基于数字孪生的桥式起重机自主运行系统研究  

Autonomous operation system of overhead crane based on digital twins

作　　者：李辉[1,2] 惠延波[1] 王瞧[3] 王宏晓[1] 周颖[1] LI Hui;HUI Yanbo;WANG Qiao;WANG Hongxiao;ZHOU Ying(School of Mechanical&Electrical Engineering,Henan University of Technology,Zhengzhou 450001,China;School of Mechanical&Electrical Engineering,Zhongyuan University of Technology,Zhengzhou 450007,China;School of Electrical Engineering,Henan University of Technology,Zhengzhou 450001,China)

机构地区：[1]河南工业大学机电工程学院,河南郑州450001 [2]中原工学院机电学院,河南郑州450007 [3]河南工业大学电气工程学院,河南郑州450001

出　　处：《机电工程》2024年第4期691-700,共10页Journal of Mechanical & Electrical Engineering

基　　金：河南省科技攻关项目(222102220080);河南省科技攻关联合基金资助项目(222103810083);河南工业大学自然科学基金资助项目(2019BS055);河南省博士后科研项目(202101052)。

摘　　要：为了提高桥式起重机的智能化水平和数字化水平,借助数字孪生技术,对一桥式起重机的安全自主运行系统进行了仿真和实验研究。首先,采用数字孪生思想构建了起重机自主运行系统整体架构,根据桥式起重机的实际运行情况,采用四模型(即虚拟模型、物理动力学模型、行为控制模型和规则计算模型)的方法,构建了起重机的孪生模型;然后,在起重机孪生实验平台上进行了起重机路径规划和大小车轨迹跟踪仿真实验,采用了变论域模糊PID控制器,对起重机大小车轨迹跟踪进行了控制;最后,对该数字孪生系统进行了互联互通实物验证实验。研究结果表明:在起重机数字孪生系统中可以同步进行虚拟仿真和实物实验;在起重机大小车轨迹跟踪实验中,使用所提变论域模糊PID控制方法时,大车跟踪误差在±7 cm内,小车跟踪误差可达±6 cm,表明该控制方法的先进性;同时,该系统初步达成数字孪生技术虚实同步、虚实融合、虚实对照的目标,并且具有良好的三维可视化效果,可为推动机电装备的数字化进程提供一种思路。In order to improve the intelligence and digitalization level of bridge crane,the simulation and experimental study on the safe autonomous operation system of a bridge crane was carried out with the help of digital twin technology.Firstly,the overall architecture of the crane autonomous operation system was constructed by using the digital twin idea,and combined with the actual operation situation of the bridge crane,a four-model(i.e.,virtual model,physical dynamics model,behavior control model and rule computation model)method was proposed to construct the twin model of the crane.Then,the crane path planning and trolley trajectory tracking and cart trajectory tracking simulation experiments were carried out on the crane twin experimental platform respectively,and variable domain fuzzy PID controller was proposed to control the trolley and the cart trajectory tracking of the crane.Finally,the physical verification experiment of interconnection and interoperability of the digital twin system was carried out.The experimental result verifies that in the proposed digital twin system of the crane,virtual simulation and physical experiments can be carried out synchronously.In the experiment,the proposed variable domain fuzzy PID control method achieves the cart tracking error within±7 cm and the trolley tracking error up to±6 cm in the trolley trajectory tracking experiment,which shows the progressiveness of the proposed control method.At the same time,the system preliminarily realizes the functions of virtual-real synchronization,virtual-real fusion and virtual-real comparison of digital twin technology,and has good three-dimensional visualization effect,which provides a way of thinking for realizing digitalization of electromechanical equipment.

关 键 词：起重机 数字孪生系统 孪生模型 跟踪控制 虚拟仿真 变论域模糊PID控制器 

分 类 号：TH215[机械工程—机械制造及自动化]