导弹数字化对接系统动态测量算法设计及对接试验研究
|
摘要
针对我国导弹在生产过程中舱段对接精度差、效率低且一致性差的问题,提出了一种结合激光跟踪仪及并联式六自由度平台(Stewart Platform)的导弹数字化对接系统。在基于激光跟踪仪的动态测量方面,提出了将阵列靶球和六坐标便携式测量系统(T-Probe)相结合的测量方式,通过对阵列靶球的测量获得高精度基准,通过对TProbe的测量实现动态测量,从而实现对导弹舱段的高精度、高动态测量。基于所提出的导弹数字化对接系统,进行了导弹舱段数字化对接试验。试验结果表明,导弹舱段间导向销的径向峰值偏差为0.26mm,姿态峰值偏差为0.015°,能够满足导弹对接导向销的安全对接条件,对接时间小于25s,提高了导弹舱段对接的精度及效率。
Aiming at the problem of poor accuracy,low efficiency and poor consistency in the docking process of missile cabin,a digital missile assembly system is proposed,which is composed of laser tracker and Stewart Platform.In the dynamic measurement system based on laser tracker,the method using array target ball combined with T-Probe is put forward.The high precision datum is obtained by measuring the array target ball,and dynamic measurement data is obtained by T-Probe.The missile cabin docking test is implemented based on the proposed system.The test results show that the radial peak deviation is 0.26 mm and the attitude peak deviation is 0.015°,which meet the docking requirements.The docking time is less than 25 seconds,the accuracy and efficiency of the missile cabin docking are improved.
Aiming at the problem of poor accuracy,low efficiency and poor consistency in the docking process of missile cabin,a digital missile assembly system is proposed,which is composed of laser tracker and Stewart Platform.In the dynamic measurement system based on laser tracker,the method using array target ball combined with T-Probe is put forward.The high precision datum is obtained by measuring the array target ball,and dynamic measurement data is obtained by T-Probe.The missile cabin docking test is implemented based on the proposed system.The test results show that the radial peak deviation is 0.26 mm and the attitude peak deviation is 0.015°,which meet the docking requirements.The docking time is less than 25 seconds,the accuracy and efficiency of the missile cabin docking are improved.
引文
[1]袁立.现代飞机数字化柔性装配生产线[J].航空科学技术,2011,5:1-4.YUAN L.Digital flexible assembly line of modern aircraft[J].Aeronautical Science&Technology,2011,5:1-4(in Chinese).
[2]任晓华.JSF制造技术综述[J].航空制造技术,2002,2:43-48.REN X H.Summary of JSF manufacturing technology[J].Aeronautical Manufacturing Technology,2002,2:43-48(in Chinese).
[3]任晓华.洛克希德·马丁公司的F-22战斗机装配生产线[J].航空制造技术,2006,8:36-38.REN X H.Lockheed Martins F-22fighter assembly line[J].Aeronautical Manufacturing Technology,2006,8:36-38(in Chinese).
[4]OLSEN H B.Flexible assembly system for airbus production[J].Aircraft Engineering and Aerospace Technology.1980,52(10):8-9.
[5]OLSEN H B.A flexible robotic work cell for the assembly of airframe components[C].IEEE International Conference on Robotics and Automation,1990.Cincinnati,USA,1990:1278-1283.
[6]郭洪杰.大型飞机柔性装配技术[J].航空制造技术,2010,18:52-54.GUO H J.Flexible assembly technology for large commercial aircraft[J].Aeronautical Manufacturing Technology,2010,18:52-54(in Chinese).
[7]郭洪杰.飞机数字化柔性装配生产线关键技术[J].航空制造技术,2011,17:40-43.GUO H J.Key technology of aircraft digital flexible assembly production line[J].Aeronautical Manufacturing Technology,2011,17:40-43(in Chinese).
[8]梅中义,朱三山,杨鹏.飞机数字化柔性装配中的数字测量技术[J].航空制造技术,2011,17:44-49.MEI Z Y,ZHU S S,YANG P.Digital measurement of aircraft digital flexible assembly[J].Aeronautical Manufacturing Technology,2011,17:44-49(in Chinese).
[9]高超.导弹柔性装配系统关键技术研究[D].哈尔滨:哈尔滨工业大学,2014.GAO C.Research on key technology of missile flexible assembly system[D].Harbin:Harbin Institute of Technology,2014(in Chinese).
[10]王丙戌,徐志刚,王军义,等.导弹总装自动对接平台设计与研究[J].现代防御技术,2016,44(6):135-141,147.WANG B X,XU Z G,WANG J Y,et al.Design and research of missile general assembly automatic docking platform[J].Modern Defense Technology,2016,44(6):135-141,147(in Chinese).
[11]刘哲,徐志刚,尹猛,等.导弹总装自动对接装配机构的设计与研究[J].组合机床与自动化加工技术,2018,6:151-155.LIU Z,XU Z G,YIN M,et al.Design and research of automatic adjustment mechanism for docking of missile assembly[J].Modular Machine Tool&Automatic Manufacturing Technique,2018,6:151-155(in Chinese).
[12]吴雷,黄斌,李旺灵,等.无人机位姿测量的点特征视觉方法[J].飞控与探测,2019,2(1):37-42.WU L,HUANG B,LI W L,et al.Method of monocular vision measurement for UAV pose based on characteristic points[J].Flight Control&Detection,2019,2(1):37-42(in Chinese).
[2]任晓华.JSF制造技术综述[J].航空制造技术,2002,2:43-48.REN X H.Summary of JSF manufacturing technology[J].Aeronautical Manufacturing Technology,2002,2:43-48(in Chinese).
[3]任晓华.洛克希德·马丁公司的F-22战斗机装配生产线[J].航空制造技术,2006,8:36-38.REN X H.Lockheed Martins F-22fighter assembly line[J].Aeronautical Manufacturing Technology,2006,8:36-38(in Chinese).
[4]OLSEN H B.Flexible assembly system for airbus production[J].Aircraft Engineering and Aerospace Technology.1980,52(10):8-9.
[5]OLSEN H B.A flexible robotic work cell for the assembly of airframe components[C].IEEE International Conference on Robotics and Automation,1990.Cincinnati,USA,1990:1278-1283.
[6]郭洪杰.大型飞机柔性装配技术[J].航空制造技术,2010,18:52-54.GUO H J.Flexible assembly technology for large commercial aircraft[J].Aeronautical Manufacturing Technology,2010,18:52-54(in Chinese).
[7]郭洪杰.飞机数字化柔性装配生产线关键技术[J].航空制造技术,2011,17:40-43.GUO H J.Key technology of aircraft digital flexible assembly production line[J].Aeronautical Manufacturing Technology,2011,17:40-43(in Chinese).
[8]梅中义,朱三山,杨鹏.飞机数字化柔性装配中的数字测量技术[J].航空制造技术,2011,17:44-49.MEI Z Y,ZHU S S,YANG P.Digital measurement of aircraft digital flexible assembly[J].Aeronautical Manufacturing Technology,2011,17:44-49(in Chinese).
[9]高超.导弹柔性装配系统关键技术研究[D].哈尔滨:哈尔滨工业大学,2014.GAO C.Research on key technology of missile flexible assembly system[D].Harbin:Harbin Institute of Technology,2014(in Chinese).
[10]王丙戌,徐志刚,王军义,等.导弹总装自动对接平台设计与研究[J].现代防御技术,2016,44(6):135-141,147.WANG B X,XU Z G,WANG J Y,et al.Design and research of missile general assembly automatic docking platform[J].Modern Defense Technology,2016,44(6):135-141,147(in Chinese).
[11]刘哲,徐志刚,尹猛,等.导弹总装自动对接装配机构的设计与研究[J].组合机床与自动化加工技术,2018,6:151-155.LIU Z,XU Z G,YIN M,et al.Design and research of automatic adjustment mechanism for docking of missile assembly[J].Modular Machine Tool&Automatic Manufacturing Technique,2018,6:151-155(in Chinese).
[12]吴雷,黄斌,李旺灵,等.无人机位姿测量的点特征视觉方法[J].飞控与探测,2019,2(1):37-42.WU L,HUANG B,LI W L,et al.Method of monocular vision measurement for UAV pose based on characteristic points[J].Flight Control&Detection,2019,2(1):37-42(in Chinese).