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浙江大学学报(工学版)  2023, Vol. 57 Issue (5): 883-891    DOI: 10.3785/j.issn.1008-973X.2023.05.004
计算机技术与控制工程     
基于数字孪生的机身对接精度优化控制方法
赵永胜1,2(),赵志勇1,2,李迎1,3,张涛1,3
1. 北京工业大学 先进制造与智能技术研究所,北京 100020
2. 北京工业大学 先进制造技术北京市重点实验室,北京 100020
3. 北京工业大学 机械工业重型机床数字化设计与测试技术重点实验室,北京 100020
Optimal control method of fuselage docking accuracy based on digital twin
Yong-sheng ZHAO1,2(),Zhi-yong ZHAO1,2,Ying LI1,3,Tao ZHANG1,3
1. Institute of Advanced Manufacturing and Intelligent Technology, Beijing University of Technology, Beijing 100020, China
2. Beijing Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing 100020, China
3. Machinery Industry Key Laboratory of Heavy Machine Tool Digital Design and Testing Technology, Beijing University of Technology, Beijing 100020, China
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摘要:

针对传统对接方法在缺少现场实测数据支持下的被动调整问题,提出基于数字孪生的机身对接精度优化控制方法.基于数字孪生虚实结合技术,研究机身对接工艺优化反馈控制技术. 搭建融合冗余控制算法和工艺优化策略的数字孪生系统,明确了基于现场实测数据的测量-优化-反馈精度优化流程. 基于有限状态机理论,精准重建数字孪生模型,实现对接过程的监控和精度预测,根据同轴度评价指标完成工艺参数二次设计,将优化后的工艺参数重新下发至物理现场、控制现场进行对接. 对接位姿偏差对比结果表明:对接精度优化控制方法将机身筒段位置偏差降低了60.03%,姿态偏差降低了53.94%.

关键词: 数字孪生机身对接模型重构参数优化优化控制    
Abstract:

Aiming at the problem of passive adjustment of traditional docking methods without the support of field measured data, the optimization feedback control technology of fuselage docking process was studied based on the digital twin virtual reality combination technology. A digital twin system integrating the redundant control algorithm and the process optimization strategy was built. The process of measurement-optimization-feedback accuracy optimization based on field measured data was clarified. The digital twin model was accurately reconstructed based on the finite-state machine theory. The monitoring and precision prediction of docking process were realized. The secondary design of process parameters was completed according to the coaxiality evaluation index. The optimized process parameters were redistributed to the physical site to control the on-site docking process. The comparison of the docking position and attitude deviation showed that the optimal control method of the docking accuracy reduced the position deviation of the fuselage barrel by 60.03% and the attitude deviation by 53.94%.

Key words: digital twin    fuselage docking    model reconstruction    parameter optimization    optimal control
收稿日期: 2022-09-21 出版日期: 2023-05-09
CLC:  V 264.2  
基金资助: 国家自然科学基金资助项目(52075012)
作者简介: 赵永胜(1975—),男,教授,博导,从事机床动力学、非线性系统辨识和系统仿真与控制研究. orcid.org/0000-0002-6592-8833. E-mail: yszhao@bjut.edu.cn
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引用本文:

赵永胜,赵志勇,李迎,张涛. 基于数字孪生的机身对接精度优化控制方法[J]. 浙江大学学报(工学版), 2023, 57(5): 883-891.

Yong-sheng ZHAO,Zhi-yong ZHAO,Ying LI,Tao ZHANG. Optimal control method of fuselage docking accuracy based on digital twin. Journal of ZheJiang University (Engineering Science), 2023, 57(5): 883-891.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2023.05.004        https://www.zjujournals.com/eng/CN/Y2023/V57/I5/883

图 1  基于数字孪生的机身对接系统
图 2  多站位冗余测量网络
图 3  数孪生模型精准重构
图 4  基于数字孪生的飞机对接精度优化流程
图 5  对接控制平台坐标系
图 6  基于数字孪生的机身筒段对接交互系统
图 7  机身筒段对接装配现场
序号 $X$/mm $Y$/mm $Z$/mm
1 373.555 214.014 ?283.830
2 323.193 489.961 181.887
3 223.150 1027.714 174.355
4 169.474 1276.241 ?301.373
5 ?39.473 136.544 ?283.939
6 ?85.010 403.496 181.617
7 ?187.961 936.987 183.871
8 ?242.197 1195.985 ?275.965
表 1  对接前固定筒段坐标
序号 $X$/mm $Y$/mm $Z$/mm
1 ?165.008 111.734 ?298.051
2 ?186.030 242.148 51.455
3 ?309.740 903.813 168.885
4 ?368.699 1138.559 ?122.273
5 ?1267.995 ?92.702 ?288.938
6 ?1315.942 174.049 176.233
7 ?1413.406 710.535 163.508
8 ?1464.478 978.906 ?294.405
表 2  对接前机身筒段坐标
序号 $X$/mm $Y$/mm $Z$/mm
1 ?67.851 134.420 ?272.060
2 ?86.006 268.002 76.409
3 ?208.747 930.715 188.840
4 ?270.093 1162.814 ?103.943
5 ?1170.726 ?69.842 ?252.045
6 ?1214.856 201.168 211.063
7 ?1312.421 737.478 194.271
8 ?1367.247 1001.686 ?265.625
表 3  对接后机身筒段坐标
图 8  机身筒段对接位姿偏差对比
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