面向复杂系统运动仿真的信息物理融合建模  

A Cyber-physical Integrated Modeling Method Oriented for Motion Simulation of Complex Systems

作　　者：刘文正 张和明[1] Liu Wenzheng;Zhang Heming(Institute of Industrial Intelligence and Systems,Tsinghua University,Beijing 100090,China)

机构地区：[1]清华大学工业智能与系统研究所,北京100090

出　　处：《系统仿真学报》2022年第5期954-963,共10页Journal of System Simulation

基　　金：国家重点研发计划(2018YFB1701600)。

摘　　要：传统运动仿真的虚拟建模缺少针对复杂系统中信息子系统与物理子系统的动态性融合建模。融合传统运动学虚拟建模与信息计算的优势,针对运动仿真的精度和实时性难以满足实际工业制造需求的问题,提出面向复杂系统运动仿真的信息物理融合建模方法,并以机械臂的运动学控制为仿真案例进行验证,解决了实际环境中机械臂的驱动与仿真环境虚拟机械臂运动不一致的问题。搭建了复杂系统运动仿真虚实映射平台,集成了虚拟建模环境CoppeliaSim,融合实际机器人的运动反馈,和虚实映射计算模型,确定工业机器人运动方程的唯一位姿解。实验结果表明本文提出的方法实现了工业机器人的虚实映射实时运动仿真。The traditional virtual modeling of motion simulation lacks the dynamic modeling of cyber subsystems and physical subsystems in complex systems.The advantages of the traditional kinematic virtual modeling and cyber calculation are combined,and aiming at the problem that the accuracy and real-time property of motion simulation cannot meet the actual industrial manufacturing requirements,a cyber physical integrated modeling method for the motion simulation of complex systems is proposed.The inconsistency between real robotic driving and virtual robot motion is solved,which is verified by a case study of mechanical arm motion control.A virtuality-reality mapping platform for complex system motion simulation is built,which integrates the modeling environment CoppeliaSim,together with actual robot feedback of motion and mapping model of simulated-actual robot motion,to obtain the unique pose solution of the motion equation.Experimental results show that the proposed method can realize real-time motion simulation of industrial robot.

关 键 词：复杂系统建模 运动仿真 信息物理集成 机械臂 虚实运动映射 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]