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工程设计学报
Chin J Eng Design  2023, Vol. 30 Issue (2): 254-261    DOI: 10.3785/j.issn.1006-754X.2023.00.024
Whole Machine and System Design     
Interactive control system of optical displacement stage based on digital twin
Zhe XU1,2(),Shufeng SUN1,2(),Xingbo ZHANG1,2,Xi WANG1,2,Fengyun ZHANG1,2,Pingping WANG1,2,Zhangwei XIE1,2,Yu ZHANG1,2,Jixin LIU3,Weili SUN3,Aixia CAO3
1.School of Mechanical and Automotive Engineering, Qingdao University of Technology, Qingdao 266520, China
2.Shandong Research Center of Laser Green and High Efficiency Intelligent Manufacturing Engineering Technology, Qingdao 266520, China
3.School of Intelligent Manufacturing, Qingdao Huanghai University, Qingdao 266520, China
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Abstract  

In order to solve the problems of inconvenience in experimental operation, difficulty in monitoring equipment operation status and poor interactivity caused by concealed installation position and difficulty in installing auxiliary devices on the self-built laser parallel processing experimental platform, taking a single optical displacement stage in the experimental platform as an example, an interactive control system based on digital twin technology was designed by using Unity engine. This interactive control system used MQTT (message queuing telemetry transport) communication protocol protocol to complete the cross-software information interaction by using the server to transfer data. The Kinesis control software of optical displacement stage and the virtual control panel in Unity engine served as clients in MQTT communication, acting as subscribers and publishers. The digital twin model of the optical displacement stage performed real-time mapping of the motion state of its physical entity based on data information. Users completed synchronous interactive control of the physical entity and the digital twin model through the Kinesis control software or virtual control panel. The secondary development of Kinesis control software was carried out by referencing.dll file, and the motion control class of Kinesis control software was called to complete the motion control of the optical displacement stage. The motion data variables were set to high-precision float type and decimal type to ensure that the data precision was not lost. Ten groups of actual processing data were selected to test the operation latency and synchronization of the interactive control system. The results showed that the data publishing time on the Kinesis control software and the data subscription time on the Unity engine were controlled within 20 ms and 10 ms, respectively. The designed system can better ensure the consistency of synchronous control and real-time action mapping between the digital twin model and the physical entity, which achieves the visual monitoring function of the motion state of the optical displacement stage. In addition, the motion data type can meet the micron level information transmission, ensuring the accuracy requirements of the optical displacement stage. At the same time, the functions of virtual control panel run normally, which improves the convenience of the optical displacement stage control.

Key words： digital twin      interactive control      optical displacement stage      motion monitoring     
Received: 27 July 2022      Published: 06 May 2023
CLC:  TH 136  
Corresponding Authors: Shufeng SUN     E-mail: 279091987@qq.com;sunshufeng@qut.ed.cn
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Zhe XU
Shufeng SUN
Xingbo ZHANG
Xi WANG
Fengyun ZHANG
Pingping WANG
Zhangwei XIE
Yu ZHANG
Jixin LIU
Weili SUN
Aixia CAO
Cite this article:

Zhe XU,Shufeng SUN,Xingbo ZHANG,Xi WANG,Fengyun ZHANG,Pingping WANG,Zhangwei XIE,Yu ZHANG,Jixin LIU,Weili SUN,Aixia CAO. Interactive control system of optical displacement stage based on digital twin. Chin J Eng Design, 2023, 30(2): 254-261.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2023.00.024     OR     https://www.zjujournals.com/gcsjxb/Y2023/V30/I2/254


基于数字孪生的光学位移台交互控制系统

为解决自建激光并行加工实验平台因设备安装位置隐蔽、难以加装辅助装置等而造成实验操作不便、设备运行状态监测困难和交互性差的问题，以实验平台中单个光学位移台为例，利用Unity引擎设计了一种基于数字孪生技术的交互控制系统。该交互控制系统采用MQTT（message queuing telemetry transport，消息队列遥测传输）通信协议，利用服务器中转数据的方式完成跨软件间的信息交互。光学位移台的Kinesis控制软件和Unity引擎中的虚拟控制面板作为MQTT通信中的客户端，共同承担订阅者和发布者的角色。光学位移台的数字孪生模型根据数据信息对物理实体的运动状态进行实时映射，用户通过Kinesis控制软件或虚拟控制面板完成对物理实体和数字孪生模型的同步交互控制。采取引用.dll文件对Kinesis控制软件进行二次开发，调用Kinesis控制软件运动控制类的方法完成对光学位移台的运动控制，并将运动数据变量设置为高精度的float型和decimal型，确保数据精度不丢失。选取10组实际加工数据对交互控制系统运行的延时性、同步性进行测试。结果显示，Kinesis控制软件端数据发布耗时和Unity引擎端数据订阅耗时分别控制在20 ms和10 ms内。所设计的系统能够较好地保证数字孪生模型与物理实体间同步控制的一致性、动作映射的实时性，实现了光学位移台运动状态的可视化监测功能。此外，设置的运动数据类型可满足微米级的信息传递，保证了光学位移台使用时的精度要求；同时虚拟控制面板各功能正常运行，提升了光学位移台控制的便利性。


关键词： 数字孪生,  交互控制,  光学位移台,  运动监测 
Fig.1 Overall framework of interactive control system of optical displacement stage based on digital twin
Fig.2 Digital twin model of optical displacement stage
性能指标数值
最小步长/μm1
重复定位精度/μm5
反冲间隙/μm<6
响应时间/ms<50
Table 1 Performance requirements for digital twin control system
Fig.3 Line connection of optical displacement stage in physical environment
Fig.4 Part server connection test procedure for device side
Fig.5 Subscription and publishing methods for Unity engine side
Fig.6 Test data of motion accuracy of optical displacement stage
Fig.7 Visual control panel virtualization interface
Fig.8 Interactive control program flow of optical displacement stage
Fig.9 Functional test site for interactive control system of optical displacement stage
组别数据发布耗时数据订阅耗时
119.177.10
215.179.03
316.008.52
418.326.93
515.866.52
617.546.85
717.098.05
818.317.11
916.788.85
1018.036.18
Table 2 Time consuming for data transmission of interactive control system of optical displacement stage
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