Self-adaptive clamping mechanism and method for long pipeline with complex structure and control system

The invention develops a self-adaptive clamping mechanism, method and control system for a long pipeline with a complex structure. The device has the automatic and force servo control capability, efficient suppression of pipeline deformation and vibration suppression in the machining process can be achieved for a pipeline of a complex three-position structure, and the machining precision of the pipeline and the machining precision fault tolerance of machining equipment are improved. The invention aims to improve the service performance of the pipeline in a spaceflight hydrogen-oxygen engine. 本发明开发了复杂构型长管路的自适应夹持机构、方法和控制系统。该装置具备自动化、力伺服的控制能力，可针对复杂三位构型的管路，实现管路变形的高效抑制，以及加工过程中的振动抑制，提高管路加工精度和加工设备的加工精度容错。该发明旨在提高管路在航天氢氧发动机中的使役性能。