基于数字孪生的汽轮机叶片装配虚实交互系统  

Virtual Reality Interaction System for Turbine Blade Assembly Based on Digital Twin

作　　者：王志刚 刘震 马天宇 WANG Zhigang;LIU Zhen;MA Tianyu(Industrial Technology Center,Shanghai Dianji College,Shanghai 201306,China;Institute of Logistics Science and Engineering,Shanghai Maritime University,Shanghai 201306,China;Marine Design and Research Institute of China,Shanghai 200011,China)

机构地区：[1]上海电机学院工业技术中心,上海201306 [2]上海海事大学物流科学与工程研究院,上海201306 [3]中国船舶及海洋工程设计研究院,上海200011

出　　处：《船舶工程》2022年第10期1-7,共7页Ship Engineering

基　　金：国家自然科学基金面上项目(51875332)。

摘　　要：针对当前汽轮机带冠叶片装配过程信息透明度低,监控能力不足等问题,基于数字孪生技术,设计、开发汽轮机带冠叶片装配过程虚实交互系统。通过分析汽轮机叶片智能装配工艺,设计虚实交互系统功能架构;对装配过程机械臂正逆运动建模、控制逻辑分析,从而实现多目标点位控制;建立高保真、轻量化的孪生模型,利用实时数据驱动孪生模型实现物理空间到虚拟空间的完整映射。最后设计开发服务功能模块,提高带冠叶片智能装配过程的可视化监控能力,实现可视化管理与在线状态监测。In order to solve the problems of low information transparency and insufficient monitoring ability in the assembly process of shrouded blade of steam turbine,a virtual and real interaction system for the assembly process is designed and developed based on digital twin technology.By analyzing the intelligent assembly process of turbine blade,the functional framework of virtual and real interaction system is designed.The forward and inverse kinematics modeling and control logic analysis of the robot arm in the assembly process are carried out to realize the multi-objective point-position control.A high fidelity and light weight twin model is built,and the real-time data is used to drive the twin model to realize the complete mapping from physical space to virtual space.Finally,the service function module is designed and developed to improve the visual monitoring ability of the intelligent assembly process of shrouded blades,and realize the visual management and online status monitoring.

关 键 词：汽轮机带冠叶片 智能装配 数字孪生 虚实交互 

分 类 号：TH166[机械工程—机械制造及自动化]