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基于数字孪生的掘锚一体机实时状态映射
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Real-time State Mirror-mapping for Driving and Bolting Integration Equipment Based on Digital Twin
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    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 10-2 ms,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.

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    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 kinemat? ics 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 kine? matics simulation analysis of driving and bolting integration equipment is realized based on historical simulation data? base and physical simulation model. In addition,in the field of real-time state mapping,the virtual real-time map? ping 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 cin? der recovery of the driving and bolting integration equipment,the program processing delay is limited to 10-5 sec? onds. 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.

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胡伟飞 ,方健豪 ,刘飞香 ,陈炜镒 ,刘振宇 ?,廖金军 ,谭建荣 .基于数字孪生的掘锚一体机实时状态映射[J].湖南大学学报:自然科学版,2022,(2):1~12

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  • 在线发布日期: 2022-03-04
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