基于PMAC的航空结构件柔性工装分布式控制系统设计

航空结构件是航空飞行器中的重要组成部分，航空结构件的自动化柔性工装质量直接影响航空飞行器的飞行安全水平。为降低系统位置和姿态控制误差，减小航空结构件的磨损面积，设计了基于PMAC的航空结构件柔性工装分布式控制系统。采用PMAC运动控制器，接收电子部件的反馈信号，控制步进电机、直流电机和交流电机。结合工控机、定位器、伺服电机和分布式通信网络，完成硬件系统的设计。根据航空结构件柔性工装操作设备的组成结构和工作原理，构建相应模型。确定航空结构件在目标曲面上的柔性工装位置，从移动位置和装配力两个方面，计算柔性工装控制量。在PMAC控制器的作用下，通过位姿的调整实现系统的航空结构件柔性工装分布式控制功能。系统测试结果表明，设计分布式控制系统的位置和姿态控制误差分别降低了13cm和0.32°，且设计系统控制下航空结构件的磨损面积较小。

Design of PMAC based distributed control system for flexible tooling of aviation structural parts

Aviation structural parts are an important part of aircraft. The quality of automatic flexible tooling of aviation structural parts directly affects the flight safety level of aircraft. In order to reduce the position and attitude control errors of the system and reduce the wear area of aviation structural parts, a PMAC based distributed control system for flexible tooling of aviation structural parts is designed. PMAC motion controller is used to receive feedback signals from electronic components and control stepping motor, DC motor and AC motor. The hardware system is designed by combining industrial computer, positioner, servo motor and distributed communication network. According to the structure and working principle of flexible tooling operating equipment for aviation structural parts, the corresponding model is constructed. The position of the flexible tooling on the target surface is determined, and the control quantity of the flexible tooling is calculated from the moving position and assembly force. Under the function of PMAC controller, the distributed control function of flexible tooling for aviation structural parts is realized by adjusting the position and attitude of the system. The system test results show that the position and attitude control errors of the designed distributed control system are reduced by 13cm and 0.32 ° respectively, and the wear area of aviation structural parts under the control of the designed system is small.