基于序列二次规划算法的定位器坐标快速标定方法

摘要

针对飞机数字化装配系统中可移动数控定位器坐标标架的标定问题,提出一种基于序列二次规划(SQP)优化算法的快速标定方法.在定位器上预设标记点,以设备处于零点位置时标记点在设备坐标系下的位置为理论位置,标记设备坐标标架.采用奇异值分解法求解标记点实测与理论坐标偏差的最小二乘模型,进行零位标定.针对定位器移位复位操作所致标记点偏移的情况,利用SQP优化算法计算定位器坐标标架.对零位标定及快速标定实例结果进行对比分析,结果表明,快速标定可减少激光跟踪仪的测量次数,有效避免转站误差,在提高标定效率的同时确保定位器定位精度高达0.05 mm,满足了大型飞机数字化装配中定位系统的高精度要求.%A rapid calibration method based on sequential quadratic programming (SQP) optimization algorithm for coordinate frame was researched, to address the calibration problems of movable numerical controlled localizers adopted in airplane digital assembly system.When the device was at zero position, the positions of marker points preset on localizers in device coordinate were the theoretical positions and marked as device coordinate frame.The singular value decomposition method was used to solve the least squares model of deviation between actual and theoretical values of marker points;zero calibration was performed.In the case of marker points deviate caused by the localizers move and reposition, SQP optimization algorithm was used for rapid calibration of coordinate frame.The comparison results of zero calibration and rapid calibration of coordinate frame show that rapid calibration can reduce the times of laser tracker measurement;errors arising in station movement was eliminated;the positioning accuracy of localizer can be guaranteed as high as 0.05 mm with the calibration efficiency being improved, which meets the high accuracy requirement in localizing system of large airplane digital assembly.