摘要
数字孪生是一种实现复杂装备在物理世界与信息世界互联融合的新兴技术,在复杂装备模拟仿真、监控分析、诊断预测、优化控制等方面有着广阔的应用前景.本文以掘锚一体机为对象,对复杂装备数字孪生运动与建模分析、数据传递及双向映射开展了研究.在数字孪生行为一致性方面,基于历史物理仿真数据库与实时驱动数据,实现了掘锚一体机运动学快速仿真分析.同时,提出了掘锚一体机数字孪生几何模型库构建技术,通过有限状态机、快速布尔运算等方法实现了掘锚一体机状态镜像映射,以及运动过程中服役环境实时仿真.此外,在实时状态映射方面,提出了掘锚一体机数字孪生虚实映射技术,通过在线采集与传递孪生数据,实现了基于异步传输的信息实时传递.对于掘锚一体机整机抬升、进给、挖掘、煤渣拢料等运动过程,数据处理平均延迟时间小于10-2ms,运动学插值处理数据误差小于3%,开发的掘锚一体机数字孪生仿真帧率达到74.3帧/s,实现了融合服役环境的掘锚一体机实时状态映射与作业流程实时在线监测.
Digital twin is a new state-of-the-art technology to realize the interconnection and integration of physical and information world for complex equipment.It has a broad prospect in simulation,monitoring,diagnosis,and optimization control of a series of complex products.This paper focuses on investigating the digital twin kinematics and modeling analysis,data transmission and bidirectional mirroring of complex equipment,taking the driving and bolting integration equipment as the objective.In the field of behavior consistency of digital twin,the fast kinematics simulation analysis of driving and bolting integration equipment is realized based on historical simulation database and physical simulation model.In addition,in the field of real-time state mapping,the virtual real-time mapping technology is proposed,and through collecting and transferring twin data online,the information transmission from real to virtual is realized based on asynchronous transmission.In the process of lifting,feeding,digging and cinder recovery of the driving and bolting integration equipment,the program processing delay is limited to 10-5 seconds.The error of kinematics interpolation processing is less than 3%and the frequency of digital twin platform for the developed driving and bolting integration equipment is over 74.3 frames per second.Finally,the remote realtime state mapping and online monitoring of work procedure are accomplished for the driving and bolting integration equipment in the environment of integrated service.
作者
胡伟飞
方健豪
刘飞香
陈炜镒
刘振宇
廖金军
谭建荣
HU Weifei;FANG Jianhao;LIU Feixiang;CHEN Weiyi;LIU Zhenyu;LIAO Jinjun;TAN Jianrong(State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,China;School of Mechanical Engineering,Zhejiang University,Hangzhou 310027,China;China Railway Construction Heavy Industry Corporation Limited,Changsha 410100,China)
出处
《湖南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2022年第2期1-12,共12页
Journal of Hunan University:Natural Sciences
基金
国家重点研发计划项目(2019YFB1705200)
浙江大学流体动力与机电系统国家重点实验室自主课题(SKLoFP_ZZ_2102)。
关键词
数字孪生
实时状态映射
掘锚一体机
数据驱动
digital twin
real-time state mirror-mapping
driving and bolting integration equipment
data drive
