CN116449772A - Multi-axis cooperative motion control method, device, equipment and medium - Google Patents
Multi-axis cooperative motion control method, device, equipment and medium Download PDFInfo
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Abstract
The application discloses a multi-axis cooperative motion control method, a device, equipment and a medium, wherein the method comprises the following steps: constructing an assembly coordinate system to obtain the rotation translation amount of the aircraft component from the actual coordinate to the theoretical coordinate; according to the rotation translation amount, obtaining pose movement amount of the airplane component after rotation translation; constructing an equipment coordinate system corresponding to each three-coordinate numerical control positioner, and obtaining the displacement of each three-coordinate numerical control positioner under the corresponding equipment coordinate system according to the pose movement amount; constructing a virtual axis and a real axis in the motion controller, wherein the virtual axis is used as a guide axis, and the real axis is used as a following axis; according to the displacement, establishing a synchronous relation between the virtual axis and the real axis; according to the synchronous relation, the coordinated motion control of each three-coordinate numerical control positioner is performed, and the method has the advantages of being good in coordination and capable of effectively maintaining the rigid state among the ball sockets of each three-coordinate numerical control positioner.
Description
Technical Field
The application relates to the technical field of aircraft assembly pose control, in particular to a multi-axis cooperative motion control method, a device, equipment and a medium.
Background
In recent years, with the increasing level of aeronautical manufacturing technology, aircraft assembly technology is increasingly required. Aircraft assembly is an indispensable link of the whole fuselage manufacturing process, and relates to the fields of disciplines with great technical difficulty. In the aircraft assembly and manufacturing process, the whole aircraft is generally divided into a plurality of assembly parts, and the assembly mode adopts front assembly and then final assembly, wherein the attitude adjustment and alignment of large aircraft parts (large-size and weak-rigidity parts) are two very important technological processes, and the safety and efficiency of the whole aircraft assembly process are affected.
In the process of adjusting and closing the gesture of the large part, a plurality of three-coordinate numerical control positioners are usually used for supporting and positioning the large part for adjusting the gesture, and firstly, the large part and the three-coordinate numerical control positioners are in soft connection through a ball head and a ball socket; secondly, respectively planning tracks for the motions of the X axis, the Y axis and the Z axis on each three-coordinate numerical control positioner by an industrial control computer; finally, the servo system is controlled to cooperatively move, so that the posture adjustment and the involution assembly of the large parts are realized, and the difficulty in the whole process is how to maintain the rigid state among the ball sockets of the three-coordinate numerical control positioners.
Disclosure of Invention
The main purpose of the application is to provide a multi-axis cooperative motion control method, a device, equipment and a medium, and aims to solve the technical problem that the existing method for supporting and positioning a large part through a plurality of three-coordinate numerical control positioners is difficult to maintain the rigid state among ball sockets of the three-coordinate numerical control positioners.
In order to achieve the above object, the present application provides a multi-axis cooperative motion control method, including the following steps:
constructing an assembly coordinate system, and obtaining the rotation translation amount of the aircraft component from an actual coordinate to a theoretical coordinate based on the assembly coordinate system;
obtaining pose movement amount of the airplane component after rotation and translation according to the rotation and translation amount;
constructing an equipment coordinate system corresponding to each three-coordinate numerical control positioner, and obtaining the displacement of each three-coordinate numerical control positioner under the corresponding equipment coordinate system according to the pose movement amount; the three-coordinate numerical control positioner is provided with a ball socket which is used for butt joint of the ball heads on the aircraft parts;
constructing a virtual axis and a real axis in a motion controller, wherein the virtual axis is used as a guide axis, and the real axis is used as a following axis; the motion controller is used for controlling each three-coordinate numerical control positioner to synchronously move;
according to the displacement, establishing a synchronous relation between the virtual axis and the real axis;
and according to the synchronous relation, performing cooperative motion control of each three-coordinate numerical control positioner.
Optionally, the constructing an assembly coordinate system, based on which a rotational translation of the aircraft component from the actual coordinates to the theoretical coordinates is obtained, includes:
constructing an assembly coordinate system by using the assembly center position of the aircraft component;
based on the assembly coordinate system and according to theoretical values and actual measured values of the surface feature points of the aircraft component, obtaining the rotation translation quantity of the aircraft component from the actual coordinates to the theoretical coordinates, and marking the rotation translation quantity as [ x, y, z, alpha, beta, gamma ]; wherein x is the translation amount of the aircraft component in the x-axis direction, y is the translation amount of the aircraft component in the y-axis direction, z is the translation amount of the aircraft component in the z-axis direction, α is the rotation amount of the aircraft component around the x-axis, β is the rotation amount of the aircraft component around the y-axis, and γ is the rotation amount of the aircraft component around the z-axis.
Optionally, the obtaining the pose moving amount of the aircraft component after the rotation and translation according to the rotation and translation amount includes:
constructing a coordinate axis track function X (t) of the three-coordinate numerical control positioner, wherein the expression is as follows:
wherein a is 5 、a 4 、a 3 Are all coefficients, and a 5 =6/t e 5 ，a 4 =15/t e 4 ，a 3 =10/t e 3 ，t e For a set total time constant C, X te =[0,0,0,0,0,0,]，X 0 The initial pose parameters of the aircraft component are defined, and t is an independent variable;
decomposing the coordinate axis track function X (t) of each three-coordinate numerical control positioner into N interpolation points according to the rotation translation quantity [ X, y, z, alpha, beta, gamma ] and the process requirement, wherein the N interpolation points are as follows:
wherein t' is an interpolation period, and C is a set total time constant;
and the following functions are obtained:
wherein n is each interpolation point corresponding to the split, and X (X), X (y), X (z), X (alpha), X (beta) and X (gamma) are pose movement amounts of the aircraft component after rotation and translation.
Optionally, the constructing an equipment coordinate system corresponding to each three-coordinate numerical control positioner, and obtaining the displacement of each three-coordinate numerical control positioner under the corresponding equipment coordinate system according to the pose movement amount includes:
constructing an equipment coordinate system corresponding to each three-coordinate numerical control positioner;
solving a rigid transformation conversion relation M of the movement amount of each three-coordinate numerical control positioner in the equipment coordinate system, wherein the expression is as follows:
wherein alpha is t Represents the rotation angle of the central point of each ball socket along the X axis of the assembly coordinate system at the time t, beta t Represents the rotation angle of the center point of each ball socket along the Y axis of the assembly coordinate system at the time t, and gamma t The rotation angle of the center point of each ball socket along the Z axis of the assembly coordinate system at the time t is shown;
and performing kinematic inverse solution on the movement rigid transformation conversion relation M to obtain the following functional relation:
wherein f (x)n For the displacement quantity corresponding to the nth point of the three-coordinate numerical control positioner in the X direction under the equipment coordinate system, f (y)n For the displacement quantity corresponding to the nth point of the three-coordinate numerical control positioner in the Y direction under the equipment coordinate system, f (zn) Alpha is the displacement corresponding to the nth point of the three-coordinate numerical control positioner in the Y direction under the equipment coordinate system n Represents the rotation angle of the center point of each ball socket along the X axis of the corresponding assembly coordinate system at the nth point, beta n For the angle of rotation of the center point of each ball socket along the Y axis of the corresponding assembly coordinate system at the nth point, gamma n The angle of rotation of the center point of each ball socket along the Z axis of the corresponding assembly coordinate system is the nth point.
Optionally, the establishing a synchronization relationship between the virtual axis and the real axis according to the displacement amount includes:
according to the displacement, establishing a relation between the position of the real shaft and time so as to reconstruct a movement function of each real shaft;
comparing and calculating the movement difference values of the starting points and the ending points of all the real axes to obtain a maximum movement Q, equally dividing the movement Q according to the number of the real axis dividing points, and establishing the relationship between the position of the virtual axis and time to reconstruct the movement function of the virtual axis;
and according to the movement function of the real axis and the movement function of the virtual axis, the real axis and the virtual axis are associated to establish a synchronous relation between the virtual axis and the real axis.
Optionally, the expression of the movement function of the real axis is as follows:
wherein i is the program scanning time, YI out Yi is the current position of each real shaft n For the position of each real axis, yi, at the nth interpolation point of each real axis (n+1) For each real axis at the n+1th interpolation point, where Yi n 、Yi (n+1) From f (x)n 、f (y)n 、f (zn) Calculating to obtain; xi (Xi) n For each real axis at the nth interpolation point time, xi (n+1) Xi for the time of each real axis at the n+1th interpolation point in For the current time of each real axis operation.
Optionally, the expression of the movement function of the virtual axis is as follows:
in the formula YMAster_i out YMASTER_i is the current position of the virtual axis n YMASTER_i is the position of the virtual axis at the nth interpolation point (n+1) XMASTER u is the position of the virtual axis at the n+1th interpolation pointi n XMASTER_i for each virtual axis at the nth interpolation point (n+1) XMASTER_i is the time of the virtual axis at the n+1th interpolation point in For the current time of each real axis operation.
To achieve the above object, the present application further provides a multi-axis cooperative motion control apparatus, including:
the first calculation module is used for constructing an assembly coordinate system, and acquiring the rotation translation amount of the aircraft component from the actual coordinate to the theoretical coordinate based on the assembly coordinate system;
the second calculation module is used for obtaining the pose movement amount of the airplane component after the rotation and translation according to the rotation and translation amount;
the third calculation module is used for constructing an equipment coordinate system corresponding to each three-coordinate numerical control positioner and obtaining the displacement of each three-coordinate numerical control positioner under the corresponding equipment coordinate system according to the pose movement amount; the three-coordinate numerical control positioner is provided with a ball socket which is used for butt joint of the ball heads on the aircraft parts;
the first construction module is used for constructing a virtual axis and a real axis in the motion controller, wherein the virtual axis is used as a guide axis, and the real axis is used as a following axis; the motion controller is used for controlling each three-coordinate numerical control positioner to synchronously move;
the second construction module is used for establishing a synchronous relation between the virtual axis and the real axis according to the displacement;
and the cooperative control module is used for performing cooperative motion control of each three-coordinate numerical control positioner according to the synchronous relationship.
To achieve the above object, the present application further provides a computer device, which includes a memory and a processor, where the memory stores a computer program, and the processor executes the computer program to implement the above method.
To achieve the above object, the present application further provides a computer readable storage medium, on which a computer program is stored, and a processor executes the computer program to implement the above method.
The beneficial effects that this application can realize are as follows:
according to the method, the assembly coordinate system and the equipment coordinate system are respectively constructed, the rotation translation quantity of the aircraft component from the actual coordinate to the theoretical coordinate is calculated and obtained according to the assembly coordinate system, so that the pose movement quantity of the aircraft component after rotation translation can be calculated and obtained, then the pose movement quantity is combined with the equipment coordinate system, the displacement quantity of each three-coordinate numerical control positioner under the corresponding equipment coordinate system can be calculated and obtained, the synchronous relation between the virtual axis and the real axis is established according to the displacement quantity, the synchronism of each axis movement is ensured, and finally the cooperative movement control of each three-coordinate numerical control positioner can be realized according to the synchronous relation, so that the track planning of multi-axis cooperative movement is realized, the rigid state between ball sockets of each three-coordinate numerical control positioner can be effectively maintained in the same scanning period of a movement controller, the aircraft component is prevented from being pulled during movement of each axis, and the functions of low stress and accurate assembly of the aircraft component are well realized.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
Fig. 1 is a schematic flow chart of a multi-axis cooperative motion control method in an embodiment of the present application;
FIG. 2 is a schematic structural view of an aircraft component with a ball mounted thereto in an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a three-coordinate numerical control positioner according to an embodiment of the present application;
FIG. 4 is a schematic diagram of the connection of hardware components involved in an embodiment of the present application;
FIG. 5 is a schematic representation of a simulation of alignment of aircraft components in an embodiment of the present application;
fig. 6 is a schematic diagram of correspondence between a device coordinate system and an assembly coordinate system in an embodiment of the present application.
Reference numerals:
the device comprises a 110-aircraft component, a 120-ball head, a 130-three-coordinate numerical control positioner, a 131-X axis moving mechanism, a 132-Y axis moving mechanism, a 133-Z axis moving mechanism, a 134-motor, a 135-ball socket, a 140-industrial computer, a 150-motion controller, a 160-servo system, a 170-assembly coordinate system and a 180-equipment coordinate system.
The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are merely used to explain the relative positional relationship between the components, the movement condition, and the like in a specific posture, and if the specific posture is changed, the directional indicator is correspondingly changed.
In the present application, unless explicitly specified and limited otherwise, the terms "coupled," "secured," and the like are to be construed broadly, and for example, "secured" may be either permanently attached or removably attached, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.
Example 1
Referring to fig. 1-6, the present embodiment provides a multi-axis cooperative motion control method, which includes the following steps:
step S100: constructing an assembly coordinate system 170, and obtaining the rotation translation amount of the aircraft component 110 from the actual coordinate to the theoretical coordinate based on the assembly coordinate system 170;
step S200: obtaining a pose movement amount of the aircraft component 110 after rotation and translation according to the rotation and translation amount;
step S300: constructing an equipment coordinate system 180 corresponding to each three-coordinate numerical control positioner 130, and obtaining the displacement of each three-coordinate numerical control positioner 130 under the corresponding equipment coordinate system 180 according to the pose movement amount; wherein, the three-coordinate numerical control positioner 130 is provided with a ball socket 135, and the ball socket 135 is used for docking the ball head 120 on the aircraft component 110;
step S400: constructing a virtual axis and a real axis in the motion controller 150, wherein the virtual axis is used as a guide axis, and the real axis is used as a following axis; wherein, the motion controller 150 is used for controlling each three-coordinate numerical control positioner 130 to synchronously move;
step S500: according to the displacement, establishing a synchronous relation between the virtual axis and the real axis;
step S600: and according to the synchronous relation, performing cooperative motion control of each three-coordinate numerical control positioner 130.
In this embodiment, by respectively constructing the assembly coordinate system 170 and the device coordinate system 180, firstly, calculating and obtaining the rotation translation amount of the aircraft component 110 from the actual coordinate to the theoretical coordinate according to the assembly coordinate system 170, so as to calculate and obtain the pose movement amount of the aircraft component 110 after rotation translation, then, combining the pose movement amount with the device coordinate system 180, calculating and obtaining the displacement amount of each three-coordinate numerical control positioner 130 under the corresponding device coordinate system 180, establishing the synchronous relationship between the virtual axis and the real axis according to the displacement amount, ensuring the synchronism of each axis movement, and finally, realizing the cooperative movement control of each three-coordinate numerical control positioner 130 according to the synchronous relationship, thereby realizing the track planning of multi-axis cooperative movement, ensuring that the rigid state between the ball sockets 135 of each three-coordinate numerical control positioner 130 can be effectively maintained in the same scanning period of the movement controller 150, avoiding the pulling of the aircraft component 110 during each axis movement, and well realizing the low-stress and accurate assembly function of the aircraft component 110.
It should be noted that, the main structure of the three-coordinate numerically-controlled positioner 130 includes an X-axis moving mechanism 131, a Y-axis moving mechanism 132, a Z-axis moving mechanism 133, and a motor 134 for driving each moving mechanism to operate, a ram is disposed on the Z-axis moving mechanism 133, a positioning seat is disposed on one side of the ram, a ball socket 135 matched with the ball head 120 on the aircraft component 110 is disposed on the positioning seat, a plurality of ball heads 120 are generally disposed on the aircraft component 110, one ball head 120 is configured to dock with one three-coordinate numerically-controlled positioner 130, and three-axis movement of the positioning seat can be realized by the mutual matching of the X-axis moving mechanism 131, the Y-axis moving mechanism 132 and the Z-axis moving mechanism 133, the three-coordinate numerically-controlled positioner 130 is in the prior art, and the specific structure thereof is not described here; the hardware part related to this embodiment includes an industrial computer 140, a motion controller 150, a servo system 160 and a motor 134 which are electrically connected in sequence, and in the process of adjusting and matching the attitude of the aircraft component 110, a plurality of three-coordinate numerical control locators 130 are generally used for supporting and positioning the aircraft component 110, and firstly, the aircraft component 110 and the three-coordinate numerical control locators 130 are in soft connection through a ball head 120 and a ball socket 135; secondly, respectively planning tracks for the X-axis, Y-axis and Z-axis movements of each three-coordinate numerical control positioner 130 through an industrial control computer 140; finally, the control servo 160 activates the corresponding motor 134 to perform a coordinated motion, thereby achieving an alignment assembly of the large components.
As an alternative embodiment, the constructing the assembly coordinate system 170, based on the assembly coordinate system 170, obtains a rotational translation amount of the aircraft component 110 from an actual coordinate to a theoretical coordinate, including:
constructing an assembly coordinate system 170 with an assembly center position of the aircraft component 110;
based on the assembly coordinate system 170, and according to the theoretical value and the measured value of the surface feature point of the aircraft component 110, the rotational translation amount of the aircraft component 110 from the actual coordinate to the theoretical coordinate is obtained, and is marked as [ x, y, z, alpha, beta, gamma ]; where x is the amount of translation of the aircraft component 110 in the x-axis direction, y is the amount of translation of the aircraft component 110 in the y-axis direction, z is the amount of translation of the aircraft component 110 in the z-axis direction, α is the amount of rotation of the aircraft component 110 about the x-axis, β is the amount of rotation of the aircraft component 110 about the y-axis, and γ is the amount of rotation of the aircraft component 110 about the z-axis.
In this embodiment, in the assembly coordinate system 170, the rotational translation amount (i.e., pose six-tuple) of the aircraft component 110 from the actual coordinate to the theoretical coordinate can be solved based on the surface feature points of the aircraft component 110, and when the rotational translation amount of the aircraft component 110 from the actual coordinate to the theoretical coordinate can be solved, the rotational translation amount of the aircraft component 110 from the actual coordinate to the theoretical coordinate can be solved by performing iterative optimization using a Particle Swarm Optimization (PSO) algorithm or a Weighted Singular Value Decomposition (WSVD) algorithm by using Singular Value Decomposition (SVD) decomposition based on the theoretical value and the actual measured value of the surface feature points of the aircraft component 110 if the reference points are out of tolerance.
It should be noted that, the Singular Value Decomposition (SVD) is an algorithm widely applied in the field of machine learning, and may be used for feature decomposition in a dimension reduction algorithm, that is, performing dimension reduction on data; the Particle Swarm Optimization (PSO) is a random search algorithm based on swarm cooperation developed by simulating the foraging behavior of the bird swarm, can only obtain a globally optimal approximate solution, and can not obtain the globally optimal solution, and the algorithm can be applied to global path search, network routing planning, searching for the most significant point of complex functions and the like; WSVD is short for wavelet singular value decomposition, which is to perform singular value decomposition on wavelet subband matrix based on wavelet transformation, the singular value decomposition can be used as a tool for simplifying matrix, and the singular value decomposition is very sensitive to the embedding of secret information. Compared with the way of directly extracting the features by using wavelet coefficients, the method for extracting the features by using singular value decomposition can greatly reduce the computational complexity and the feature dimension; the above algorithms are all prior art and are not described here in detail.
As an alternative embodiment, the obtaining the pose movement amount of the aircraft component 110 after the rotational translation according to the rotational translation amount includes:
the coordinate axis trajectory function X (t) of the three-coordinate numerical control positioner 130 is constructed as follows:
wherein a is 5 、a 4 、a 3 Are all coefficients, and a 5 =6/t e 5 ，a 4 =15/t e 4 ，a 3 =10/t e 3 ，t e For a set total time constant C, X te =[0,0,0,0,0,0,]，X 0 T is an argument for an initial pose parameter of the aircraft component 110;
the coordinate axis trajectory function X (t) of each of the three-coordinate numerical control locators 130 is decomposed into N interpolation points according to the rotation translation amounts [ X, y, z, α, β, γ ] and the process requirements, and then:
wherein t' is an interpolation period, and C is a set total time constant;
and the following functions are obtained:
where n is the interpolation point corresponding to the split, and X (X), X (y), X (z), X (α), X (β), and X (γ) are the pose movement amounts of the aircraft component 110 after rotation and translation.
In this embodiment, by constructing the coordinate axis trajectory function X (t) of the three-coordinate nc locator 130, then decomposing the coordinate axis trajectory function X (t) into N interpolation points according to the rotation translation amount and the process requirement, obtaining an interpolation period t ', and substituting the interpolation period t' into the coordinate axis trajectory function X (t), the pose movement amount of the aircraft component 110 after rotation translation can be obtained, and in this embodiment, the trajectory planning is performed by using a quintic polynomial curve, so that the rigid state between the ball sockets 135 of each three-coordinate nc locator 130 in the same scanning period of the motion controller 150 is ensured.
As an optional implementation manner, the constructing the device coordinate system 180 corresponding to each three-coordinate nc locator 130, and according to the pose movement amount, obtaining the displacement amount of each three-coordinate nc locator 130 under the corresponding device coordinate system 180 includes:
constructing an equipment coordinate system 180 corresponding to each three-coordinate numerical control positioner 130;
solving a rigid transformation conversion relation M of the movement amount of each three-coordinate numerical control positioner 130 under the equipment coordinate system 180, wherein the expression is as follows:
wherein alpha is t Represents the angle of rotation of the central point of each ball socket 135 along the X-axis of the assembly coordinate system at time t, beta t Represents the angle of rotation of the center point of each ball socket 135 along the Y-axis of the assembly coordinate system at time t, gamma t The angle at which the center point of each ball socket 135 rotates along the Z axis of the assembly coordinate system at time t;
and performing kinematic inverse solution on the movement rigid transformation conversion relation M to obtain the following functional relation:
wherein f (x)n For the displacement amount corresponding to the nth point of the three-coordinate numerical control positioner 130 in the X direction under the equipment coordinate system 180, f (y)n For the displacement amount corresponding to the nth point of the three-coordinate numerical control positioner 130 in the Y direction under the equipment coordinate system 180, f (zn) Alpha is the displacement corresponding to the nth point of the three-coordinate numerical control positioner 130 in the Y direction under the equipment coordinate system 180 n Represents the angle of rotation of the center point of each ball socket 135 along the X-axis of the corresponding assembly coordinate system at the nth point, beta n For the angle of rotation of the center point of each ball socket 135 along the Y-axis of the corresponding assembly coordinate system at the nth point, gamma n The center point of each ball socket 135 is rotated by an angle along the Z axis of the corresponding assembly coordinate system at the nth point.
In the present embodiment, the displacement of each three-coordinate numerical control positioner 130 in the corresponding device coordinate system 180, that is, f, can be obtained by solving the rigid transformation conversion relation M of the movement amount of each three-coordinate numerical control positioner 130 in the device coordinate system 180 and performing the inverse kinematics of the rigid transformation conversion relation M of the movement amount (x)n 、f (y)n 、f (zn) Providing a precondition for the subsequent realization of a multi-axis cooperative motion.
As an optional implementation manner, the establishing a synchronization relationship between the virtual axis and the real axis according to the displacement amount includes:
according to the displacement, establishing a relation between the position of the real shaft and time so as to reconstruct a movement function of each real shaft;
comparing and calculating the movement difference values of the starting points and the ending points of all the real axes to obtain a maximum movement Q, equally dividing the movement Q according to the number of the real axis dividing points, and establishing the relationship between the position of the virtual axis and time to reconstruct the movement function of the virtual axis;
and according to the movement function of the real axis and the movement function of the virtual axis, the real axis and the virtual axis are associated to establish a synchronous relation between the virtual axis and the real axis.
In this embodiment, the real axis and the virtual axis can be effectively associated by reconstructing the movement functions of the real axis and the virtual axis respectively, so as to realize the establishment of the synchronous relationship between the virtual axis and the real axis.
It should be noted that, here, the real axis and the virtual axis may be associated by using the electronic cam function or the following mode function of the motion controller 150, so as to establish a synchronous relationship between the virtual axis and the real axis, and start and stop the virtual axis according to an absolute positioning manner, and at this time, the following axis (real axis) will follow the guiding axis (virtual axis) to perform an equal-period multi-axis synchronous motion, so as to implement the ultra-large space multi-axis cooperative motion control function.
As an alternative embodiment, the expression of the real axis movement function is as follows:
wherein i is the program scanning time, YI out Yi is the current position of each real shaft n For the position of each real axis, yi, at the nth interpolation point of each real axis (n+1) For each real axis at the n+1th interpolation point, where Yi n 、Yi (n+1) From f (x)n 、f (y)n 、f (zn) Calculating to obtain; xi (Xi) n For each real axis at the nth interpolation point time, xi (n+1) Xi for the time of each real axis at the n+1th interpolation point in For the current time of each real axis operation.
As an alternative embodiment, the expression of the movement function of the virtual axis is as follows:
in the formula YMAster_i out YMASTER_i is the current position of the virtual axis n YMASTER_i is the position of the virtual axis at the nth interpolation point (n+1) XMASTER_i is the position of the virtual axis at the n+1th interpolation point n XMASTER_i for each virtual axis at the nth interpolation point (n+1) XMASTER_i is the time of the virtual axis at the n+1th interpolation point in For the current time of each real axis operation.
Example 2
As shown in fig. 1 to 6, based on the same inventive concept as the previous embodiment, this embodiment provides a multi-axis cooperative motion control apparatus, including:
a first calculation module for constructing an assembly coordinate system 170, based on which assembly coordinate system 170 the amount of rotational translation of the aircraft component 110 from the actual coordinates to the theoretical coordinates is obtained;
a second calculation module, configured to obtain a pose movement amount of the aircraft component 110 after rotation and translation according to the rotation and translation amount;
a third calculation module, configured to construct an equipment coordinate system 180 corresponding to each three-coordinate nc locator 130, and obtain a displacement of each three-coordinate nc locator 130 in the corresponding equipment coordinate system 180 according to the pose movement amount; wherein, the three-coordinate numerical control positioner 130 is provided with a ball socket 135, and the ball socket 135 is used for docking the ball head 120 on the aircraft component 110;
a first construction module, configured to construct a virtual axis and a real axis in the motion controller 150, where the virtual axis is used as a guiding axis and the real axis is used as a following axis; wherein, the motion controller 150 is used for controlling each three-coordinate numerical control positioner 130 to synchronously move;
the second construction module is used for establishing a synchronous relation between the virtual axis and the real axis according to the displacement;
and the cooperative control module is used for performing cooperative motion control of each three-coordinate numerical control positioner 130 according to the synchronous relationship.
The explanation and examples of each module in the apparatus of this embodiment may refer to the method of the foregoing embodiment, and will not be repeated here.
Example 3
Based on the same inventive concept as the previous embodiments, this embodiment provides a computer device, which includes a memory and a processor, where the memory stores a computer program, and the processor executes the computer program to implement the above method.
Example 4
Based on the same inventive concept as the previous embodiments, this embodiment provides a computer readable storage medium, on which a computer program is stored, and a processor executes the computer program to implement the above method.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.
Claims (10)
1. A multi-axis cooperative motion control method, characterized by comprising the steps of:
constructing an assembly coordinate system, and obtaining the rotation translation amount of the aircraft component from an actual coordinate to a theoretical coordinate based on the assembly coordinate system;
obtaining pose movement amount of the airplane component after rotation and translation according to the rotation and translation amount;
constructing an equipment coordinate system corresponding to each three-coordinate numerical control positioner, and obtaining the displacement of each three-coordinate numerical control positioner under the corresponding equipment coordinate system according to the pose movement amount; the three-coordinate numerical control positioner is provided with a ball socket which is used for butt joint of the ball heads on the aircraft parts;
constructing a virtual axis and a real axis in a motion controller, wherein the virtual axis is used as a guide axis, and the real axis is used as a following axis; the motion controller is used for controlling each three-coordinate numerical control positioner to synchronously move;
according to the displacement, establishing a synchronous relation between the virtual axis and the real axis;
and according to the synchronous relation, performing cooperative motion control of each three-coordinate numerical control positioner.
2. A multi-axis cooperative motion control method as recited in claim 1, wherein the constructing an assembly coordinate system based on which rotational translation of the aircraft component from actual coordinates to theoretical coordinates is obtained includes:
constructing an assembly coordinate system by using the assembly center position of the aircraft component;
based on the assembly coordinate system and according to theoretical values and actual measured values of the surface feature points of the aircraft component, obtaining the rotation translation quantity of the aircraft component from the actual coordinates to the theoretical coordinates, and marking the rotation translation quantity as [ x, y, z, alpha, beta, gamma ]; wherein x is the translation amount of the aircraft component in the x-axis direction, y is the translation amount of the aircraft component in the y-axis direction, z is the translation amount of the aircraft component in the z-axis direction, α is the rotation amount of the aircraft component around the x-axis, β is the rotation amount of the aircraft component around the y-axis, and γ is the rotation amount of the aircraft component around the z-axis.
3. A multi-axis cooperative motion control method according to claim 2, wherein the obtaining the pose movement amount of the aircraft component after the rotational translation based on the rotational translation amount includes:
constructing a coordinate axis track function X (t) of the three-coordinate numerical control positioner, wherein the expression is as follows:
wherein a is 5 、a 4 、a 3 Are all coefficients, and a 5 =6/t e 5 ，a 4 =15/t e 4 ，a 3 =10/t e 3 ，t e For a set total timeNumber C, X te =[0,0,0,0,0,0,]，X 0 The initial pose parameters of the aircraft component are defined, and t is an independent variable;
decomposing the coordinate axis track function X (t) of each three-coordinate numerical control positioner into N interpolation points according to the rotation translation quantity [ X, y, z, alpha, beta, gamma ] and the process requirement, wherein the N interpolation points are as follows:
wherein t' is an interpolation period, and C is a set total time constant;
and the following functions are obtained:
wherein n is each interpolation point corresponding to the split, and X (X), X (y), X (z), X (alpha), X (beta) and X (gamma) are pose movement amounts of the aircraft component after rotation and translation.
4. The method of claim 3, wherein said constructing a device coordinate system corresponding to each three-coordinate nc locator and obtaining a displacement of each three-coordinate nc locator in the corresponding device coordinate system according to the pose movement amount comprises:
constructing an equipment coordinate system corresponding to each three-coordinate numerical control positioner;
solving a rigid transformation conversion relation M of the movement amount of each three-coordinate numerical control positioner in the equipment coordinate system, wherein the expression is as follows:
wherein alpha is t Represents the rotation angle of the central point of each ball socket along the X axis of the assembly coordinate system at the time t, beta t Representing the assembly coordinates of the center point edges of the ball sockets at the time tBy the angle of rotation of the Y-axis, gamma t The rotation angle of the center point of each ball socket along the Z axis of the assembly coordinate system at the time t is shown;
and performing kinematic inverse solution on the movement rigid transformation conversion relation M to obtain the following functional relation:
wherein f (x)n For the displacement quantity corresponding to the nth point of the three-coordinate numerical control positioner in the X direction under the equipment coordinate system, f (y)n For the displacement quantity corresponding to the nth point of the three-coordinate numerical control positioner in the Y direction under the equipment coordinate system, f (zn) Alpha is the displacement corresponding to the nth point of the three-coordinate numerical control positioner in the Y direction under the equipment coordinate system n Represents the rotation angle of the center point of each ball socket along the X axis of the corresponding assembly coordinate system at the nth point, beta n For the angle of rotation of the center point of each ball socket along the Y axis of the corresponding assembly coordinate system at the nth point, gamma n The angle of rotation of the center point of each ball socket along the Z axis of the corresponding assembly coordinate system is the nth point.
5. The method of claim 4, wherein said establishing a synchronization relationship between said virtual axis and said real axis based on said displacement amount comprises:
according to the displacement, establishing a relation between the position of the real shaft and time so as to reconstruct a movement function of each real shaft;
comparing and calculating the movement difference values of the starting points and the ending points of all the real axes to obtain a maximum movement Q, equally dividing the movement Q according to the number of the real axis dividing points, and establishing the relationship between the position of the virtual axis and time to reconstruct the movement function of the virtual axis;
and according to the movement function of the real axis and the movement function of the virtual axis, the real axis and the virtual axis are associated to establish a synchronous relation between the virtual axis and the real axis.
6. The multi-axis cooperative motion control method of claim 5, wherein the expression of the real axis movement function is as follows:
wherein i is the program scanning time, YI out Yi is the current position of each real shaft n For the position of each real axis, yi, at the nth interpolation point of each real axis (n+1) For each real axis at the n+1th interpolation point, where Yi n 、Yi (n+1) From f (x)n 、f (y)n 、f (zn) Calculating to obtain; xi (Xi) n For each real axis at the nth interpolation point time, xi (n+1) Xi for the time of each real axis at the n+1th interpolation point in For the current time of each real axis operation.
7. The method of claim 6, wherein the expression of the movement function of the virtual axis is as follows:
in the formula YMAster_i out YMASTER_i is the current position of the virtual axis n YMASTER_i is the position of the virtual axis at the nth interpolation point (n+1) XMASTER_i is the position of the virtual axis at the n+1th interpolation point n XMASTER_i for each virtual axis at the nth interpolation point (n+1) XMASTER_i is the time of the virtual axis at the n+1th interpolation point in For the current time of each real axis operation.
8. A multi-axis cooperative motion control apparatus, comprising:
the first calculation module is used for constructing an assembly coordinate system, and acquiring the rotation translation amount of the aircraft component from the actual coordinate to the theoretical coordinate based on the assembly coordinate system;
the second calculation module is used for obtaining the pose movement amount of the airplane component after the rotation and translation according to the rotation and translation amount;
the third calculation module is used for constructing an equipment coordinate system corresponding to each three-coordinate numerical control positioner and obtaining the displacement of each three-coordinate numerical control positioner under the corresponding equipment coordinate system according to the pose movement amount; the three-coordinate numerical control positioner is provided with a ball socket which is used for butt joint of the ball heads on the aircraft parts;
the first construction module is used for constructing a virtual axis and a real axis in the motion controller, wherein the virtual axis is used as a guide axis, and the real axis is used as a following axis; the motion controller is used for controlling each three-coordinate numerical control positioner to synchronously move;
the second construction module is used for establishing a synchronous relation between the virtual axis and the real axis according to the displacement;
and the cooperative control module is used for performing cooperative motion control of each three-coordinate numerical control positioner according to the synchronous relationship.
9. A computer device, characterized in that it comprises a memory in which a computer program is stored and a processor which executes the computer program, implementing the method according to any of claims 1-7.
10. A computer readable storage medium, having stored thereon a computer program, the computer program being executable by a processor to implement the method of any of claims 1-7.
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