Multi Axis Linkage Control System Research Of The Aircraft Automatic Butt Automatic Positioning System

Multi-axle blocking control is widely used in complex auto-control assembly line,NC machine and robot motion control. However, its application in aircraft assembly is rare. To automate and intelligentize the aircraft assembly, multi-axle blocking control is an important technique. This paper based on the Provincial Science and Technology Project(20133BBE50022) “The auto docking technique and auto docking platform research of training aircraft” and Provincial graduate student innovation program(YC2013-S220) “Research on the key technique in flexible auto docking of training aircraft wings”, proposes a multi-axle blocking control method which aims at several serving motors in the auto positioning system and realizes the harmonized motion of the motors. Taking consideration of cost, reliability, maintenance and other factors, a control strategy consists of computer, PLC, transducer andasynchronous machine is proposed. The main contents of the paper are:(1) This paper introduces the principle and structure of flexible auto-positioner.The docking of aircraft components usually employs flexible auto-positioner to adjust the location. Each positioner is of three free degree. The motion of the positioner is powered by internal serve motor. This paper introduces the principle and structure of flexible auto-positioner, and describes the mathematical model and transmission system inside the auto-positioner.(2) This paper analyzes the operating principle, choice of type and communication protocol of S7 200 PLC produced by Siemens and introduces the trend, operating principle, features and structure of PLC, which is essential to design multi-axil blocking control system.(3) In this paper, a control strategy based on fuzzy PID control which reduces the cost and enhances the liability is proposed and designed. his paper emphasizes the control strategy and feature of multi-axil control system, and a master-slave synchronous compensation control strategy is adopted. A control strategy based on fuzzy PID control is proposed and designed.(4) This paper realizes the communication between facilities and builds control monitor platform of multi-axil blocking. This paper uses free communication port to realize the communication between PLC and computer and uses software handshake toensure the harmony during communication. Communication between PLC and transducer is realized through USS protocol, and the control strategy and programming of transducer is emphasized. PLC is also able to read and set the transducer parameters on real-time condition as the communication is frequent enough. To enable the real-time monitor of the control system, a software is used to build the monitor interface. The steps to build the interface is described and the whole system is able to be monitored by computer. This realizes the design of monitor system. It provides a more directviewing and more convenient platform to monitor the system status.