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为了提高飞机调姿的运动安全并减小在误差敏感方向的冲击,采用Newton-Euler方法构建了调姿系统的动力学模型,以实现调姿轨迹的优化。该动力学模型综合考虑了支撑杆变形、驱动丝杆变形及运动误差的影响,可对比不同轨迹时部件运动全过程的运动学特性,实现多目标多约束条件下的轨迹优化。为了提高计算效率,提出了一种类间可分性最优的自适应核主成分算法进行特征提取,并结合模式识别中的自动分类方法,预判可行轨迹的性能,控制搜索范围,减少寻优过程中的计算量。以某型数控定位系统为例,在对150条可行调姿轨迹进行评价和优选后,大部件调姿过程的最大平动速度小于20mm/s,调姿结束时的最大角速度小于0.1rad/s,说明了该方法的可行性和有效性。
In order to improve the safety of aircraft attitude adjustment and reduce the impact in the error-sensitive direction, a dynamic model of the attitude-adjusting system is constructed by Newton-Euler method to realize the adjustment of trajectory. The dynamic model considers the influence of the deformation of the supporting rod, the deformation of the driving screw and the movement error, and can compare the kinematic characteristics of the whole part during different trajectory to achieve trajectory optimization under multi-objective and multi-constraint conditions. In order to improve the computational efficiency, an adaptive kernel principal component algorithm with the best inter-class separability is proposed to extract the features. Combined with the automatic classification method in pattern recognition, the performance of the feasible trajectory is predicted, the search range is controlled and the optimization is reduced The amount of computation in the process. Taking a type of CNC positioning system as an example, the maximum translational velocity of large parts during the adjustment process is less than 20mm / s and the maximum angular velocity at the end of attitude adjustment is less than 0.1rad / s , Illustrates the feasibility and effectiveness of this method.