e0, angular acceleration α of starting and ending of pose adjustment_s＝α_e0, and the acceleration and deceleration stages are mirror symmetric, resulting in T_1θ＝T_7θ＝T_5θ＝T_3θ，T_2θ＝T_6θ；T_1θ＝T_7θ＝T_5θ＝T_3θ，T_2θ＝T_6θ。

Maximum speed and maximum acceleration in a safe rangeThe beam condition is ω₃≤ω_max，Jt₁≤α_maxCalculating the acceleration stage time T_1θTime T of uniform acceleration stage_2θDecreasing acceleration stage time T_3θTime T at uniform speed stage_4θAcceleration and deceleration stage time T_5θTime T of uniform deceleration stage_6θTime T of deceleration stage_7θ。

Calculated according to the speed planning formula, if general conditions exist

When ω is_max≤JT₁ ²When there is no uniform acceleration and uniform deceleration section, T appears_2θ＝T_6θ0; when in use

In the mean time, without uniform velocity segment, T appears_4θ0; when in use

If there is no uniform velocity section, uniform acceleration section and uniform deceleration section, T appears_4θ＝0，T_2θ＝T_6θ＝0。

Calculating the actual maximum angular acceleration α_nowmaxActual maximum angular velocity ω_nowmaxAnd total time of rotation T_θ＝T_1θ+T_2θ+T_3θ+T_4θ+T_5θ+T_6θ+T_7θ。

B. And (5) carrying out rigid body composite motion speed planning time trimming.

Specifically, two motion time of bell-shaped acceleration/deceleration speed planning respectively carried out on rigid body fixed axis rotation and rigid body translation are trimmed to be interpolation period time T_inpIntegral multiple, the translation time and the rotation time are adjusted to be equal, and the time of each stage after the time axis is adjusted and the actual maximum acceleration a of rigid translation after the time axis is adjusted are calculated_now2maxActual maximum velocity v of rigid translation_now2maxActual maximum angular acceleration α of rigid body fixed axis rotation_now2maxActual maximum angular velocity omega of rigid body fixed axis rotation_now2max。

Calculating the time of each stage after adjusting the time axis and the actual maximum acceleration a of rigid translation_now2maxActual maximum velocity v of rigid translation_now2maxActual maximum angular acceleration α of rigid body fixed axis rotation_now2maxActual maximum angular velocity omega of rigid body fixed axis rotation_now2maxThe method specifically comprises the following steps:

the attitude adjusting speed and the acceleration of the airplane need to change smoothly all the time to avoid impact, if the total translation time T in the speed planning time_sOr total time of rotation T_θNot interpolating the period time T_inpIntegral multiple of the above, the actual running time is different from the speed planning time, which results in the actual running speed of the last interpolation period being lower than the planning speed value, and therefore the total translation time T needs to be adjusted_sOr total time of rotation T_θRounded up to an interpolation period time T_inpInteger multiple of (d) is as follows:

the rigid body translation and the rigid body dead axle rotation are synchronously carried out, and when the requirement is simultaneously started and finished, the translation time and the dead axle rotation time are adjusted to be the same time, as the following formula:

T_now＝T_nows＝T_nowθ＝max(T_nows,T_nowθ)

the time of each stage is adjusted proportionally as follows:

rigid body translation time adjustment proportion:

rigid body dead axle rotation time adjustment proportion:

T_1s＝T_7s＝T_5s＝T_3s＝T_1sK_nows，T_2s＝T_6s＝T_2sK_nows，T_4s＝T_4sK_nows

T_1θ＝T_7θ＝T_5θ＝T_3θ＝T_1θK_nowθ，T_2θ＝T_6θ＝T_2θK_nowθ，T_4θ＝T_4θK_nowθ

translation distance S and rotation angle theta_eRemains unchanged, T_nowsAnd T_nowθThe time is prolonged, the time of each stage is prolonged, and the actual speed, the actual acceleration and the actual jerk are adjusted as follows:

adjusting the actual maximum speed of rigid translation and the actual maximum angular speed of rigid fixed shaft rotation:

adjusting the actual maximum acceleration of rigid translation and the actual maximum angular acceleration of rigid fixed shaft rotation:

the actual jerk of rigid translation and the actual jerk of rigid fixed axis rotation are adjusted:

after the time, speed, acceleration and jerk of each stage are proportionally regulated, the translation amount and rotation angle of rigid body and fixed axle in each stage are not changed before regulation because of K_nows≥1，K_nowθNot less than 1, the actual maximum speed and maximum acceleration of rigid motion are reduced and still in the required range, and the adjusted speed gauge is obtainedThe following is drawn:

rigid translation: s ═ f_s(t)；v＝f_v(t)；a＝f_a(T) where T ∈ [0, T_now]；s∈[0,S]；

Rigid body dead axle rotates: theta ═ f_θ(t)；ω＝f_ω(t)；α＝f_α(T) where T ∈ [0, T_now]；θ∈[0,θ_e]。

And S104, according to the velocity planning of the rigid body compound motion, taking each locator supporting point as a mass point on the rigid body, calculating the maximum velocity and the maximum acceleration on each locator driving shaft, and adjusting the velocity and the acceleration of the rigid body compound motion according to the velocity range and the acceleration range allowed by each locator driving shaft.

Specifically, each locator support point is used as a mass point on a rigid body, the rigid body performs synchronous superposition motion of fixed axis rotation and translation, inverse solution is performed by utilizing a reverse kinematics position, a space circular arc motion track, speed and acceleration of each locator drive shaft are solved, the maximum speed and the maximum acceleration of each locator drive shaft are calculated in a local coordinate system of the locator, and the speed and the acceleration of rigid body composite motion are adjusted according to the speed range and the acceleration range allowed by each locator drive shaft (namely the speed range and the acceleration range allowed by a drive motor on each locator drive shaft); maximum speed v of each shaft for X, Y, Z shafts of known ith positioner to run safely_ixmax,v_iymax,v_izmaxMaximum acceleration a_ixmax,a_iymax,a_izmaxThe realization process is as follows:

with the ith locator supporting point space arc C_iEstablishing a new local coordinate system C with the center of the circle as the origin of coordinates_ixyz, local coordinate system C_iThe X, Y, Z axis of xyz is parallel to the localizer local coordinate system O_iX, Y, Z axis of xyz;

the central angle in the space circular arc motion track is the angle theta of rigid rotation ═ f_θ(t)；

Local coordinate system C in rigid body translation process_iThe origin of xyz is in the localizer local coordinate system O_iTranslation distance s ═ f in xyz_s(t)；

Rigid translation direction vector

Wherein

Corresponding to a local coordinate system C_iThe origin of xyz is in the localizer local coordinate system O_iVector in xyz direction

Local coordinate system C in rigid body translation process_iThe origin of xyz is in the localizer local coordinate system O_iThe translational position component in xyz is of the form:

f_is(t)＝[x_is(t) y_is(t) z_is(t)]^T

in the formula, x_is(t)＝u_ixf_s(t)，y_is(t)＝u_iyf_s(t)，z_is(t)＝u_izf_s(t)；

Local coordinate system C in rigid body translation process_iThe origin of xyz is in the localizer local coordinate system O_iThe translational velocity component in xyz is of the form:

f_iv(t)＝[x_iv(t) y_iv(t) z_iv(t)]^T

in the formula, x_iv(t)＝u_ixf_v(t)，y_iv(t)＝u_iyf_v(t0，z_iv(t)＝u_izf_v(t)；

Local coordinate system O of positioner_iThe maximum speed of X, Y, Z shaft translation process in xyz is as follows:

v_iSxmax＝max(|x_iv(t)|)＝|u_ix|max(f_v(t))＝|u_ix|v_now2max

v_iSymax＝max(|y_iv(t)|)＝|u_iy|max(f_v(t))＝|u_iy|v_now2max

v_iSzmax＝max(|z_iv(t)|)＝|u_iz|max(f_v(t))＝|u_iz|v_now2max

local coordinate system C in rigid body translation process_iThe origin of xyz is in the localizer local coordinate system O_iThe translational acceleration component in xyz is of the form:

f_ia(t)＝[x_ia(t) y_ia(t) z_ia(t)]^T

in the formula, x_ia(t)＝u_ixf_a(t)，y_ia(t)＝u_iyf_a(t)，z_ia(t)＝u_izf_a(t)；

Local coordinate system O of positioner_iThe maximum acceleration of X, Y, Z axis translation process in xyz is as follows:

a_iSxmax＝max(|x_ia(t)|)＝|u_ix|max(f_a(t))＝|u_ix|a_now2max

a_iSymax＝max(|y_ia(t)|)＝|u_iy|max(f_a(t))＝|u_iy|a_now2max

a_iSzmax＝max(|z_ia(t)|)＝|u_iz|max(f_a(t))＝|u_iz|a_now2max

rigid body local coordinate system O in rigid body fixed axis rotation_lAxis of rotation of xyz

Rotation angle theta f of rigid body fixed axis rotation_θ(t)；ω＝f_ω(t)；α＝f_α(T) where T ∈ [0, T_now]；θ∈[0,θ_e]；

Before adjusting the posture, the support point of the ith positioner is in the local rigid coordinate system O_lPosition vector in xyz

I-th locator in rigid local coordinate system O_lRadius of rotation in xyz

Circle center coordinate

Rigid body fixed axis rotation angle theta ═ f_θ(t) rigid body rotation R_w,θThe following formula:

in the formula, s_θ＝sin(θ)，c_θ＝cos(θ),v_θ＝1-cos(θ)，θ＝f_θ(t(，t∈[0,T_now]，θ∈[0,θ_e]；

In the posture adjusting process, the support point of the ith positioner is in a rigid body local coordinate system O_iThe position vector in xyz is

Rigid body rotation axis in local coordinate system C_iIn xyz are

The support point of the ith positioner in the local coordinate system C_iPosition C in xyz_i(θ) is a function of the rotation angle θ, as follows:

the support point of the ith positioner in the local coordinate system C_iPosition C in xyz_i(theta) ofThe component forms are as follows:

C_i(θ)＝[x_i(θ) y_i(θ) z_i(θ)]^T，x_i(θ)，y_i(θ)，z_i(θ)

C_ithe normal direction vector for any θ position is given by:

C_ithe normal direction vector component for any θ position is of the form:

C_ithe maximum absolute value of the axis component of the normal direction vector X, Y, Z at any θ position is given by:

x_intmax＝max(|x_int(f_θ(t))|)＝max(|x_in(θ)|)

y_intmax＝max(|y_int(f_θ(t))|)＝max(|y_in(θ)|)

z_intmax＝max(|z_int(f_θ(t))|)＝max(|z_in(θ)|)

the airplane is adjusted in posture once and the angle theta is rotated_eSmall, x_in(θ),y_in(θ),z_in(θ),θ∈[0,θ_e]These are continuous functions in a closed interval, have the most value, generally in the interval end point and the function extreme point, solve x_intmax，y_intmax，z_intmax。

C_iThe tangential direction vector at any θ position is given by:

wherein

C_iThe tangential direction vector component at any θ position is of the form:

C_ithe maximum absolute value of the axial component of the tangential direction vector X, Y, Z at any θ position is given by:

x_iτtmax＝max(|x_iτt(f_θ(t))|)＝max(|x_iτ(θ)|)

y_iτtmax＝max(|y_iτt(f_θ(t))|)＝max(|y_iτ(θ)|)

z_iτtmax＝max(|z_iτt(f_θ(t))|)＝max(|z_iτ(θ)|)

the airplane is adjusted in posture once and the angle theta is rotated_eSmall, x_iτ(θ),y_iτ(θ),z_iτ(θ),θ∈[0,θ_e]These are continuous functions in a closed interval, with the maxima and minima being generally at the end points of the interval and the extreme points of the function. Solve to x_iτtmax，y_iτtmax，z_iτtmax。

The support point of the ith positioner in the local coordinate system C_iLinear velocity v in xyz_iτ(t)＝r_if_ω(t)；

The support point of the ith positioner in the local coordinate system C_iMaximum linear velocity max (v) in xyz_iτ(t))＝r_iω_now2max；

The support point of the ith positioner in the local coordinate system C_iSpeed of circular arc motion in xyz

The support point of the ith positioner in the local coordinate system C_iThe circular arc motion velocity component in xyz is of the form:

f_ivτ(t)＝[x_ivτ(t) y_ivτ(t) z_ivτ(t)]^T

in the formula, x_ivτ(t)＝v_iτ(t)x_iτt(f_θ(t))，y_ivτ(t)＝v_iτ(t)y_iτt(f_θ(t))，z_ivτ(t)＝v_iτ(t)z_iτt(f_θ(t))；

The support point of the ith positioner in the local coordinate system C_iThe time of the maximum linear velocity in the circular motion in xyz and the time when the vector component in each axial direction reaches the maximum value may not overlap, and the maximum linear velocity multiplied by the maximum value of each axial component of the direction vector is not less than the circular motion f_ivτ(t) maximum speed of each axis, as follows:

max(|x_ivτ(t)|)＝max(v_iτ(t)|x_iτt(f_θ(t))|)≤max(v_iτ(t))max(|x_iτt(f_θ(t))|)

max(|y_ivτ(t)|)＝max(v_iτ(t)|y_iτt(f_θ(t))|)≤max(v_iτ(t))max(|y_iτt(f_θ(t))|)

max(|z_ivτ(t)|)＝max(v_iτ(t)|z_iτt(f_θ(t))|)≤max(v_iτ(t))max(|z_iτt(f_θ(t))|)

the support point of the ith positioner is in the local coordinate system O of the positioner_iThe motion speed in xyz is the circular motion speed f_ivτ(t) and translational velocity f_iv(t) synchronous superposition speed, moment when the translational speed X, Y, Z shaft component reaches the maximum speed and circular motion speedX, Y, Z, the time when the axle component reaches the maximum speed may not overlap, the sum of the maximum speed of the axle component of the translational speed X, Y, Z and the maximum speed of the axle component of the circular arc motion speed X, Y, Z is larger than the actual maximum speed of the positioner X, Y, Z, if it is smaller than the speed range allowed by each driving axle, it is safe, otherwise, it reduces the speed of the rigid body compound motion, as follows:

v_ixtest≥max(v_iτ(t)|x_iτt(f_θ(t))|)+max(|x_iv(t)|)≥max(|x_ivτ(t)+x_iv(t)|)

v_iytest≥max(v_iτ(t)|y_iτt(f_θ(t))|)+max(|y_iv(t)|)≥max(|y_ivτ(t)+y_iv(t)|)

v_iztest≥max(v_iτ(t)|z_iτt(f_θ(t))|)+max(|z_iv(t)|)≥max(|z_ivτ(t)+z_iv(t)|)

in the formula, x_ivτ(t)+x_iv(t) is the X-axis actual speed, y_ivτ(t)+y_iv(t) is the actual speed of the Y-axis, z_ivτ(t)+z_iv(t) is the Z-axis actual velocity.

v_ixtest＝max(v_iτ(t))max(|x_iτt(f_θ(t))|)+max(|x_iv(t)|)＝r_iω_now2maxx_iτtmax+|u_ix|v_now2max；

v_iytest＝max(v_iτ(t))max(|y_iτt(f_θ(t))|)+max(|y_iv(t)|)＝r_iω_now2maxy_iτtmax+|u_iy|v_now2max；

v_iztest＝max(v_iτ(t))max(|z_iτt(f_θ(t))|)+max(|z_iv(t)|)＝r_iω_now2maxz_iτtmax+|u_iz|v_now2max；

If v is_ixtest≤v_ixmaxIs provided with

Otherwise

If v is_iytest≤v_iymaxIs provided with

Otherwise

If v is_iztest≤v_izmaxIs provided with

Otherwise

Ith positioner velocity adjustment factor

The support point of the ith positioner in the local coordinate system C_iTangential acceleration f in xyz_iaτ(t)＝r_if_α(t)；

The support point of the ith positioner in the local coordinate system C_iMaximum value of tangential acceleration max (f) in xyz_iaτ(t))＝r_iα_now2max；

The support point of the ith positioner in the local coordinate system C_iCircular arc tangential acceleration vector in xyz

The support point of the ith positioner in the local coordinate system C_iThe circular arc tangential acceleration component in xyz is of the form:

a_iτ(t)＝[x_iaτ(t) y_iaτ(t) z_iaτ(t)]^T

in the formula, x_iaτ(t)＝f_iaτ(t)x_iττ(f_θ(t))，y_iaτ(t)＝f_iaτ(t)y_iτt(f_θ(t))，z_iaτ(t)＝f_iaτ(t)z_iτt(f_θ(t))；

The support point of the ith positioner in the local coordinate system C_iCentripetal acceleration f in xyz_ian(t)＝r_if_ω ²(t)；

The support point of the ith positioner in the local coordinate system C_iMaximum value of centripetal acceleration max (f) in xyz_ian(t))＝r_iω_now2max ²；

The support point of the ith positioner in the local coordinate system C_iCircular arc normal acceleration vector in xyz

The support point of the ith positioner in the local coordinate system C_iThe circular arc normal acceleration component in xyz is of the form:

a_in(t)＝[x_ian(t) y_ian(t) z_ian(t)]^T

in the formula, x_iaθ(t)＝f_iaτ(t)x_iτt(f_θ(t))+f_ian(t)x_int(f_θ(t))；y_iaθ(t)＝f_iaτ(t)y_iτt(f_θ(t))+f_ian(t)y_int(f_θ(t))；z_iaθ(t)＝f_iaτ(t)z_iτt(f_θ(t))+f_ian(t)z_int(f_θ(t))；

The support point of the ith positioner in the local coordinate system C_iThe angular acceleration and angular velocity of the middle circular arc motion in xyz may not be maximized at the same time, and the X, Y, Z-axis normal component and tangential component may not be maximized at the same time, so the circular arc motionAcceleration a_iθ(t) X, Y, Z axis component maximum value is not more than maximum value of angular acceleration and angular velocity and each axis normal component and tangential component maximum value are calculated as follows:

max(|x_iaθ(t)|)≤max(f_iaτ(t))max(|x_iτt(f_θ(t))|)+max(f_ian(t))max(|x_int(f_θ(t))|)

max(|y_iaθ(t)|)≤max(f_iaτ(t))max(|y_iτt(f_θ(t))|)+max(f_ian(t))max(|y_int(f_θ(t))|)

max(|z_iaθ(t)|)≤max(f_iaτ(t))max(|z_iτt(f_θ(t))|)+max(f_ian(t))max(|z_int(f_θ(t))|)

the support point of the ith positioner is in the local coordinate system O of the positioner_iThe motion speed in xyz is the circular motion acceleration a_iθ(t) and translational acceleration f_ia(t) the synchronous superimposed acceleration, because the moment when the shaft component of the translational acceleration X, Y, Z reaches the maximum speed and the moment when the shaft component of the circular arc motion acceleration X, Y, Z reaches the maximum speed may not overlap, the sum of the maximum value of the shaft component of the translational acceleration X, Y, Z and the maximum value of the shaft component of the circular arc motion acceleration X, Y, Z is greater than the actual maximum acceleration of the positioner X, Y, Z, if the sum is smaller than the allowable acceleration range of each driving shaft, the safety is ensured, otherwise, the acceleration and the angular speed of the rigid body composite motion are reduced, as follows:

a_ixtest≥max(|x_iaθ(t)|)+max(|x_ia(t)|)≥max(|x_iaθ(t)+x_ia(t)|)

a_iytest≥max(|y_iaθ(t)|)+max(|y_ia(t)|)≥max(|y_iaθ(t)+y_ia(t)|)

a_iztest≥max(|z_iaθ(t)|)+max(|z_ia(t)|)≥max(|z_iaθ(t)+z_ia(t)|)

in the formula, x_iaθ(t)+x_ia(t) is the actual acceleration of the X-axis, y_iaθ(t)+y_ia(t) is the actual addition of the Y axisSpeed, z_iaθ(t)+z_ia(t) is the Z-axis actual acceleration;

a_ixtest＝max(f_iaτ(t))max(|x_iτt(f_θ(t))|)+max(f_ian(t))max(|x_int(f_θ(t))|)+max(|x_ia(t)|)

＝r_iα_now2maxx_iτtmax+r_iω_now2max ²x_intmax+|u_ix|a_now2max；

a_iytest＝max(f_iaτ(t))max(|y_iτt(f_θ(t))|)+max(f_ian(t))max(|y_int(f_θ(t))|)+max(|y_ia(t)|)

＝r_iα_now2maxy_iτtmax+r_iω_now2max ²y_intmax+|u_iy|a_now2max；

a_iztest＝max(f_iaτ(t))max(|z_iτt(f_θ(t))|)+max(f_ian(t))max(|z_int(f_θ(t))|)+max(|z_ia(t)|)

＝r_iα_now2maxz_iτtmax+r_iω_now2max ²z_intmax+|u_iz|_now2max；

if a_ixtest≤a_ixmaxIs provided with

Otherwise

If a_iytest≤a_iymaxIs provided with

Otherwise

If a_iztest≤a_izmaxIs provided with

Otherwise

Acceleration adjustment coefficient of ith positioner

If it is

And is

The rotational angular velocity of the rigid body is reduced, the centripetal acceleration is reduced, and the adjustment is performed

Determining the maximum value of the speed regulating coefficient in the attitude regulating process of the airplane

Solving the maximum value of the acceleration regulating coefficient in the process of adjusting the attitude of the airplane

And adjusting the speed and the acceleration of rigid translation and fixed shaft rotation according to the speed and the acceleration adjusting coefficient in the attitude adjusting process of the airplane, as follows:

maximum speed of rigid translation and maximum angular speed of rigid fixed shaft rotation:

maximum acceleration of rigid translationAnd maximum angular acceleration of rigid body dead axle rotation:

the jerk of rigid translation and the jerk of rigid fixed axis rotation: j is a function of_l＝j_l2，j_θ＝j_θ2。

And S105, planning and finishing the rigid body compound motion speed again.

And (3) re-planning the speed of the rigid body translation as follows:

according to the maximum velocity v of rigid translation_maxMaximum acceleration a_maxJerk j_lVelocity v at the beginning and end of the set of postures_s＝v_eAcceleration a at the beginning and end of the set-up_s＝a_eWhen the rigid translation movement amount S obtained in step S101 is 0, the ring-type acceleration/deceleration rigid translation velocity planning calculation is performed according to the velocity planning calculation method in step S103, and the actual maximum velocity v of the rigid translation is calculated_newmaxAnd the actual maximum acceleration a_newmax。

Recalculating translation run time T_sEach stage time T_1s,T_2s,T_3s,T_4s,T_5s,T_6s,T_7s(ii) a Wherein T is_1s＝T_7s＝T_5s＝T_3s，T_2s＝T_6s；

The speed planning time is rounded as follows:

and (3) re-planning the speed of the rigid body dead axle rotation, as follows:

maximum angular velocity omega based on rigid body dead axle rotation_maxMaximum angular acceleration α_maxAngular jerk j_θSpeed omega of starting and ending of posture adjustment_s＝ω_e0, acceleration α for start and end of stance turn_s＝α_eThe angular increment θ of the rigid body fixed axis rotation obtained in step S101 is 0_ePerforming bell-shaped acceleration/deceleration rigid body fixed-axis rotation speed planning calculation according to the speed planning calculation method in step S103, and calculating the actual maximum angular speed omega of rigid body fixed-axis rotation_newmaxAnd actual maximum angular acceleration α_newmax；

Recalculating rigid body dead axle rotation time T_θEach stage having a time T_1θ,T_2θ,T_3θ,T_4θ,T_5θ,T_6θ,T_7θ(ii) a Wherein T is_1θ＝T_7θ＝T_5θ＝T_3θ，T_2θ＝T_6θ；

The speed planning time is rounded as follows:

the rigid body translation and the rigid body fixed shaft rotation are synchronously carried out, and the translation time and the fixed shaft rotation time are adjusted to be the same time as follows:

T_new＝T_news＝T_newθ＝max(T_news,T_newθ)

wherein the time of each stage is proportionally adjusted as follows:

T_1s＝T_7s＝T_5s＝T_3s＝T_1sK_news，T_2s＝T_6s＝T_2sK_news，T_4s＝T_4sK_news

T_1θ＝T_7θ＝T_5θ＝T_3θ＝T_1θK_newθ，T_2θ＝T_6θ＝T_2θK_newθ，T_4θ＝T_4θK_newθ

in the formula (I), the compound is shown in the specification,

is just likeAdjusting the proportion of the body translation time;

rigid body fixed axis rotation time adjustment proportion;

adjusting the actual speed, the actual acceleration and the actual jerk as follows:

adjusting the actual maximum speed of rigid translation and the actual angular speed of rigid fixed shaft rotation:

adjusting the actual maximum acceleration of rigid translation and the actual angular acceleration of rigid fixed shaft rotation:

the actual jerk of rigid translation and the actual jerk of rigid fixed axis rotation are adjusted:

obtaining an adjusted speed plan:

rigid translation: s ═ f_s3(t)；v＝f_v3(t)；a＝f_a3(T) where T ∈ [0, T_new]；s∈[0,S]；

Rigid body dead axle rotates: theta ═ f_θ3(t)；ω＝f_ω3(t)；α＝f_α3(T) where T ∈ [0, T_new]；θ∈[0,θ_e]。

The speed planning function after time adjustment not only meets the requirement of synchronous rotation and translation of the rigid fixed shaft, but also meets the limitation condition of the angular speed range of the bow height error in the attitude adjusting process, the limitation condition of the speed and the acceleration range of the large part of the airplane in the rigid attitude adjusting process, and the limitation condition of the speed and the acceleration range of the driving shaft of the positioner.

And S106, performing interpolation calculation according to a time division method according to the new speed plan of the rigid body compound motion, and outputting the three-axis instruction coordinate position of each locator.

Specifically, according to a new speed plan of rigid body compound motion, rigid body fixed axis rotation interpolation and rigid body translation interpolation are respectively carried out according to a time division method, the position of each locator supporting point in a global coordinate system is calculated after synchronous superposition, then the locator supporting point is converted into a local coordinate system of each locator, and a three-axis instruction coordinate position of each locator is output, and the implementation process is as follows:

rigid body local coordinate system O_lPosition in global coordinate system before origin attitude adjustment of xyz

Local coordinate system O of positioner_iLocation of origin of xyz in global coordinates

The position of the ith locator support point before attitude adjustment, including the position in the global coordinate system

In a rigid body local coordinate system O_lPosition in xyz

And in the localizer local coordinate system O_iPosition in xyz

The position of the ith locator support point after attitude adjustment is included in the rigid body local coordinate system O_lPosition in xyz

Position in global coordinates

And in the localizer local coordinate system O_iPosition in xyz

Calculating the interpolation position of the ith positioner supporting point attitude adjusting process as follows:

the rotation angle function of the rigid body fixed axis rotation is as follows:

θ＝f_θ3(t)；ω＝f_ω3(t)；α＝f_α3(t)；t∈[0,T_new]；θ∈[0,θ_e]；

rigid body rotation axis in rigid body local coordinate system O_lVector of xyz

The function of the amount of movement of the rigid translation is:

s＝f_s3(t)；v＝f_v3(t)；a＝f_a3(t)；t∈[0,T_new]；s∈[0,S]；

rigid translation direction vector

Solving the i-th locator supporting point in the local coordinate system O of the locator_ixyz location function

The following formula:

in the formula (I), the compound is shown in the specification,

for the location vector of the ith locator support point in the global coordinate systemAmount, as follows:

in the formula (I), the compound is shown in the specification,

is the position of the origin of the rigid body local coordinate system in the global coordinate system in the pose adjusting process,

when the rotation and translation of the rigid body fixed shaft are synchronously superposed, the support point of the ith positioner is in the local coordinate system O of the positioner_iThe position calculation formula for xyz is as follows:

in the formula (I), the compound is shown in the specification,

s_θ＝sin(θ)，c_θ＝cos(θ),v_θ＝1-cos(θ)，θ＝f_θ3(t)，t∈[0,T_new]，θ∈[0,θ_e]；

the attitude adjusting process of the ith positioner supporting point is carried out in a local coordinate system O of the positioner_iThe position component of xyz is of the form:

in the formula (I), the compound is shown in the specification,

in order to interpolate the output X-axis command coordinate position,

in order to interpolate the output Y-axis command coordinate position,

the Z-axis command coordinate position is output for interpolation.

The command position coordinate values of X, Y, Z of all the positioners in the attitude adjusting process are sequentially calculated in the way; in the formula R_w,θAnd f_s3And (t) the relation between the rotation angle of the rigid fixed shaft and the translation quantity of the rigid translation is common data of all the positioners, so that the calculation is only needed once in each interpolation period. In the formula

Associated with the positioner, but not with the interpolation time t, only for each attitude-adjusting process

The calculation is required once and need not be repeated every interpolation period.

And S107, carrying out space compensation according to the three-axis instruction coordinate position and the space error data of each locator, and outputting the actual position of each axis driver.

Because the perpendicularity error exists in the axial direction of three coordinates of the positioner, the processing error of each shaft guide rail causes the straightness error, and the conditions that the two guide rails of each shaft are not parallel and have the changes of bending curvature and bending rate exist, the space positioning error of the actual positioner supporting point after the compensation of the screw compensation needs to be measured besides the reverse clearance compensation and the screw compensation of the single shaft, so that the compensation is carried out.

And an error compensation table is established in advance before pose adjustment. The bidirectional screw compensation can be provided without a reverse clearance compensation table. The unidirectional screw compensation mode needs reverse clearance compensation and screw compensation.

Firstly, X, Y, Z uniaxial reverse clearance measurement and helical compensation error measurement of a local coordinate system of the positioner are carried out, and a uniaxial reverse clearance compensation data table and a uniaxial helical compensation data table are established. The single-shaft reverse clearance compensation data and the single-shaft spiral compensation data are provided, and spiral compensation and reverse compensation functions can be realized. Firstly, starting the functions of screw compensation and space compensation to prepare for space error measurement. And measuring the spatial position error of the supporting point of the locator in the moving process of the local coordinate system of the locator by utilizing equipment such as an online measuring laser tracker in the airplane attitude adjusting equipment.

The measurement method of this embodiment is to divide the effective movement space of the supporting point of the positioner into a plurality of small squares, the positioner controller gives a movement command to the positioner driving motor to make the supporting point reach the top of the square, and the laser tracker and other devices directly read the actual spatial position, measure the spatial position error and record the error in the three-dimensional error data table. Generally, the number of measuring points is not too large, otherwise, the measuring time is long, and the amount of stored data is large.

Therefore, step S107 specifically includes: and performing reverse clearance compensation and pitch error compensation of each axis according to the three-axis instruction coordinate position of each positioner, performing three-axis compensation processing according to spatial error data, and outputting the actual position of each axis driver, wherein the implementation process comprises the following steps:

1) the X, Y, Z axle instruction coordinate position of every locator is read, reverse clearance compensation and pitch error compensation of each axle are carried out, if at unipolar measuring point, reverse clearance compensation data and pitch error compensation data are directly read, if not at unipolar measuring point, linear interpolation is carried out according to the error value of two end points of the unipolar measuring interval, the unipolar pitch error of the unipolar measuring interval of compensation, plus the reverse clearance value.

I-th driver in interpolating output coordinate

Compensation of reverse clearance of each shaft and compensation of pitch error.

The X axis is at

The position corresponds to a spiral compensation and an interval compensation superposition value;

y axis is at

The position corresponds to a spiral compensation and an interval compensation superposition value;

z axis is at

The position corresponds to the additive values of the spiral compensation and the interval compensation.

2) Reading X, Y, Z axis instruction coordinate position of each locator, compensating spatial error, directly reading data for compensation if on the grid vertex of spatial error measurement, reading eight vertex error data of the grid for spatial linear interpolation if not on the grid vertex of spatial error measurement in a certain grid, and calculating the spatial error fitting the eight vertices of the grid.

I-th driver in interpolating output coordinate

Three-dimensional space compensation value corresponding to each axis

Interpolating output coordinates

A time X-axis spatial error compensation quantity;

interpolating output coordinates

A temporal Y-axis spatial error compensation amount;

interpolation transmissionGo out the coordinate

And (5) compensating the space error of the time Z axis.

3) And after the reverse clearance compensation, the pitch error compensation and the space error compensation of each shaft are carried out, the actual position of each shaft driver is output.

T-time interpolation coordinate of ith driver

After various error compensation calculations, outputting a position instruction of each servo drive shaft at the moment t:

the compensated position of the X servo driver;

position compensated by the Y servo driver;

the compensated position of the Z servo driver.

Error compensation calculations are performed for all drivers in turn. And finally, uniformly sending the compensated position instructions of all the driving shafts to each servo driver at the output moment of the interpolation period, thereby realizing the spatial position compensation and effectively improving the spatial position precision of each locator supporting point.

Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by a program to instruct associated hardware, and the corresponding program may be stored in a computer-readable storage medium.

Example 2:

as shown in fig. 2, the present embodiment provides a three-coordinate positioner pose adjusting operation and control system, which is applied to the digital assembly of an aircraft, and the system includes a first solution module 201, a second solution module 202, a first planning and trimming module 203, an adjustment module 204, a second planning and trimming module 205, an interpolation calculation module 206, and a compensation module 207, and the specific functions of each module are as follows:

the first calculating module 201 is used for establishing a local coordinate system of a rigid body of a large part of the airplane and a local coordinate system of a positioner, and calculating the translational movement amount and the translational direction vector of the rigid body, and the rotation angle and the rotation axis vector of the rigid body in fixed-axis rotation according to the attitude adjusting instruction.

And the second calculating module 202 is configured to calculate a circle center and a radius of a spatial circular arc trajectory of each locator in the rigid body fixed axis rotation process by using each locator support point as a mass point on the rigid body according to a rotation axis vector of the rigid body fixed axis rotation, a rigid body rotation center position, and a current position of each locator support point, and calculate a corresponding circular arc angular velocity range and a corresponding rigid body angular velocity range according to an allowable error of each circular arc trajectory.

And the first planning and finishing module 203 is used for planning and finishing the rigid body composite motion speed according to the rigid body angular speed range, and the rotation angular speed range, the angular acceleration range, the translation speed range and the translation acceleration range which are allowed by the attitude adjustment of the large part of the airplane.

And the adjusting module 204 is configured to calculate the maximum speed and the maximum acceleration of each positioner driving shaft by using each positioner supporting point as a mass point on the rigid body according to the velocity plan of the rigid body compound motion, and adjust the velocity and the acceleration of the rigid body compound motion according to the velocity range and the acceleration range allowed by each positioner driving shaft.

And a second planning and trimming module 205, configured to, after adjusting the velocity and acceleration of the rigid body compound motion, plan and trim the velocity of the rigid body compound motion again.

And the interpolation calculation module 206 is configured to perform interpolation calculation according to a time division method according to the new velocity plan of the rigid body compound motion, and output a three-axis instruction coordinate position of each locator.

And the compensation module 207 is used for performing spatial compensation according to the three-axis instruction coordinate position and the spatial error data of each positioner and outputting the actual position of each axis driver.

The specific implementation of each module in this embodiment may refer to embodiment 1, which is not described herein any more; it should be noted that the system provided in this embodiment is only illustrated by the division of the functional modules, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure is divided into different functional modules to complete all or part of the functions described above.

Example 3:

as shown in fig. 3, the present embodiment provides a pose controller, which includes a processor 301, a memory 302 and a transmission unit 303, where the processor 301 is configured to provide calculation and control capabilities, the memory 302 stores a computer program, and when the processor 301 executes the computer program stored in the memory 302, the pose controller implements the three-coordinate locator pose controlling method of embodiment 1, as follows:

establishing a local coordinate system of a rigid body of a large part of the airplane and a local coordinate system of a positioner, and resolving a translational movement amount and a translational direction vector of the rigid body, and a rotation angle and a rotation axis vector of the rigid body fixed axis rotation according to an attitude adjusting instruction;

according to the rotating shaft vector of the rigid body fixed shaft rotation, the rigid body rotating center position and the current position of each locator supporting point, taking each locator supporting point as a rigid body upper mass point, calculating the circle center and the radius of a space circular arc track of each locator in the rigid body fixed shaft rotation process, and calculating a corresponding circular arc angular velocity range and a rigid body angular velocity range according to the allowable error of each circular arc track;

planning and finishing the rigid body composite motion speed according to the rigid body angular speed range, and a rotation angular speed range, an angular acceleration range, a translation speed range and a translation acceleration range which are allowed by attitude adjustment of a large part of the airplane;

according to the velocity planning of the rigid body compound motion, taking each locator supporting point as a mass point on the rigid body, calculating the maximum velocity and the maximum acceleration on each locator driving shaft, and adjusting the velocity and the acceleration of the rigid body compound motion according to the velocity range and the acceleration range allowed by each locator driving shaft;

after the speed and the acceleration of the rigid body compound motion are adjusted, the rigid body compound motion speed is planned and maintained again;

according to the new speed plan of the rigid body compound motion, carrying out interpolation calculation according to a time segmentation method, and outputting a three-axis instruction coordinate position of each locator;

and carrying out space compensation according to the three-axis instruction coordinate position and the space error data of each positioner, and outputting the actual position of each axis driver.

Example 4:

the present embodiment provides a storage medium, which is a computer-readable storage medium, and stores a computer program, and when the computer program is executed by a processor, the method for adjusting, attitude, and operation and control of a three-coordinate positioner of embodiment 1 is implemented as follows:

establishing a local coordinate system of a rigid body of a large part of the airplane and a local coordinate system of a positioner, and resolving a translational movement amount and a translational direction vector of the rigid body, and a rotation angle and a rotation axis vector of the rigid body fixed axis rotation according to an attitude adjusting instruction;

according to the rotating shaft vector of the rigid body fixed shaft rotation, the rigid body rotating center position and the current position of each locator supporting point, taking each locator supporting point as a rigid body upper mass point, calculating the circle center and the radius of a space circular arc track of each locator in the rigid body fixed shaft rotation process, and calculating a corresponding circular arc angular velocity range and a rigid body angular velocity range according to the allowable error of each circular arc track;

planning and finishing the rigid body composite motion speed according to the rigid body angular speed range, and a rotation angular speed range, an angular acceleration range, a translation speed range and a translation acceleration range which are allowed by attitude adjustment of a large part of the airplane;

according to the velocity planning of the rigid body compound motion, taking each locator supporting point as a mass point on the rigid body, calculating the maximum velocity and the maximum acceleration on each locator driving shaft, and adjusting the velocity and the acceleration of the rigid body compound motion according to the velocity range and the acceleration range allowed by each locator driving shaft;

after the speed and the acceleration of the rigid body compound motion are adjusted, the rigid body compound motion speed is planned and maintained again;

according to the new speed plan of the rigid body compound motion, carrying out interpolation calculation according to a time segmentation method, and outputting a three-axis instruction coordinate position of each locator;

and carrying out space compensation according to the three-axis instruction coordinate position and the space error data of each positioner, and outputting the actual position of each axis driver.

It should be noted that the computer readable storage medium of the present embodiment may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present embodiment, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this embodiment, however, a computer readable signal medium may comprise a propagated data signal with a computer readable program embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable storage medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods, systems, and gesture controllers according to various embodiments described above. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. The modules described in the above embodiments may be implemented by software or hardware.

The foregoing description is only exemplary of the preferred embodiments of the invention and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure in the embodiments described above is not limited to the particular combination of features described above, and that other embodiments can be made by any combination of features described above or their equivalents without departing from the spirit of the disclosure. For example, the above features and (but not limited to) the features with similar functions disclosed in the above embodiments are mutually replaced to form the technical solution.

It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described above, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (18)

1. A three-coordinate positioner posture adjusting operation and control method is applied to airplane digital assembly and is characterized by comprising the following steps:

establishing a local coordinate system of a rigid body of a large part of the airplane and a local coordinate system of a positioner, and resolving a translational movement amount and a translational direction vector of the rigid body, and a rotation angle and a rotation axis vector of the rigid body fixed axis rotation according to an attitude adjusting instruction;

according to the rotating shaft vector of the rigid body fixed shaft rotation, the rigid body rotating center position and the current position of each locator supporting point, taking each locator supporting point as a rigid body upper mass point, calculating the circle center and the radius of a space circular arc track of each locator in the rigid body fixed shaft rotation process, and calculating a corresponding circular arc angular velocity range and a rigid body angular velocity range according to the allowable error of each circular arc track;

planning and finishing the rigid body composite motion speed according to the rigid body angular speed range, and a rotation angular speed range, an angular acceleration range, a translation speed range and a translation acceleration range which are allowed by attitude adjustment of a large part of the airplane;

according to the velocity planning of the rigid body compound motion, taking each locator supporting point as a mass point on the rigid body, calculating the maximum velocity and the maximum acceleration on each locator driving shaft, and adjusting the velocity and the acceleration of the rigid body compound motion according to the velocity range and the acceleration range allowed by each locator driving shaft;

after the speed and the acceleration of the rigid body compound motion are adjusted, the rigid body compound motion speed is planned and maintained again;

according to the new speed plan of the rigid body compound motion, carrying out interpolation calculation according to a time segmentation method, and outputting a three-axis instruction coordinate position of each locator;

and carrying out space compensation according to the three-axis instruction coordinate position and the space error data of each positioner, and outputting the actual position of each axis driver.

2. The attitude adjusting, operation and control method of a three-coordinate positioner according to claim 1, wherein the establishing of the rigid body local coordinate system and the positioner local coordinate system of the large part of the aircraft specifically comprises:

establishing a global coordinate system Oxyz for a relative ground reference system;

establishing a rigid local coordinate system O for a large aircraft part_lxyz, the X, Y, Z axial direction of the local rigid body coordinate system is parallel to the X, Y, Z axial direction of the global coordinate system, the rotation center of the local rigid body coordinate system is set as the origin of the global coordinate system, and the coordinate in the global coordinate system before the origin of the local coordinate system is adjusted to the attitude is O_l(p_x，p_y，p_z)^T；

Establishing a locator local coordinate system O for the ith locator_ixyz, the X, Y, Z axial direction of the local coordinate system of the positioner is the driving moving direction of the supporting point of the positioner along the X, Y, Z axis of the positioner, the origin of the local coordinate system of the positioner is the supporting point position after the X, Y, Z axis of the positioner returns to zero, and the coordinate of the origin of the local coordinate system of the ith positioner in the global coordinate system is O_i(o_ix，o_iy，o_iz)^TThe coordinate of the ith locator supporting point in the global coordinate system is P_i(p_ix，p_iy，p_iz)^T。

3. The three-coordinate positioner pose adjusting operation and control method according to claim 1, wherein the calculation of the translation movement amount and the translation direction vector of the rigid body and the rotation angle and the rotation axis vector of the rigid body fixed axis rotation according to the pose adjusting instruction specifically comprises:

resolving the translational motion quantity of the rigid body as follows:

resolving the translation direction vector of the rigid body as follows:

in the formula (I), the compound is shown in the specification,

firstly, rotating the rigid body around the Z axis by an angle A, then rotating the rigid body around the Y axis by an angle B, and finally rotating the rigid body around the X axis by an angle C, wherein the angle A is as follows:

wherein s1 ═ sin (a), c1 ═ cos (a), s2 ═ sin (b), c2 ═ cos (b), s3 ═ sin (c), c3 ═ cos (c);

resolving the rotation angle of the rigid body fixed shaft rotation, as follows:

solving a rotating shaft vector of the rigid body fixed shaft rotation, and adopting the following formula:

in the formula (I), the compound is shown in the specification,

4. a three-coordinate locator attitude adjusting operation and control method according to claim 1, wherein the method specifically comprises the steps of calculating the center and radius of a spatial circular arc trajectory of each locator in the rigid body fixed axis rotation process by using each locator support point as a rigid body upper mass point according to a rotation axis vector of the rigid body fixed axis rotation, a rigid body rotation center position and the current position of each locator support point, and calculating the corresponding circular arc angular velocity range and rigid body angular velocity range according to each circular arc trajectory allowable error, and specifically comprises the following steps:

according to the rotating shaft vector of the rigid body fixed shaft rotation, the rigid body rotating center position and the current position of each locator supporting point, taking each locator supporting point as a rigid body upper mass point, and calculating the circle center and the radius of a space circular arc track of each locator in the rigid body fixed shaft rotation process, wherein the following formula is as follows:

in the formula (I), the compound is shown in the specification,

is the circle center position of the spatial circular arc track of the ith positioner in the rotating process of the rigid body fixed shaft,

in the local rigid body coordinate system O before the orientation adjustment for the ith support point of the positioner_lThe position in the xyz is determined by the position,

rotation axis vector for rigid body fixed axis rotation, r_iRadius of the spatial circular arc track of the ith positioner in the rigid body dead axle rotation process:

let T_inpTo interpolate the cycle time, H_errFor error in height of bow, L_cTo interpolate the cycle output chord length, the following equation is used:

L_c ²＝8H_errr_i+4H_err ²

calculating the height error H_errThe chord length of (c) is as follows:

in the formula, L_c＝VT_inpo＝ω_ir_iT_inpThen, then

If the ith positioner adjusts the attitude according to the allowable height error H_errThen, the rotational angular velocity ω of the rigid body is required_iMaximum, and bow height error H_errRadius r when constant_iGreater allowable rigid body rotational angular velocity ω_iThe smaller;

and solving the maximum radius in the space circular arc track radii of all the positioners as follows:

r_max＝max(r₁，r₂，r₃，…，r_i，…，r_N)

during interpolation, the interpolation period time T_inpThe same angular speeds are the same when the rigid body fixed shaft rotates a plurality of circular arcs;

calculating the bow height error H_errRigid body winding meeting the requirements

Maximum rotational angular velocity, as follows:

5. the attitude-adjusting operation and control method of the three-coordinate positioner according to claim 1, wherein the rigid body composite motion speed planning and modification is performed according to the rigid body angular speed range, and the rotation angular speed range, the angular acceleration range, the translation speed range and the translation acceleration range which are allowed by the attitude adjustment of the large part of the airplane, and specifically comprises the following steps:

according to the maximum value of the angular velocity of the rigid body, the maximum angular velocity omega required by the strength of the rigid body fixed-axis rotating structure is adjusted_max＝min(ω_max1，ω_max2)；

Maximum angular acceleration α allowed by airplane large component attitude adjustment_maxMaximum translational velocity v_maxMaximum translational acceleration a_maxMaximum angular velocity omega required by strength of rigid body fixed-axis rotating structure_max＝min(ω_max1，ω_max2) Velocity v at the beginning and end of the set of postures_s＝v_e0, acceleration a at the beginning and end of posture adjustment_s＝a_eRotation angle theta of rigid body fixed axis rotation_eAnd the translational movement quantity S of the rigid body, respectively carrying out bell-shaped acceleration/deceleration rigid body composite motion speed planning calculation, and calculating the actual maximum acceleration a of each stage time and translational movement_nowmaxActual maximum translational velocity v_nowmaxActual maximum angular acceleration of rotation α_nowmaxAnd the actual maximum angular velocity ω_nowmaxAnd then carrying out rigid body composite motion speed planning time trimming.

6. The attitude-adjusting operation and control method for a three-coordinate positioner according to claim 5, wherein the calculation of the rigid body composite motion speed plan for bell-type acceleration/deceleration specifically comprises:

according to the translational movement quantity S and the maximum translational speed v of the rigid body_maxMaximum translational acceleration a_maxAnd translation plus acceleration j_lThe method comprises the following steps of performing speed planning calculation in seven stages including an acceleration stage, a uniform acceleration stage, a deceleration stage, a uniform speed stage, an acceleration and deceleration stage, a uniform deceleration stage and a deceleration stage; wherein:

the acceleration is calculated as follows:

wherein J is J_l；

The acceleration is calculated as follows:

the velocity is calculated as follows:

in the formula, T₁＝t₁，T₂＝t₂-t₁，T₃＝t₃-t₂；T₄＝t₄-t₃，T₅＝t₅-t₄，T₆＝t₆-t₅；T₇＝t₇-t₆，T₁＝T₃，T₅＝T₇；

The translation movement amount is calculated as follows:

the translation speed is planned to be s ═ f_s1(t)，v＝f_v1(t)，a＝f_a1(t)，j_s＝J(t)；

According to bell type increasing/decreasing time T_1s＝T_3s，T_5s＝T_7sVelocity v at the beginning and end of the set of postures_s＝v_eAcceleration a at the beginning and end of the set-up_s＝a_e0, and the acceleration and deceleration stages are mirror symmetric, resulting in T_1s＝T_7s＝T_5s＝T_3s，T_2s＝T_6s；

The maximum speed and the maximum acceleration are limited as v in the safety range₃≤v_max，Jt₁≤a_maxCalculating the acceleration stage time T_1sTime T of uniform acceleration stage_2sDecreasing acceleration stage time T_3sTime T at uniform speed stage_4sAcceleration and deceleration stage time T_5sTime T of uniform deceleration stage_6sTime T of deceleration stage_7s；

Calculating the actual maximum acceleration a_nowmax＝j_lT_1sActual maximum velocity v_nowmax＝v₃And total translational time T_s＝T_1s+T_2s+T_3s+T_4s+T_5s+T_6s+T_7s；

Rotation angle theta according to rigid body fixed axis rotation_eMaximum angular velocity ω_maxMaximum angular acceleration α_maxAnd angle of rotation plus acceleration j_θThe method comprises the following steps of calculating speed planning in seven stages including an acceleration stage, a uniform acceleration stage, an acceleration reduction stage, a constant speed stage, an acceleration and deceleration stage, a uniform deceleration stage and a deceleration reduction stage; wherein:

the angular acceleration is calculated as follows:

wherein J is J_θ；

The angular acceleration is calculated as follows:

the angular velocity is calculated as follows:

in the formula, T₁＝t₁，T₂＝t₂-t₁，T₃＝t₃-t₂；T₄＝t₄-t₃，T₅＝t₅-t₄，T₆＝t₆-t₅；T₇＝t₇-t₆，T₁＝T₃，T₅＝T₇；

The rotation angle is calculated as follows:

speed planning of a rotationIs j_θ＝J(t)，θ＝f_θ1(t)，ω＝f_ω1(t)，α＝f_α1(t)；

According to bell type increasing/decreasing time T_1θ＝T_3θ，T_5θ＝T_7θEstablishing a piecewise function of the rotation angle and adding an acceleration J ═ J according to the angle_θAngle of rotation and attitude increment theta_eAngular velocity ω of starting and ending of posture adjustment_s＝ω_e0, angular acceleration α of starting and ending of pose adjustment_s＝α_e0, and the acceleration and deceleration stages are mirror symmetric, resulting in T_1θ＝T_7θ＝T_5θ＝T_3θ，T_2θ＝T_6θ；T_1θ＝T_7θ＝T_5θ＝T_3θ，T_2θ＝T_6θ；

The maximum speed and the maximum acceleration are limited to be omega in a safety range₃≤ω_max，Jt₁≤α_maxCalculating the acceleration stage time T_1θTime T of uniform acceleration stage_2θDecreasing acceleration stage time T_3θTime T at uniform speed stage_4θAcceleration and deceleration stage time T_5θTime T of uniform deceleration stage_6θTime T of deceleration stage_7θ；

Calculating the actual maximum angular acceleration α_nowmaxActual maximum angular velocity ω_nowmaxAnd total time of rotation T_θ＝T_1θ+T_2θ+T_3θ+T_4θ+T_5θ+T_6θ+T_7θ。

7. The three-coordinate positioner pose adjusting, operation and control method according to claim 5, wherein the rigid body composite motion speed planning time shaping specifically comprises:

two motion time trimming to interpolation period time T for bell-type acceleration/deceleration speed planning of rigid body fixed axis rotation and rigid body translation respectively_inpIntegral multiple, the translation time and the rotation time are adjusted to be equal, and the time of each stage after the time axis is adjusted and the actual maximum acceleration of rigid translation are calculateda_now2maxActual maximum velocity v of rigid translation_now2maxActual maximum angular acceleration α of rigid body fixed axis rotation_now2maxActual maximum angular velocity omega of rigid body fixed axis rotation_now2max。

8. The attitude adjusting operation and control method for the three-coordinate positioner according to claim 7, wherein the time of each stage after the time axis is adjusted and the actual maximum acceleration a of the rigid translation are calculated_now2maxActual maximum velocity v of rigid translation_now2maxActual maximum angular acceleration α of rigid body fixed axis rotation_now2maxActual maximum angular velocity omega of rigid body fixed axis rotation_now2maxThe method specifically comprises the following steps:

total translational time T_sOr total time of rotation T_θRounded up to an interpolation period time T_inpInteger multiple of (d) is as follows:

the rigid body translation and the rigid body dead axle rotation are synchronously carried out, and when the requirement is simultaneously started and finished, the translation time and the dead axle rotation time are adjusted to be the same time, as the following formula:

T_now＝T_nows＝T_nowθ＝max(T_nows，T_nowθ)

the time of each stage is adjusted proportionally as follows:

rigid body translation time adjustment proportion:

rigid body dead axle rotation time adjustment proportion:

T_1s＝T_7s＝T_5s＝T_3s＝T_1sK_nows，T_2s＝T_6s＝T_2sK_nows，T_4s＝T_4sK_nows

T_1θ＝T_7θ＝T_5θ＝T_3θ＝T_1θK_nowθ，T_2θ＝T_6θ＝T_2θK_nowθ，T_4θ＝T_4θK_nowθ

translation distance S and rotation angle theta_eRemains unchanged, T_nowsAnd T_nowθThe time is prolonged, the time of each stage is prolonged, and the actual speed, the actual acceleration and the actual jerk are adjusted as follows:

adjusting the actual maximum speed of rigid translation and the actual maximum angular speed of rigid fixed shaft rotation:

adjusting the actual maximum acceleration of rigid translation and the actual maximum angular acceleration of rigid fixed shaft rotation:

the actual jerk of rigid translation and the actual jerk of rigid fixed axis rotation are adjusted:

after the time, speed, acceleration and jerk of each stage are adjusted in proportion, the rigid translation movement amount and the rigid fixed axis rotation angle of each stage are kept unchanged with the speed before adjustment, and the adjusted speed is planned as follows:

rigid bodyTranslation: s ═ f_s(t)；v＝f_v(t)；a＝f_a(T) where T ∈ [0, T_now]；s∈[0，s]

Rigid body dead axle rotates: theta ═ f_θ(t)；ω＝f_ω(t)；α＝f_α(T) where T ∈ [0, T_now]；θ∈[0，θ_e]。

9. The three-coordinate positioner attitude adjusting operation and control method according to claim 1, wherein the method comprises, according to a velocity plan of rigid body compound motion, using each positioner support point as a mass point on a rigid body, calculating a maximum velocity and a maximum acceleration on each positioner drive shaft, and adjusting the velocity and the acceleration of the rigid body compound motion according to a velocity range and an acceleration range allowed by each positioner drive shaft, specifically comprising:

and taking each locator support point as a mass point on the rigid body, carrying out synchronous superposition motion of fixed axis rotation and translation on the rigid body, solving a space circular arc motion track, a speed and an acceleration of each locator drive shaft by utilizing inverse kinematics position inverse solution, calculating the maximum speed and the maximum acceleration on each locator drive shaft in a locator local coordinate system, and adjusting the speed and the acceleration of rigid body composite motion according to the speed range and the acceleration range allowed by each locator drive shaft.

10. A three-coordinate positioner attitude adjusting operation and control method according to claim 9, wherein each positioner support point is used as a rigid body upper mass point, the rigid body performs synchronous superimposed motion of fixed axis rotation and translation, a space circular arc motion track, speed and acceleration of each positioner drive shaft are solved by inverse kinematics position inverse solution, the maximum speed and the maximum acceleration of each positioner drive shaft are calculated in a positioner local coordinate system, and the speed and the acceleration of rigid body composite motion are adjusted according to the speed range and the acceleration range allowed by each positioner drive shaft, specifically comprising:

with the ith locator supporting point space arc C_iEstablishing a new local coordinate system C with the center of the circle as the origin of coordinates_ixyz, local coordinate system C_iThe X, Y, Z axis of xyz is parallel to the localizer local coordinate system O_iX, Y, Z axis of xyz;

the central angle in the space circular arc motion track is the angle theta of rigid rotation ═ f_θ(t)；

Local coordinate system C in rigid body translation process_iThe origin of xyz is in the localizer local coordinate system O_iTranslation distance s ═ f in xyz_s(t)；

Rigid translation direction vector

Wherein

Corresponding to a local coordinate system C_iThe origin of xyz is in the localizer local coordinate system O_iVector in xyz direction

Local coordinate system C in rigid body translation process_iThe origin of xyz is in the localizer local coordinate system O_iThe translational position component in xyz is of the form:

f_is(t)＝[x_is(t) y_is(t) z_is(t)]^T

in the formula, x_is(t)＝u_ixf_s(t)，y_is(t)＝u_iyf_s(t)，z_is(t)＝u_izf_s(t)；

Local coordinate system C in rigid body translation process_iThe origin of xyz is in the localizer local coordinate system O_iThe translational velocity component in xyz is of the form:

f_iv(t)＝[x_iv(t) y_iv(t) z_iv(t)]^T

in the formula, x_iv(t)＝u_ixf_v(t)，y_iv(t)＝u_iyf_v(t)，z_iv(t)＝u_izf_v(t)；

Local coordinate system O of positioner_iThe maximum speed of X, Y, Z shaft translation process in xyz is as follows:

v_iSxmax＝max(|x_iv(t)|)＝|u_ix|max(f_v(t))＝|u_ix|v_now2max

v_iSymax＝max(|y_iv(t)|)＝|u_iy|max(f_v(t))＝|u_iy|v_now2max

v_iSzmax＝max(|z_iv(t)|)＝|u_iz|max(f_v(t))＝|u_iz|v_now2max

local coordinate system C in rigid body translation process_iThe origin of xyz is in the localizer local coordinate system O_iThe translational acceleration component in xyz is of the form:

f_ia(t)＝[x_ia(t) y_ia(t) z_ia(t)]^T

in the formula, x_ia(t)＝u_ixf_a(t)，y_ia(t)＝u_iyf_a(t)，z_ia(t)＝u_izf_a(t)；

Local coordinate system O of positioner_iThe maximum acceleration of X, Y, Z axis translation process in xyz is as follows:

a_iSxmax＝max(|x_ia(t)|)＝|u_ix|max(f_a(t))＝|u_ix|a_now2max

a_iSymax＝max(|y_ia(t)|)＝|u_iy|max(f_a(t))＝|u_iy|a_now2max

a_iSzmax＝max(|z_ia(t)|)＝|u_iz|max(f_a(t))＝|u_iz|a_now2max

rigid body local coordinate system O in rigid body fixed axis rotation_lAxis of rotation of xyz

Rotation angle theta f of rigid body fixed axis rotation_θ(t)；ω＝f_ω(t)；α＝f_α(T) where T ∈ [0, T_now]；θ∈[0，θ_e]；

Before adjusting the posture, the support point of the ith positioner is in the local rigid coordinate system O_lPosition vector in xyz

I-th locator in rigid local coordinate system O_lRadius of rotation in xyz

Circle center coordinate

Rigid body fixed axis rotation angle theta ═ f_θ(t) rigid body rotation R_w，θThe following formula:

in the formula, s_θ＝sin(θ)，c_θ＝cos(θ)，v_θ＝1-cos(θ)，θ＝f_θ(t)，t∈[0，T_now]，θ∈[0，θ_e](ii) a In the posture adjusting process, the support point of the ith positioner is in a rigid body local coordinate system O_lThe position vector in xyz is

Rigid body rotation axis in local coordinate system C_iIn xyz are

The support point of the ith positioner in the local coordinate system C_iPosition C in xyz_i(θ) is a function of the rotation angle θ, as follows:

the support point of the ith positioner in the local coordinate system C_iPosition C in xyz_iThe component form of (θ) is as follows:

C_i(θ)＝[x_i(θ) y_i(θ) z_i(θ)]^T，x_i(θ)，y_i(θ)，z_i(θ)

C_ithe normal direction vector for any θ position is given by:

C_ithe normal direction vector component for any θ position is of the form:

C_ithe maximum absolute value of the axis component of the normal direction vector X, Y, Z at any θ position is given by:

x_intmax＝max(|x_int(f_θ(t))|)＝max(|x_in(θ)|)

y_intmax＝max(|y_int(f_θ(t))|)＝max(|y_in(θ)|)

z_intmax＝max(|z_int(f_θ(t))|)＝max(|z_in(θ)|)

C_ithe tangential direction vector at any θ position is given by:

wherein

C_iThe tangential direction vector component at any θ position is of the form:

C_ithe maximum absolute value of the axial component of the tangential direction vector X, Y, Z at any θ position is given by:

x_iτtmax＝max(|x_iτt(f_θ(t))|)＝max(|x_iτ(θ)|)

y_iτtmax＝max(|y_iτt(f_θ(t))|)＝max(|y_iτ(θ)|)

z_iτtmax＝max(|z_iτt(f_θ(t))|)＝max(|z_iτ(θ)|)

the support point of the ith positioner in the local coordinate system C_iLinear velocity v in xyz_iτ(t)＝r_if_ω(t)；

The support point of the ith positioner in the local coordinate system C_iMaximum linear velocity max (v) in xyz_iτ(t))＝r_iω_now2max；

The support point of the ith positioner in the local coordinate system C_iSpeed of circular arc motion in xyz

The support point of the ith positioner in the local coordinate system C_iThe circular arc motion velocity component in xyz is of the form:

f_ivτ(t)＝[x_ivτ(t) y_ivτ(t) z_ivτ(t)]^T

in the formula, x_ivτ(t)＝v_iτ(t)x_iτt(f_θ(t))，y_ivτ(t)＝v_iτ(t)y_iτt(f_θ(t))，z_ivτ(t)＝v_iτ(t)z_iτt(f_θ(t))；

The support point of the ith positioner in the local coordinate system C_iThe maximum linear velocity of the circular arc motion in xyz multiplied by the maximum value of each axial component of the direction vector is not less than the circular arc motion f_ivτ(t) maximum speed of each axis, as follows:

max(|x_ivτ(t)|)＝max(v_iτ(t)|x_iτt(f_θ(t))|)≤max(v_iτ(t))max(|x_iτt(f_θ(t))|)

max(|y_ivτ(t)|)＝max(v_iτ(t)|y_iτt(f_θ(t))|)≤max(v_iτ(t))max(|y_iτt(f_θ(t))|)

max(|z_ivτ(t)|)＝max(v_iτ(t)|z_iτt(f_θ(t))|)≤max(v_iτ(t))max(|z_iτt(f_θ(t))|)

the support point of the ith positioner is in the local coordinate system O of the positioner_iThe motion speed in xyz is the circular motion speed f_ivτ(t) and translational velocity f_iv(t) the sum of the synchronous superposition speed, the maximum speed of the shaft component of the translational speed X, Y, Z and the maximum speed of the shaft component of the circular motion speed X, Y, Z is greater than the actual maximum speed of the positioner X, Y, Z, if the sum is less than the allowable speed range of each driving shaft, the safety is ensured, otherwise, the speed of the rigid body compound motion is reduced, and the method comprises the following steps:

v_ixtest≥max(v_iτ(t)|x_iτt(f_θ(t))|)+max(|x_iv(t)|)≥max(|x_ivτ(t)+x_iv(t)|)

v_iytest≥max(v_iτ(t)|y_iτt(f_θ(t))|)+max(|y_iv(t)|)≥max(|y_ivτ(t)+y_iv(t)|)

v_iztest≥max(v_iτ(t)|z_iτt(f_θ(t))|)+max(|z_iv(t)|)≥max(|z_ivτ(t)+z_iv(t)|)

in the formula, x_ivτ(t)+x_iv(t) is the X-axis actual speed, y_ivτ(t)+y_iv(t) is the actual speed of the Y-axis, z_ivτ(t)+z_iv(t) is the Z-axis actual speed;

v_ixtest＝max(v_iτ(t))max(|x_iτt(f_θ(t))|)+max(|x_iv(t)|)＝r_iω_now2maxx_iτtmax+|u_ix|v_now2max；

v_iytest＝max(v_iτ(t))max(|y_iτt(f_θ(t))|)+max(|y_iv(t)|)＝r_iω_now2maxy_iτtmax+|u_iy|v_now2max；

v_iztest＝max(v_iτ(t))max(|z_iτt(f_θ(t))|)+max(|z_iv(t)|)＝r_iω_now2maxz_iτtmax+|u_iz|v_now2max；

if v is_ixtest≤v_ixmaxIs provided with

Otherwise

If v is_iytest≤v_iymaxIs provided with

Otherwise

If v is_iztest≤v_izmaxIs provided with

Otherwise

Ith positioner velocity adjustment factor

The support point of the ith positioner in the local coordinate system C_iTangential acceleration f in xyz_iaτ(t)＝r_if_α(t)；

The support point of the ith positioner in the local coordinate system C_iMaximum value of tangential acceleration max (f) in xyz_iaτ(t))＝r_iα_now2max；

The support point of the ith positioner in the local coordinate system C_iCircular arc tangential acceleration vector in xyz

The support point of the ith positioner in the local coordinate system C_iThe circular arc tangential acceleration component in xyz is of the form:

a_iτ(t)＝[x_iaτ(t) y_iaτ(t) z_iaτ(t)]^T

in the formula, x_iaτ(t)＝f_iaτ(t)x_iτt(f_θ(t))，y_iaτ(t)＝f_iaτ(t)y_iτt(f_θ(t))，z_iaτ(t)＝f_iaτ(t)z_iτt(f_θ(t))；

The support point of the ith positioner in the local coordinate system C_iCentripetal acceleration f in xyz_ian(t)＝r_if_ω ²(t)；

The support point of the ith positioner in the local coordinate system C_iMaximum value of centripetal acceleration max (f) in xyz_ian(t))＝r_iω_now2max ²；

The support point of the ith positioner in the local coordinate system C_iCircular arc normal acceleration vector in xyz

The support point of the ith positioner in the local coordinate system C_iThe circular arc normal acceleration component in xyz is of the form:

a_in(t)＝[x_ian(t) y_ian(t) z_ian(t)]^T

in the formula, x_iaθ(t)＝f_iaτ(t)x_iτt(f_θ(t))+f_ian(t)x_int(f_θ(t))；y_iaθ(t)＝f_iaτ(t)y_iτt(f_θ(t))+f_ian(t)y_int(f_θ(t))；z_iaθ(t)＝f_iaτ(t)z_iτt(f_θ(t))+f_ian(t)z_int(f_θ(t))；

The support point of the ith positioner in the local coordinate system C_iCircular arc motion acceleration a in xyz_iθ(t) X, Y, Z axis component maximum value is not more than maximum value of angular acceleration and angular velocity and each axis normal component and tangential component maximum value are calculated as follows:

max(|x_iaθ(t)|)≤max(f_iaτ(t))max(|x_iτt(f_θ(t))|)+max(f_ian(t))max(|x_int(f_θ(t))|)

max(|y_iaθ(t)|)≤max(f_iaτ(t))max(|y_iτt(fθ(t))|)+max(f_ian(t))max(|y_int(f_θ(t))|)

max(|z_iaθ(t)|)≤max(f_iaτ(t))max(|z_iτt(f_θ(t))|)+max(f_ian(t))max(|z_int(f_θ(t))|)

the support point of the ith positioner is in the local coordinate system O of the positioner_iThe motion speed in xyz is the circular motion acceleration a_iθ(t) and translational acceleration f_ia(t) the sum of the synchronous superimposed acceleration, the maximum value of the shaft component of the translational acceleration X, Y, Z and the maximum value of the shaft component of the circular arc motion acceleration X, Y, Z is greater than the actual maximum acceleration of the positioner X, Y, Z, if the sum is smaller than the allowable acceleration range of each driving shaft, the safety is ensured, otherwise, the acceleration and the angular speed of the rigid body composite motion are reduced, and the method comprises the following steps:

a_ixtest≥max(|x_iaθ(t)|)+max(|x_ia(t)|)≥max(|x_iaθ(t)+x_ia(t)|)

a_iytest≥max(|y_iaθ(t)|)+max(|y_ia(t)|)≥max(|y_iaθ(t)+y_ia(t)|)

a_iztest≥max(|z_iaθ(t)|)+max(|z_ia(t)|)≥max(|z_iaθ(t)+z_ia(t)|)

in the formula, x_iaθ(t)+x_ia(t) is the actual acceleration of the X-axis, y_iaθ(t)+y_ia(t) is the actual acceleration of the Y-axis, z_iaθ(t)+z_ia(t) is the Z-axis actual acceleration;

a_ixtest＝max(f_iaτ(t))max(|x_iτt(f_θ(t))|)+max(f_ian(t))max(|x_int(f_θ(t))|)+max(|x_ia(t)|)

＝r_iα_now2maxx_iτtmax+r_iω_now2nax ²x_intmax+|u_ix|a_now2max；

a_iytest＝max(f_iaτ(t))max(|y_iτt(f_θ(t))|)+max(f_ian(t))max(|y_int(f_θ(t))|)+max(|y_ia(t)|)

＝r_iα_now2maxy_iτtmax+r_iω_now2max ²y_intmax+|u_iy|a_now2max；

a_iztest＝max(f_iaτ(t))max(|z_iτt(f_θ(t))|)+max(f_ian(t))max(|z_int(f_θ(t))|)+max(|z_ia(t)|)

＝r_iα_now2maxz_iτtmax+r_iω_now2max ²z_intmax+|u_iz|a_now2max；

if a_ixtest≤a_ixmaxIs provided with

Otherwise

If a_iytest≤a_iymaxIs provided with

Otherwise

If a_iztest≤a_izmaxIs provided with

Otherwise

Acceleration adjustment coefficient of ith positioner

If it is

And is

The rotational angular velocity of the rigid body is reduced, the centripetal acceleration is reduced, and the adjustment is performed

Determining the maximum value of the speed regulating coefficient in the attitude regulating process of the airplane

Solving the maximum value of the acceleration regulating coefficient in the process of adjusting the attitude of the airplane

And adjusting the speed and the acceleration of rigid translation and fixed shaft rotation according to the speed and the acceleration adjusting coefficient in the attitude adjusting process of the airplane, as follows:

maximum speed of rigid translation and maximum angular speed of rigid fixed shaft rotation:

maximum acceleration of rigid translation and maximum angular acceleration of rigid fixed axis rotation:

rigid translation acceleration and rigid fixed axis rotation acceleration：j_l＝j_l2，j_θ＝j_θ2。

11. The three-coordinate positioner pose adjusting operation and control method according to claim 1, wherein the planning and the trimming of the rigid body compound motion speed are performed again, and specifically the method comprises the following steps:

and (3) re-planning the speed of the rigid body translation as follows:

according to the maximum velocity v of rigid translation_maxMaximum acceleration a_maxJerk j_lVelocity v at the beginning and end of the set of postures_s＝v_eAcceleration a at the beginning and end of the set-up_s＝a_eWhen the rigid translation movement quantity S is equal to 0, the ring-type acceleration/deceleration rigid translation speed planning calculation is carried out, and the actual maximum speed v of the rigid translation is calculated_newmaxAnd the actual maximum acceleration a_newmax；

Recalculating translation run time T_sEach stage time T_1s，T_2s，T_3s，T_4s，T_5s，T_6s，T_7s(ii) a Wherein T is_1s＝T_7s＝T_5s＝T_3s，T_2s＝T_6s；

The speed planning time is rounded as follows:

and (3) re-planning the speed of the rigid body dead axle rotation, as follows:

maximum angular velocity omega based on rigid body dead axle rotation_maxMaximum angular acceleration α_maxAngular jerk j_θSpeed omega of starting and ending of posture adjustment_s＝ω_e0, acceleration α for start and end of stance turn_s＝α_eAngle increment theta of rigid body fixed axis rotation_ePerforming bell-shaped acceleration/deceleration planning calculation on the rotation speed of the rigid body fixed shaft to calculate the actual maximum angular speed omega of the rigid body fixed shaft rotation_newmaxAnd maximum angular acceleration α_newmax；

Recalculating rigid body dead axle rotation time T_θEach stage having a time T_1θ，T_2θ，T_3θ，T_4θ，T_5θ，T_6θ，T_7θ(ii) a Wherein T is_1θ＝T_7θ＝T_5θ＝T_3θ，T_2θ＝T_6θ；

The speed planning time is rounded as follows:

the rigid body translation and the rigid body fixed shaft rotation are synchronously carried out, and the translation time and the fixed shaft rotation time are adjusted to be the same time as follows:

T_new＝T_news＝T_newθ＝max(T_news，T_newθ)

wherein the time of each stage is proportionally adjusted as follows:

T_1s＝T_7s＝T_5s＝T_3s＝T_1sK_news，T_2s＝T_6s＝T_2sK_news，T_4s＝T_4sK_news

T_1θ＝T_7θ＝T_5θ＝T_3θ＝T_1θK_newθ，T_2θ＝T_6θ＝T_2θK_newθ，T_4θ＝T_4θK_newθ

in the formula (I), the compound is shown in the specification,

adjusting the proportion of rigid translation time;

rigid body fixed axis rotation time adjustment proportion;

adjusting the actual speed, the actual acceleration and the actual jerk as follows:

rigid translationAdjusting the actual maximum speed and the actual angular speed of the rotation of the rigid body fixed shaft:

adjusting the actual maximum acceleration of rigid translation and the actual angular acceleration of rigid fixed shaft rotation:

the actual jerk of rigid translation and the actual jerk of rigid fixed axis rotation are adjusted:

obtaining an adjusted speed plan:

rigid translation: s ═ f_s3(t)；v＝f_v3(t)；a＝f_a3(T) where T ∈ [0, T_new]；s∈[0，S]；

Rigid body dead axle rotates: theta ═ f_θ3(t)；ω＝f_ω3(t)；α＝f_α3(T) where T ∈ [0, T_new]；θ∈[0，θ_e]。

12. A three-coordinate locator attitude-adjusting operation and control method according to any one of claims 1 to 11, wherein the interpolation calculation is performed according to a time division method according to a new velocity plan of rigid body compound motion, and a three-axis command coordinate position of each locator is output, specifically comprising:

according to the new speed plan of rigid body composite motion, rigid body fixed axis rotation interpolation and rigid body translation interpolation are respectively carried out according to a time division method, the position of each locator supporting point in a global coordinate system is calculated after synchronous superposition, then the locator supporting point is converted into a local coordinate system of each locator, and the three-axis instruction coordinate position of each locator is output.

13. A three-coordinate locator attitude-adjusting operation and control method according to claim 12, wherein the rigid body fixed-axis rotation interpolation and the rigid body translation interpolation are respectively performed according to a time division method according to a new speed plan of rigid body compound motion, the position of each locator support point in a global coordinate system is calculated after synchronous superposition, then the position is converted into a local coordinate system of each locator, and a three-axis instruction coordinate position of each locator is output, specifically comprising:

rigid body local coordinate system O_lPosition in global coordinate system before origin attitude adjustment of xyz

Local coordinate system O of positioner_iLocation of origin of xyz in global coordinates

The position of the ith locator support point before attitude adjustment, including the position in the global coordinate system

In a rigid body local coordinate system O_lPosition in xyz

And in the localizer local coordinate system O_iPosition in xyz

The position of the ith locator support point after attitude adjustment is included in the rigid body local coordinate system O_lPosition in xyz

Position in global coordinates

And in the localizer local coordinate system O_iPosition in xyz

Calculating the interpolation position of the ith positioner supporting point attitude adjusting process as follows:

the rotation angle function of the rigid body fixed axis rotation is as follows:

θ＝f_θ3(t)；ω＝f_ω3(t)；α＝f_α3(t)；t∈[0，T_new]；θ∈[0，θ_e]；

rigid body rotation axis in rigid body local coordinate system O_lVector of xyz

The function of the amount of movement of the rigid translation is:

s＝f_s3(t)；v＝f_v3(t)；a＝f_a3(t)；t∈[0，T_new]；s∈[0，S]；

rigid translation direction vector

Solving the i-th locator supporting point in the local coordinate system O of the locator_ixyz location function

The following formula:

in the formula (I), the compound is shown in the specification,

for the position vector of the ith localizer support point in the global coordinate system, the following equation is used:

in the formula (I), the compound is shown in the specification,

is the position of the origin of the rigid body local coordinate system in the global coordinate system in the pose adjusting process,

when the rotation and translation of the rigid body fixed shaft are synchronously superposed, the support point of the ith positioner is in the local coordinate system O of the positioner_iThe position calculation formula for xyz is as follows:

in the formula (I), the compound is shown in the specification,

s_θ＝sin(θ)，c_θ＝cos(θ)，v_θ＝1-cos(θ)，θ＝f_θ3(t)，t∈[0，T_new]，θ∈[0，θ_e]；

the attitude adjusting process of the ith positioner supporting point is carried out in a local coordinate system O of the positioner_iThe position component of xyz is of the form:

in the formula (I), the compound is shown in the specification,

in order to interpolate the output X-axis command coordinate position,

in order to interpolate the output Y-axis command coordinate position,

the Z-axis command coordinate position is output for interpolation.

14. A three-coordinate positioner attitude adjusting operation and control method according to any one of claims 1 to 11, wherein the performing spatial compensation according to the three-axis commanded coordinate position and the spatial error data of each positioner and outputting the actual position of each axis driver specifically comprises:

and performing reverse clearance compensation and pitch error compensation of each axis according to the three-axis instruction coordinate position of each positioner, performing three-axis compensation processing according to the spatial error data, and outputting the actual position of each axis driver.

15. The method as claimed in claim 14, wherein the step of performing the reverse clearance compensation and the pitch error compensation of each axis according to the three-axis command coordinate position of each positioner, and performing the three-axis compensation processing according to the spatial error data to output the actual position of each axis driver comprises:

reading X, Y, Z shaft instruction coordinate position of each locator, performing reverse clearance compensation and pitch error compensation of each shaft, if the locator is at a single-shaft measuring point, directly reading reverse clearance compensation data and pitch error compensation data, if the locator is not at the single-shaft measuring point, performing linear interpolation according to error values of two end points of the single-shaft measuring interval, compensating the single-shaft pitch error of the single-shaft measuring interval, and adding a reverse clearance value;

reading X, Y, Z axis instruction coordinate position of each locator, performing spatial error compensation, directly reading data for compensation if the position is on the grid vertex of the spatial error measurement, reading eight vertex error data of a grid for spatial linear interpolation if the position is not on the grid vertex of the spatial error measurement in a certain grid, and solving the spatial error fitted by the eight vertices of the grid;

and after the reverse clearance compensation, the pitch error compensation and the space error compensation of each shaft are carried out, the actual position of each shaft driver is output.

16. A three-coordinate locator posture adjusting, transporting and controlling system is applied to airplane digital assembly and is characterized by comprising:

the first resolving module is used for establishing a local coordinate system of a rigid body of a large part of the airplane and a local coordinate system of a positioner, resolving the translational movement amount and the translational direction vector of the rigid body, and the rotation angle and the rotation axis vector of the rigid body in fixed-axis rotation according to the attitude adjusting instruction;

the second resolving module is used for resolving the circle center and the radius of a space circular arc track of each locator in the rigid body fixed axis rotation process according to the rotating shaft vector of the rigid body fixed axis rotation, the rigid body rotating center position and the current position of each locator supporting point as the mass point on the rigid body, and resolving the corresponding circular arc angular speed range and the rigid body angular speed range according to the allowable error of each circular arc track;

the first planning and finishing module is used for planning and finishing the rigid body composite motion speed according to the rigid body angular speed range, and the rotation angular speed range, the angular acceleration range, the translation speed range and the translation acceleration range which are allowed by the attitude adjustment of the large airplane component;

the adjusting module is used for calculating the maximum speed and the maximum acceleration of each locator driving shaft by taking each locator supporting point as a mass point on the rigid body according to the velocity plan of the rigid body composite motion, and adjusting the velocity and the acceleration of the rigid body composite motion according to the velocity range and the acceleration range allowed by each locator driving shaft;

the second planning and trimming module is used for re-planning and trimming the rigid body composite motion speed after adjusting the speed and the acceleration of the rigid body composite motion;

the interpolation calculation module is used for carrying out interpolation calculation according to a time division method according to a new speed plan of rigid body compound motion and outputting a three-axis instruction coordinate position of each locator;

and the compensation module is used for carrying out space compensation according to the three-axis instruction coordinate position and the space error data of each locator and outputting the actual position of each axis driver.

17. A pose controller comprising a processor and a memory for storing a program executable by the processor, wherein the processor implements the pose control method of the three-coordinate positioner according to any one of claims 1 to 15 when executing the program stored in the memory.

18. A storage medium storing a program, wherein the program, when executed by a processor, implements the three coordinate positioner pose controlling method according to any one of claims 1 to 15.

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