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数字孪生制造装备高可用运行协同计算方法研究

丁国富 刘名远 谢家翔 张剑 张海柱 郑庆

丁国富, 刘名远, 谢家翔, 张剑, 张海柱, 郑庆. 数字孪生制造装备高可用运行协同计算方法研究[J]. 西南交通大学学报. doi: 10.3969/j.issn.0258-2724.20230074
引用本文: 丁国富, 刘名远, 谢家翔, 张剑, 张海柱, 郑庆. 数字孪生制造装备高可用运行协同计算方法研究[J]. 西南交通大学学报. doi: 10.3969/j.issn.0258-2724.20230074
DING Guofu, LIU Mingyuan, XIE Jiaxiang, ZHANG Jian, ZHANG Haizhu, ZHENG Qing. Collaborative Computing Method for Highly Available Operation of Digital Twin Manufacturing Equipment[J]. Journal of Southwest Jiaotong University. doi: 10.3969/j.issn.0258-2724.20230074
Citation: DING Guofu, LIU Mingyuan, XIE Jiaxiang, ZHANG Jian, ZHANG Haizhu, ZHENG Qing. Collaborative Computing Method for Highly Available Operation of Digital Twin Manufacturing Equipment[J]. Journal of Southwest Jiaotong University. doi: 10.3969/j.issn.0258-2724.20230074

数字孪生制造装备高可用运行协同计算方法研究

doi: 10.3969/j.issn.0258-2724.20230074
基金项目: 四川省科技厅计划项目(2021YFG0039)
详细信息
    作者简介:

    丁国富(1971—),男,教授,博士,研究方向为数字化设计与制造,E-mail:dingguofu@swjtu.edu.cn

    通讯作者:

    郑庆(1989—),男,助理教授,博士,研究方向为制造云服务、装备数字孪生,E-mail:qingzheng@swjtu.edu.cn

  • 中图分类号: TH166;TP391.9

Collaborative Computing Method for Highly Available Operation of Digital Twin Manufacturing Equipment

  • 摘要:

    在数字孪生技术中,复杂模型和生产逻辑的运行会消耗大量资源,且硬件能力与用户需求存在差异,进而导致模拟精度和实时性难以得到保证,降低系统可用性. 为此,提出一种可视化与逻辑运算协同处理的数字孪生制造装备实时同步计算框架. 首先,根据车间多维度信息构建设备数字模型,考虑硬件能力和用户个性化计算需求,提出可配置、自适应的系统环境映射方法以修正模拟保真度,确保孪生装备的实时准确运行,并以光照环境映射为例说明其流程;然后,提出基于仿真的六自由度机械手运动逻辑解算算法,将渲染帧时作为仿真时钟推进步长,保证模型运动准确以及可视化与解算同步,并将算法泛化,以应用到其他多体设备中;最后,基于web设计并开发数字孪生车间建模仿真云平台,以六自由度机械手与某转向架构架加工车间为应用对象对所提方法进行验证. 结果表明:随着映射保真度自适应下降,模拟响应速度提升45%,同时GPU和CPU的资源利用率有效降低;证明本文所提方法可实现资源合理配置与系统高效计算,并减少误差累计,是一种高可用的实时协同计算方法.

     

  • 图 1  数字孪生车间制造装备高可用运行协同计算框架

    Figure 1.  Collaborative computing framework for highly available operation of manufacturing equipment in digital twin workshop

    图 2  车间多维度信息建模示意

    Figure 2.  Multidimensional workshop information modeling

    图 3  可配置、自适应映射服务运行流程

    Figure 3.  Configurable and adaptive mapping service operating process

    图 4  阴影生成算法流程示意

    Figure 4.  Shadow generation algorithm flow

    图 5  六自由度机械手拓扑节点、控制点示意

    Figure 5.  Topological nodes and control points of 6-DOF manipulator

    图 6  机械手上臂的旋转轴运动示意

    Figure 6.  Rotation axis of upper arm of manipulator

    图 7  车间客户端系统运行界面

    Figure 7.  Client system runtime interface of workshop

    图 8  天车数字模型

    Figure 8.  Digital model of crown block

    图 9  不同阴影算法下效果对比

    Figure 9.  Comparison of effects under different shadow algorithms

    图 10  六自由度机械手解算过程

    Figure 10.  Calculation process of 6-DOF manipulator

    图 11  机械手解算与真实设备运动误差对比

    Figure 11.  Comparison of motion errors between manipulator solution and real equipment

    表  1  六自由度机械手拓扑节点定义

    Table  1.   Topological node definition of 6-DOF manipulator

    拓扑节点名称 运动类型 旋转轴(局部坐标)
    M 静止
    S 旋转 y
    L 旋转 z
    U 旋转 z
    R 旋转 x
    B 旋转 z
    T 旋转 x
    P 跟随
    W 跟随
    下载: 导出CSV

    表  2  映射服务等级与系统运行效率对比表

    Table  2.   Comparison of mapping service level and system operation efficiency

    等级 帧率/
    fps
    步长/
    ms
    CPU利用率/% GPU利用率/%
    方法1 方法2 方法1 方法2
    Ⅰ级 93 10.75 62.8 28.3 2.3 26.9
    Ⅱ级 69 14.49 67.0 29.5 2.7 38.7
    Ⅲ级 51 19.60 91.3 31.5 3.8 55.2
    下载: 导出CSV
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  • 收稿日期:  2023-02-27
  • 修回日期:  2023-07-04
  • 网络出版日期:  2024-11-05

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