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Fang Q.,Zhejiang University | Chen L.-P.,Wuhan Marine Machinery Plant Ltd Company | Fei S.-H.,Zhejiang University | Liang Q.-X.,Aviation Industry Corporation of China Xian Aircraft Industry Group Ltd Company | And 2 more authors.
Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | Year: 2013

In the airplane large component pose adjusting system, unbalanced load distribution of large components between three-coordinate localizers can cause systemic uncertainties of the control system, which results in the decrease of dynamic and static position precision. In order to eliminate the negative impact of systemic uncertainties, a close loop servo system based on model reference adaptive control (MRAC) designed for three-coordinate localizer was present. Firstly, the model of signal motion axis was built to get a priori knowledge of the control object. Then the control law and the adaptive law were acquired by Lyapunov method, and the matrixes related to the adaptive law were also chosen properly. In order to suppress the interference of the error vibrations to the position precision, a Butterworth filter was added to the position servo system. The experimental results show that: the new servo control system can eliminate the uncertainties effectively, and also has excellent dynamic response, with the dynamic position error not exceeding 0.05 mm and the static position error is zero.


Luo Z.-H.,Zhejiang University | Meng X.-L.,Aviation Industry Corporation of China Xian Aircraft Industry Group Ltd Company | Ba X.-F.,Aviation Industry Corporation of China Xian Aircraft Industry Group Ltd Company | Fei S.-H.,Zhejiang University | Fang Q.,Zhejiang University
Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | Year: 2015

In order to solve the problem that perpendicularity and parallelism error of three-axis localizers cause posture alignment error and internal force of aircraft components, the paper introduces a hybrid force position control system for posture alignment platform of large aircraft components. Error model of posture alignment was established to explain the problem. Then the strategy to select axes under position control and axes under force control was proposed based on condition number of mechanism's Jacobian matrix. Static error calculation indicates that hybrid control strategy may improve posture accuracy and reduce internal force significantly under the given posture alignment condition when 0.05 mm/m perpendicularity error exists on each localizer and the maximum parallelism error was 0.1 mm/m and the averaged parallelism error was 0.07 mm/m between localizers. The experiment indicates that the torque controller follows the desire torque signal properly with disturbing position signal and the dynamic torque error is below 0.03 N·m, which is applicable on real posture alignment platform. ©, 2015, Zhejiang University. All right reserved.

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