| In the area of aerospace manufacturing, the technology of flexible assembly drilling & riveting, based on industrial robots, with its significant advantages of high efficiency, high quality and reliability, has become one of the important trends of digital aircraft flexible assembly. As coordinating kernel of a flexible assembly drilling & riveting system, control technology optimizes the ways of industrial communication to a flexible configuration of controlled devices. Besides, it devises optimal control strategy and implementing scheme according to the system’s functions and features. Thus control technology works as the key to ensure high efficiency, accurate and good order of drilling & riveting tasks. This paper mainly studies the flexible assembly drilling & riveting system’s multifunctional complex integrated control, and conducts a study of automatic control technology based on combined hardware and software approach. The main contents are as follows:(1) An overall design of automatic drilling & riveting control system was put forward. Started from the functional needs of flexible assembly drilling & riveting system, the overall architecture, design functions and workflow were analyzed. And then hardware design patterns of industrial network configuration and software design patterns of multi-software platform collaboration were proposed. Finally the overall design of the automatic drilling & riveting control system was completed.(2) Industrial robots’ automatic external control technology was researched. Performance requirements against industrial robots were put forward by the automatic drilling & riveting system, including high absolute positioning accuracy, wide reaching space and easily integrated control. KUKA robots’ automatic external control mechanism was used flexibly to design the high-precision control scheme of robot body which integrated precision compensation algorithm and the accurate sub-station control scheme of the extended rail based on the PID closed-loop feedback. Moreover, the technology of dual-robot coordination under the control of the host computer was studied.(3) The modular control technology of the automatic drilling & riveting system was proposed. Applied modular design ideology, control scheme of the process module based on the multi-functional end servo system and pneumatic system, control scheme of the automatic feeding module based on the automatic feeding time sequence and the logical control technology, and control scheme of the data detection module based on multi-sensor integration ideology were respectively designed.(4) The integrated control software of the automatic drilling & riveting system was designed. With hierarchical design thought, the overall design of the integrated control software was developed. And then interface layer and the logic control layer of the software were designed.Finally the test platform combined by hardware and software was built to verify the target functions of the drilling & riveting control system. The experimental results has shown that the system’s control cycle is less than 200 ms, the absolute positioning accuracy within the overall space can reach ±0.5mm, the drilling precision is H8, and the drilling beat can reach 4 each minutes. These core indicators totally meet the requirements of aerospace manufacturing in the actual production. |
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