供包机数字孪生控制方法研究  

Research on Control Algorithm of Up Package Based on Digital Twin

作　　者：李传祥 范丽[1] 朱玉钢 许超[1] LI Chuanxiang;FAN Li;ZHU Yugang;XU Chao(Huzhou Research Institute,Zhejiang University,Huzhou 313299,China)

机构地区：[1]浙江大学湖州研究院,湖州313299

出　　处：《自动化与仪表》2024年第5期137-142,共6页Automation & Instrumentation

基　　金：湖州市科技特派员项目(2021KT75)。

摘　　要：为提升供包机控制性能,提出供包机数字孪生控制方法研究。首先,通过包裹进行动力学和运动学分析,得到有效供包的时间与空间约束;然后,构建数字孪生控制框架,对供包机、包裹、分拣机进行三维模型,搭建系统的动力学模型;最后,将供包机、包裹、分拣机小车等参数作为孪生控制算法输入,以上包时间作为约束,求解加减速段传送带的运行速度,从而实现上包时间点和上包位置的精准控制。试验结果表明,数字孪生控制方法的有效性,确定包裹的初始位置是影响包裹落点的主要因素,包裹与传送带间的摩擦系数、上包位置、段间空隙是影响控制性能的主要因素。In order to improve the control performance of up-package machine,a digital twin control method is proposed.First,by analyzing the dynamic model and kinematic model of the package,the time and space constraints of efficient package supply are obtained.Then,a digital twin control framework is constructed.Three-dimensional models of up-package machine,package,and sorting machines to build a dynamic model of the system.Furthermore,parameters of up-package machines,package,and sorting machines are used as inputs,and the loading time is used as a constraint to solve the running speed of the conveyor belt in the acceleration and deceleration sections,thereby achieving precise control of the packaging time and location.The experimental results show the effectiveness of the digital twin control method.And the initial position of the package is the main factor affecting the landing point of the package.The friction coefficient between the package and the conveyor belt,the upper package position,and the gap between sections are the main factors affecting the control performance.

关 键 词：供包机 数字孪生 上包时间 上包位置 虚拟机器人试验平台 

分 类 号：TP277[自动化与计算机技术—检测技术与自动化装置]