| In recent years,the domestic aviation industry has developed rapidly.It has set a higher standard for the lightweight design of aircraft.The installation and fixing of self-lubricating spherical plain bearing for aircraft is a key link of that.Research on the theory of spherical plain bearing installation and fixing process,and the transformation of related technical results into production applications have great demands on equipment.For this reason,a servo-controlled equipment for articulated installation and fixing of spherical plain bearing has been developed,also,its electromechanical system has been studied in this dissertation.The main works are as follows:The mechanical transmission system and the measurement and control system of the equipment were designed according to the technical requirements of the installation and fixing process of the spherical plain bearing,the stiffness analysis of the mechanical parts of the spindle box was completed using finite element software,and the linear relation between the total deformation of the transmission mechanism and the spindle load was obtained,which provides correction data for on-line detection of spindle down pressure.In this dissertation,the mathematical model of the mechanical transmission system of the equipment was established,the influence of the mechanical parameters on the dynamic characteristics of the mechanical transmission system was studied,the selection of the type of the ball screw was optimized,the modeling of the electric control system of the equipment was completed,and the spindle speed servo was studied.Through Simulink simulation,the control parameters of the control system and spindle feed servo control system are set.As well,the designed PID controller can realize high-performance control of spindle speed,loading force and feed speed.Use the research results of the electromechanical system to debug the equipment,and then conduct the performance test of the equipment.The loading performance test has proved that the precision and stability of the spindle feed system meet the requirements of this process,and the installation and fixing test of the spherical plain bearing has proved that the developed equipment can complete the bearing installation and rolling riveting process with high quality.Based on the fuzzy control theory,a fuzzy PID controller with parameter self-tuning was designed.Results of the simulation comparison show that the response speed,dynamic follow-up performance and anti-interference ability of the spindle feed system under fuzzy PID controller adjustment are better than the system using PID controller,which provides theoretical guidance for electrical control system optimization. |
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