CN113405452A - Digital tooling aircraft coordinate system calibration method based on temperature compensation - Google Patents

Digital tooling aircraft coordinate system calibration method based on temperature compensation Download PDF

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CN113405452A
CN113405452A CN202110506164.1A CN202110506164A CN113405452A CN 113405452 A CN113405452 A CN 113405452A CN 202110506164 A CN202110506164 A CN 202110506164A CN 113405452 A CN113405452 A CN 113405452A
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ers
coordinate system
point group
temperature
vector
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CN113405452B (en
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巴晓甫
王新峰
刘航
刘若璇
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AVIC Xian Aircraft Industry Group Co Ltd
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    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates

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Abstract

The invention discloses a digital tooling aircraft coordinate system calibration method based on temperature compensation, which comprises the steps of constructing a transformation relation between a tooling coordinate system and an aircraft coordinate system and a relation between an equipment coordinate system and a tooling coordinate system according to the acquired coordinates of an ERS point group relative to a CAD global coordinate system and the coordinates relative to a measuring equipment coordinate system, constructing coordinates of the ERS point group relative to the aircraft coordinate system at an ambient temperature, then constructing a transformation relation between the ERS point group coordinates at the ambient temperature and a reference temperature, and calibrating the coordinates of the ERS point group relative to the aircraft coordinate system at the reference temperature into a digital tooling.

Description

Digital tooling aircraft coordinate system calibration method based on temperature compensation
Technical Field
The application relates to the field of airplane digital measurement, in particular to a calibration technology of a digital tooling airplane coordinate system based on temperature compensation.
Background
The digitalized assembly airplane coordinate system is a reference for digitalized assembly and inspection of airplanes, a measuring point group-ERS point group is arranged on the digitalized assembly, and the digitalized tooling calibrates the airplane coordinate system by using ERS point group coordinates. As a benchmark for the digital manufacturing and inspection of airplanes, the digital tooling airplane coordinate system is required to have long-term stability, wherein temperature change is an important factor influencing the long-term stability. For a new generation of airplane, the pose deviation of a digital tooling airplane coordinate system cannot exceed 0.2 mm. However, the digital tooling has the characteristics of expansion with heat and contraction with cold, taking a 10-meter-long digital tooling of an airplane as an example, the deviation of the temperature difference of 10 ℃ to the coordinate system of the airplane of the digital tooling exceeds 1.2mm, if the temperature compensation is not carried out when the coordinate system of the digital tooling airplane is calibrated, the calibrated airplane coordinate system does not have the temperature stability, and the airplane manufactured according to the coordinate system of the digital tooling airplane has serious quality problems. The technical scheme adopted at present is as follows: firstly, controlling the temperature of a workshop to enable the digital equipment to be in a relatively constant temperature environment; secondly, the digital tool is manufactured by adopting a material with smaller coefficient of expansion with heat and contraction with cold, for example, invar steel is adopted. The starting point of the technical scheme is to control the deviation of the coordinate system of the digital industry airplane loader, but in the actual operation process, the technical scheme has the problems of high cost, low operability and low popularization.
Disclosure of Invention
In order to solve the problem of poor temperature stability during calibration of a digital tooling aircraft coordinate system, the invention discloses a method for calibrating the digital tooling aircraft coordinate system based on temperature compensation.
The invention adopts the following technical scheme:
a digitalized tooling aircraft coordinate system calibration method based on temperature compensation is characterized in that the digitalized tooling aircraft coordinate system is calibrated by coordinates of ERS point groups, the ERS point groups comprise ERS basic point groups and ERS enhancement point groups, the ERS basic point groups comprise 3 ERS points which are respectively ERS1, ERS2 and ERS3, the ERS enhancement point groups comprise unlimited number of ERS points, the number of ERS enhancement point groups is determined by the size of the digitalized tooling, the size is small, the ERS enhancement point group is not required to be arranged, when the size is large, the ERS enhancement point group is required to be arranged, the ERS basic point group and the ERS enhancement point group are both composed of ERS points, the ERS points are geometric points obtained by spherical fitting, circular fitting, prism fitting or comprehensive fitting of a cylindrical surface and a plane, the ERS points are carriers for calibrating an airplane coordinate system by a digital tool, and the method for calibrating the airplane coordinate system by the digital tool based on temperature compensation comprises the following steps:
step 1, defining ERS point group in CAD holonomicDesign coordinates of the local coordinate System { C }
Figure BDA0003058472140000021
Figure BDA0003058472140000022
Step 2 is according to
Figure BDA0003058472140000023
Designing coordinates and setting ERS point groups on the digital equipment;
and 3, recording the coefficient of expansion with heat and contraction with cold of the digital tool: c;
and step 4, recording the ambient temperature when the aircraft coordinate system { P } is calibrated: WE;
step 5 defines the reference temperature at which { P } is calibrated as: RF;
step 6, recording the actual coordinates of ERS point group at WE temperature relative to the coordinate system { M } of the measuring equipment
Figure BDA0003058472140000024
Figure BDA0003058472140000025
Step 7 of determining the difference between RE and RF
Figure BDA0003058472140000026
Figure BDA0003058472140000027
Step 8, constructing a temperature compensation coefficient delta:
Figure BDA0003058472140000028
step 9, defining a tool coordinate system { T }: the origin of { T } is set at ERS1The X direction of the point, { T } is defined as a vector
Figure BDA0003058472140000029
In the direction of (1), the 0XY plane of { T } is a vector
Figure BDA00030584721400000210
Sum vector
Figure BDA00030584721400000211
The Z direction of the formed plane, { T } is defined as a vector
Figure BDA0003058472140000031
Rotated to vector by right hand rule
Figure BDA0003058472140000032
The pointing direction of the thumb;
step 10, constructing a fitting coordinate of ERS basic point group relative to { T } after temperature compensation
Figure BDA0003058472140000033
Comprises the following steps:
10-1 finding the vector
Figure BDA0003058472140000034
Modulus of
Figure BDA0003058472140000035
Figure BDA0003058472140000036
10-2 finding the vector
Figure BDA0003058472140000037
Modulus of
Figure BDA0003058472140000038
Figure BDA0003058472140000039
10-3 finding the vector
Figure BDA00030584721400000310
And vector
Figure BDA00030584721400000311
Angle Θ of (c):
Figure BDA00030584721400000312
10-4 construction of virtual Displacement
Figure BDA00030584721400000313
Figure BDA00030584721400000314
10-5 construction of fitting coordinates of ERS basic point group relative to { T } after temperature compensation
Figure BDA00030584721400000315
Figure BDA00030584721400000316
Step 11, at the RF temperature, constructing the pose of { T } relative to { P }
Figure BDA00030584721400000317
Comprises the following steps:
11-1 construction of X-direction of { T } cosine in the direction of { P }:
Figure BDA00030584721400000318
the result of equation 10 is substituted into equation 11, and the cosine of { T } in the X direction in { P } is obtained:
Figure BDA0003058472140000041
11-2 construction of Z-direction of { T } cosine in the direction of { P }:
Figure BDA0003058472140000042
the result of equation 12 is substituted into equation 13, and the cosine of { T } in the Z direction in { P } direction is obtained:
Figure BDA0003058472140000043
11-3 construction of the Y-direction of { T } cosine in the direction of { P }:
Figure BDA0003058472140000044
the result of equation 14 is substituted into equation 15, and the cosine of { T } in the Y direction in { P } direction is obtained:
Figure BDA0003058472140000051
11-4 at RF temperature, build the pose of { T } relative to { P }
Figure BDA0003058472140000052
Figure BDA0003058472140000053
Step 12 at RF temperature, build the pose of { M } relative to { T }
Figure BDA0003058472140000054
Comprises the following steps:
12-1 construction of ERS base point group, the normal vector of the plane formed by the ERS base point group is in the direction cosine of { M }:
Figure BDA0003058472140000055
the result of equation 17 is taken into equation 18, and the direction cosine of the normal vector of the plane constituted by the ERS base point group in { M } is obtained:
Figure BDA0003058472140000056
12-2 construct the compensated coordinates of ERS base point population at RF temperature versus { M }:
Figure BDA0003058472140000061
12-3 construction of compensated pose of { M } at RF temperature relative to { T }
Figure BDA0003058472140000062
Figure BDA0003058472140000063
Step 13 is to calculate the calibration coordinates of ERS point group relative to the plane coordinate system { P } at RF temperature
Figure BDA0003058472140000064
Figure BDA0003058472140000065
ERS point groups are arranged on a high-rigidity structure in the digital tool.
Vector in ERS base point group
Figure BDA0003058472140000066
Sum vector
Figure BDA0003058472140000067
A parallelogram formed by adjacent edges is enveloped with a digital tool in a two-dimensional plane form, and
Figure BDA0003058472140000068
has a modulus of more than
Figure BDA0003058472140000069
The modulus of (a).
ERS enhancement point groups are arranged on the digital assembly at uniform intervals, and the ERS basic point groups and the ERS enhancement point groups envelop the digital assembly in a three-dimensional form.
ERS points are geometric points obtained by spherical fitting, circular fitting, triangular prism fitting or comprehensive cylindrical and plane fitting.
Compared with the prior art, the invention has the following advantages and obvious benefits:
(1) the calibration of the airplane coordinate system with the digital tool, low cost, high efficiency and high stability is realized. By applying the method disclosed by the application patent, a constant temperature workshop or a material with low thermal expansion and cold contraction is not needed when the digital chemical equipment is used for calibrating the airplane coordinate system.
(2) The accuracy of the calibration of the coordinate system of the digital industrial airplane is improved. Because absolute constant temperature and zero expansion and contraction materials do not exist, the existing aircraft coordinate system calibration method has certain errors. Based on the method disclosed by the application patent, when a coordinate system is calibrated, the coordinate deviation caused by temperature change is compensated, and the calibration accuracy is improved.
The present application is described in further detail below with reference to the accompanying drawings of embodiments:
drawings
FIG. 1 is a schematic diagram of a digital tooling aircraft coordinate system calibration based on temperature compensation.
The numbering in the figures illustrates: 1 digital tool, 2ERS points, 3 laser trackers and 4 airplane side wall plates
Detailed Description
Fig. 1 is a schematic diagram of calibration of a coordinate system of a digital tooling airplane, the length of the digital tooling is about 6 meters, the height of the digital tooling is about 3.3 meters, the width of the digital tooling is about 2.6 meters, the material is Q235, the coefficient of expansion with heat and contraction with cold C is 0.012 mm/(m.DEG C), and the assembled object is an airplane side wall plate 4. Since the aircraft sidewall plate 4 is enveloped by the rectangular frame of the digital tooling 1, and the length of the rectangle is greater than the height, the ERS1 point in the ERS basic point group consisting of the ERS points 2 is set at the lower left of the rectangular frame, the ERS2 point in the ERS basic point group is set at the lower right of the rectangular frame, and the ERS3 point in the ERS basic point group is arranged at the upper left of the rectangular frame. Because the size of the digital tool is larger, an ERS enhancement point group is also arranged, the distance between ERS points in the ERS enhancement point group is controlled to be about 1.5 meters, and the adopted measuring equipment is calibrated to be a non-contact laser tracker 3.
As shown in fig. 1, the carrier serving as the ERS spot is a cylinder, e.g. finger-sized, with a precise inner bore and a precise outer end surface. And intersecting the hole axis and the end plane by fitting the hole axis of the accurate inner hole and fitting the end plane of the accurate outer end surface to obtain an intersection point, and offsetting the intersection point along the hole axis in a direction away from the cylinder by a certain displacement amount, wherein the offset intersection point is an ERS point. Specifically for the Leica960 laser tracker as shown, this displacement is 12.7 mm.
Taking the digital tool shown in fig. 1 as an example, a method for calibrating an aircraft coordinate system of the digital tool based on temperature compensation is described in detail, and the method comprises the following specific steps:
step 1, defining the design coordinates of ERS point group in CAD global coordinate system { C }
Figure BDA0003058472140000081
Figure BDA0003058472140000082
Step 2 is according to
Figure BDA0003058472140000083
Designing coordinates and setting ERS point groups on the digital equipment;
and 3, recording the coefficient of expansion with heat and contraction with cold of the digital tool: c;
and step 4, recording the ambient temperature when the aircraft coordinate system { P } is calibrated: WE;
step 5 defines the reference temperature at which { P } is calibrated as: RF;
step 6, recording the actual coordinates of ERS point group at WE temperature relative to the coordinate system { M } of the measuring equipment
Figure BDA0003058472140000084
Figure BDA0003058472140000085
Step 7 of determining the difference between RE and RF
Figure BDA0003058472140000086
Figure BDA0003058472140000087
Step 8, constructing a temperature compensation coefficient delta:
Figure BDA0003058472140000088
step 9, defining a tool coordinate system { T }: the origin of { T } is set at ERS1 point, and the X direction of { T } is set as vector
Figure BDA0003058472140000089
In the direction of (1), the 0XY plane of { T } is a vector
Figure BDA00030584721400000810
Sum vector
Figure BDA00030584721400000811
The Z direction of the formed plane, { T } is defined as a vector
Figure BDA00030584721400000812
Rotated to vector by right hand rule
Figure BDA00030584721400000813
The pointing direction of the thumb;
step 10, constructing a fitting coordinate of ERS basic point group relative to { T } after temperature compensation
Figure BDA00030584721400000814
Comprises the following steps:
10-1 finding the vector
Figure BDA00030584721400000815
Modulus of
Figure BDA00030584721400000816
Figure BDA0003058472140000091
10-2 finding the vector
Figure BDA0003058472140000092
Modulus of
Figure BDA0003058472140000093
Figure BDA0003058472140000094
10-3 finding the vector
Figure BDA0003058472140000095
And vector
Figure BDA0003058472140000096
Angle Θ of (c):
Figure BDA0003058472140000097
10-4 construction of virtual Displacement
Figure BDA0003058472140000098
Figure BDA0003058472140000099
10-5 construction of fitting coordinates of ERS basic point group relative to { T } after temperature compensation
Figure BDA00030584721400000910
Figure BDA00030584721400000911
Step 11, at the RF temperature, constructing the pose of { T } relative to { P }
Figure BDA00030584721400000912
Comprises the following steps:
11-1 construction of X-direction of { T } cosine in the direction of { P }:
Figure BDA00030584721400000913
the result of equation 10 is substituted into equation 11, and the cosine of { T } in the X direction in { P } is obtained:
Figure BDA0003058472140000101
11-2 construction of Z-direction of { T } cosine in the direction of { P }:
Figure BDA0003058472140000102
the result of equation 12 is substituted into equation 13, and the cosine of { T } in the Z direction in { P } direction is obtained:
Figure BDA0003058472140000103
11-3 construction of the Y-direction of { T } cosine in the direction of { P }:
Figure BDA0003058472140000104
the result of equation 14 is substituted into equation 15, and the cosine of { T } in the Y direction in { P } direction is obtained:
Figure BDA0003058472140000111
11-4 at RF temperature, build the pose of { T } relative to { P }
Figure BDA0003058472140000112
Figure BDA0003058472140000113
Step 12 at RF temperature, build the pose of { M } relative to { T }
Figure BDA0003058472140000114
Comprises the following steps:
12-1 construction of ERS base point group, the normal vector of the plane formed by the ERS base point group is in the direction cosine of { M }:
Figure BDA0003058472140000115
the result of equation 17 is taken into equation 18, and the direction cosine of the normal vector of the plane constituted by the ERS base point group in { M } is obtained:
Figure BDA0003058472140000116
12-2 construct the compensated coordinates of ERS base point population at RF temperature versus { M }:
Figure BDA0003058472140000121
12-3 construction of compensated pose of { M } at RF temperature relative to { T }
Figure BDA0003058472140000122
Figure BDA0003058472140000123
Step 13 is to calculate the calibration coordinates of ERS point group relative to the plane coordinate system { P } at RF temperature
Figure BDA0003058472140000124
Figure BDA0003058472140000125
ERS point groups are arranged on a high-rigidity structure in the digital tool.
Vector in ERS base point group
Figure BDA0003058472140000126
Sum vector
Figure BDA0003058472140000127
A parallelogram formed by adjacent edges is enveloped with a digital tool in a two-dimensional plane form, and
Figure BDA0003058472140000128
has a modulus of more than
Figure BDA0003058472140000129
The modulus of (a).
ERS enhancement point groups are arranged on the digital assembly at uniform intervals, and the ERS basic point groups and the ERS enhancement point groups envelop the digital assembly in a three-dimensional form.
ERS points are geometric points obtained by spherical fitting, circular fitting, triangular prism fitting or comprehensive cylindrical and plane fitting.

Claims (5)

1. A digitized frock aircraft coordinate system calibration method based on temperature compensation is characterized in that the digitized frock aircraft coordinate system is calibrated by the coordinates of ERS point group, the ERS point group comprises ERS basic point group and ERS enhancement point group, the ERS basic point group comprises 3 ERS points which are respectively ERS1, ERS2 and ERS3, the ERS enhancement point group comprises the number of ERS points which is not limited, the ERS point group envelops the digitized frock, comprising the following steps:
step 1, defining the design coordinates of ERS point group in CAD global coordinate system { C }
Figure FDA0003058472130000011
Figure FDA0003058472130000012
Step 2 is according to
Figure FDA0003058472130000013
Designing coordinates and setting ERS point groups on the digital equipment;
and 3, recording the coefficient of expansion with heat and contraction with cold of the digital tool: c;
and step 4, recording the ambient temperature when the aircraft coordinate system { P } is calibrated: WE;
step 5 defines the reference temperature at which { P } is calibrated as: RF;
step 6, recording the actual coordinates of ERS point group at WE temperature relative to the coordinate system { M } of the measuring equipment
Figure FDA0003058472130000014
Figure FDA0003058472130000015
Step 7 of determining the difference between RE and RF
Figure FDA0003058472130000016
Figure FDA0003058472130000017
Step 8, constructing a temperature compensation coefficient delta:
Figure FDA0003058472130000018
step 9, defining a tool coordinate system { T }: the origin of { T } is set at ERS1 point, and the X direction of { T } is set as vector
Figure FDA0003058472130000019
In the direction of (1), the 0XY plane of { T } is a vector
Figure FDA00030584721300000110
Sum vector
Figure FDA00030584721300000111
The Z direction of the formed plane, { T } is defined as a vector
Figure FDA00030584721300000112
Rotated to vector by right hand rule
Figure FDA00030584721300000113
The pointing direction of the thumb;
step 10, constructing a fitting coordinate of ERS basic point group relative to { T } after temperature compensation
Figure FDA0003058472130000021
Comprises the following steps:
10-1 finding the vector
Figure FDA0003058472130000022
Modulus of
Figure FDA0003058472130000023
Figure FDA0003058472130000024
10-2 finding the vector
Figure FDA0003058472130000025
Modulus of
Figure FDA0003058472130000026
Figure FDA0003058472130000027
10-3 finding the vector
Figure FDA0003058472130000028
And vector
Figure FDA0003058472130000029
Angle Θ of (c):
Figure FDA00030584721300000210
10-4 construction of virtual Displacement
Figure FDA00030584721300000211
Figure FDA00030584721300000212
10-5 constructing fitted coordinates of ERS basic point group relative to { T } after temperature compensation
Figure FDA00030584721300000213
Figure FDA00030584721300000214
Step 11, at the RF temperature, constructing the pose of { T } relative to { P }
Figure FDA00030584721300000215
Comprises the following steps:
11-1 construction of X-direction of { T } cosine in the direction of { P }:
Figure FDA00030584721300000216
the result of equation 10 is substituted into equation 11, and the cosine of { T } in the X direction in { P } is obtained:
Figure FDA0003058472130000031
11-2 construction of Z-direction of { T } cosine in the direction of { P }:
Figure FDA0003058472130000032
the result of equation 12 is substituted into equation 13, and the cosine of { T } in the Z direction in { P } direction is obtained:
Figure FDA0003058472130000033
11-3 construction of the Y-direction of { T } cosine in the direction of { P }:
Figure FDA0003058472130000034
the result of equation 14 is substituted into equation 15, and the cosine of { T } in the Y direction in { P } direction is obtained:
Figure FDA0003058472130000041
11-4 at RF temperature, build the pose of { T } relative to { P }
Figure FDA0003058472130000042
Figure FDA0003058472130000043
Step 12 at RF temperature, build the pose of { M } relative to { T }
Figure FDA0003058472130000044
Comprises the following steps:
12-1 construction of ERS base point group, the normal vector of the plane formed by the ERS base point group is in the direction cosine of { M }:
Figure FDA0003058472130000045
the result of equation 17 is taken into equation 18, and the direction cosine of the normal vector of the plane constituted by the ERS base point group in { M } is obtained:
Figure FDA0003058472130000046
12-2 construct the compensated coordinates of ERS base point population at RF temperature versus { M }:
Figure FDA0003058472130000051
12-3 construction of compensated pose of { M } at RF temperature relative to { T }
Figure FDA0003058472130000052
Figure FDA0003058472130000053
Step 13 is to calculate the calibration coordinates of ERS point group relative to the plane coordinate system { P } at RF temperature
Figure FDA0003058472130000054
Figure FDA0003058472130000055
2. The method of claim 1, wherein the ERS point group is disposed on a high-rigidity structure in the digital tooling.
3. The method for calibrating the coordinate system of the digital tooling aircraft based on the temperature compensation as claimed in claim 1, wherein the ERS basic point group is a vector
Figure FDA0003058472130000056
Sum vector
Figure FDA0003058472130000057
A parallelogram formed by adjacent edges is enveloped with a digital tool in a two-dimensional plane form, and
Figure FDA0003058472130000058
has a modulus of more than
Figure FDA0003058472130000059
The modulus of (a).
4. The method for calibrating the aircraft coordinate system of the digital tooling based on the temperature compensation as claimed in claim 1, wherein the ERS enhancement point groups are arranged on the digital tooling at uniform intervals, and the ERS basic point groups and the ERS enhancement point groups envelop the digital tooling in a three-dimensional form.
5. The method for calibrating the coordinate system of the digital tooling airplane based on the temperature compensation is characterized in that the ERS points are geometric points obtained by spherical fitting, circular fitting, triangular prism fitting or comprehensive cylindrical and plane fitting.
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