CN101000490A - Virtual machine real electric emulate system for assembling large industrial machinery - Google Patents
Virtual machine real electric emulate system for assembling large industrial machinery Download PDFInfo
- Publication number
- CN101000490A CN101000490A CN 200610023210 CN200610023210A CN101000490A CN 101000490 A CN101000490 A CN 101000490A CN 200610023210 CN200610023210 CN 200610023210 CN 200610023210 A CN200610023210 A CN 200610023210A CN 101000490 A CN101000490 A CN 101000490A
- Authority
- CN
- China
- Prior art keywords
- signal
- industrial computer
- electric control
- virtual machine
- control gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Inking, Control Or Cleaning Of Printing Machines (AREA)
Abstract
A virtual mechanical and true electric control simulation system to be equipped on industrial large-size mechanical comprises industrial control computer formed by tensile force simulator, data collection module and interface communication module; graphic operation station with data virtual-reality module and electric control unit being used to generate various true control signals of said industrial large-size mechanism and to simulate these signals. It is featured as enabling to debug electric control unit of industrial large-size mechanical by carrying out united-debugging of true electric control unit and virtual mechanical simulated by computer.
Description
Technical field
The present invention relates to a kind of equipment manufacturing industry big machinery that is used for, carry out the virtual machine real electric analogue system of combined debugging as the virtual machine of the true electric control gear of printing machinery, textile machine, numerically-controlled machine, universal machine, Refrigerating Machinery etc. and computer simulation.
Background technology
The installation of heavy mechanical equipment and debugging expend a large amount of time, human and material resources, financial resources, but usually get less than good effect.One of reason is that the installation of its mechanical part needs large-scale debugging place, often needs dismounting and reinstalls equipment in case break down, and is very inconvenient.With respect to mechanical part, the electric part of main equipment occupies very little volume, and is convenient to installation and removal.Can utilize its mechanical part of computing machine utilization virtual reality (Virtual Reality) technical modelling so, electric component true with it carries out combined debugging, do not need to produce mechanical part like this, just can carry out debugging work to it, will greatly reduce debugging cost, improve debugging efficiency.
For example: flexible printing machine virtual machine real electric analogue system is to be object with flexible printing machinery, build a cover " machinery is virtual; control figureization ", the emulation experiment platform that working control device and virtual machine match, be the debugging services of flexible printing machine control section, with the feasibility and the effect of access control scheme.This analogue system can be according to the startup on the flexible printing machine simulation operations platform that collects on the industrial computer, stop, operation, acceleration and deceleration, anxious signal such as stop are analyzed, calculated and handle, draw the actual operating state of virtual printing machinery, comprise abnormal conditions such as normal start-stop, acceleration and deceleration and disconnected paper warning, then analysis result is passed to the flexible printing machine virtual reality demo system that is positioned on the graphics workstation in real time, provide the three-dimensional animation emulation of virtual printing machine by it.
The applicant just is based on the thought of virtual machine real electric, purpose is carried out separate processes to the mechanical part and the electric control system of complicated heavy mechanical equipment, utilize computing machine to come the various quiet dynamic action of its mechanical part of analog simulation, and its electric control system adopts real electric device, by suitable communication interface mode, make its electric control system to the control of the virtual machine of computer simulation as control to actual machine, both can obtain same control effect, accomplish the perfect adaptation of empty machine and real electricity.
Summary of the invention
The present invention aims to provide a kind of virtual machine real electric analogue system that is used for the equipment manufacturing industry big machinery, virtual machine by true electric control gear and computer simulation carries out combined debugging, need not be connected on the real plant equipment, just can debug its electric control gear, thereby find the mistake that it is potential, shorten the debug time of product, save cost, to improve Enterprises'Competitiveness.
A kind of virtual machine real electric analogue system that is used for the equipment manufacturing industry big machinery provided by the present invention, comprise an industrial computer, a graphics workstation that links to each other with this industrial computer and an electric control gear, industrial computer comprises tension force emulator, data acquisition module and interface communication module; Graphics workstation comprises data virtual reality module, wherein: electric control gear, be used to finish simulation and generate each controlled quentity controlled variable signal of true big machinery, be responsible for and industrial computer between carry out the signal transmitted in both directions; The tension force emulator is used to finish uncoiling tension, printing tension force and main transmission linear velocity mathematical modeling, is responsible for accepting the various control signals that described data acquisition module is sent, and carries out output result signal after the computing; The virtual reality module is used to finish quiet dynamic model of big machinery virtual reality and virtual scene modeling, accepts the command signal that industrial computer sends over, and demonstrates the corresponding various dummy activitys of big machinery in real time according to signal content; Data acquisition module, finish the collection of the analog-and digital-amount signal of electric control gear generation, and signal is sent in the described industrial computer, analyze then, calculate and handle, the anti-electric control gear of giving of the signal that calculates, electric control gear is then finished the operation conditions that corresponding action is simulated actual big machinery at last; The interface communication module is finished the data communication between electric control gear and industrial computer, industrial computer and the graphics workstation.
In above-mentioned virtual machine real electric analogue system, big machinery is a flexible printing machine.
In above-mentioned virtual machine real electric analogue system, the control signal that the tension force emulator is accepted comprises the digital and analogue signals of uncoiling tension, printing tension force, main line velocity setting, starting, parking, and the consequential signal of output comprises uncoiling tension feedback, printing tension feedback, main line velocity feedback and disconnected paper alerting signal.
In above-mentioned virtual machine real electric analogue system, the command signal that the industrial computer that the virtual reality module is accepted sends over comprises starting, parking, print speed printing speed, disconnected paper alerting signal.
In above-mentioned virtual machine real electric analogue system, what data acquisition module was finished is the collection that comprises the analog-and digital-amount signal that uncoiling tension, printing tension force, starting and stopping, acceleration and deceleration move that the flexible printing machine electric control gear produces; Described data acquisition module feeds back, prints tension feedback, spindle drive linear velocity, the disconnected anti-electric control gear of giving of paper alerting signal to the uncoiling tension that comprises that calculates at last.
In above-mentioned virtual machine real electric analogue system, industrial computer and graphics workstation adopt serial communication or transmit data by LAN (Local Area Network).
In above-mentioned virtual machine real electric analogue system, industrial computer adopts the simulation calculation kit Simulink of Matlab7.0 to set up and calculate the flexible printing machine controlling models.
Owing to adopted above-mentioned technical solution, the virtual machine by true electric control gear and computer simulation carries out combined debugging, does not need to be connected on the real plant equipment, just can carry out various debugging work, is not subjected to the influence in place; Design and debugging are combined well, shorten product development cycle, utilize the good plant equipment of CAD software design, need not to process material object, only need just can carry out virtual debugging it through some transformations; Can reduce the probability that the various potential problems in the debug process take place, because electric control system is the actual electrical device of air, having reduced as if electric and mechanical part is under the situation of emulation in computing machine all, and the problem that in the actual field debug process, may occur.This system can be applied on the various big machineries, as printing machinery, textile machine, numerically-controlled machine, universal machine, Refrigerating Machinery etc.
Description of drawings
Fig. 1 is the embodiment of the invention, flexible printing machine virtual machine real electric system architecture synoptic diagram.
Embodiment
As an application example of the present invention, introduced flexible printing machine virtual machine real electric analogue system below, flexible printing machine virtual machine real electric analogue system integrates the motion of virtual printing machine and the emulation of actual control system thereof, realizes data transfer and control between its electric control gear module, tension force emulator module and the virtual reality module.Realized of the real-time control of its true electric control gear by test, verified the correctness of inventive concept the virtual printing machine.
Flexible printing machine virtual machine real electric analogue system
One, flexible printing machine briefly introduces
Flexible printing machine is a typical set type web press, is divided into uncoiling, prints, cuts individual and transport platform totally four functional units.Require the functional unit of configuration varying number according to different typographies.Shown in the figure is the configurations of a standard four look flexible printing machines.
Paper is sent through the uncoiling roller during complete machine running, enter printing element, paper stamps the color that sets each other off on paper under the acting in conjunction of anilox roll, registration rollers and ink roller, finish four-colour chromatography through four groups of printing elements, enter and cut individual unit, cut into the sheet-fed printing finished product through cutting individual roller, by the supply unit arrangement, end product rolls off the production line.
Printing quality depends primarily on chromatography precision and printing uniformity coefficient.The controlled quentity controlled variable that influences chromatography precision mainly is uncoiling tension and printing tension force.The instability of these two tension force will cause original alignment to wander off, and overprint error increases, and influences printing quality.And the instability of spindle drive linear velocity not only will cause overprint error to increase, and can cause the instability of printing ink transfer, influence printing uniformity coefficient.
Two, emulate system architecture and functional module
The structural drawing of flexible printing machine virtual machine real electric analogue system is seen Fig. 2.This system mainly comprises five modules: the electric control gear module; The tension force emulator module; The virtual reality module; Data acquisition module; The interface communication module.
1. electric control gear module
Finish simulation and generate each controlled quentity controlled variable signal of true flexible printing machine, be responsible for and industrial computer between carry out the signal transmitted in both directions, referring to table 1.Its signal is produced by the flexible printing machine operator's console.This module is total system " reality " part.
Signal transmission between table 1 electric control gear and the industrial computer
2. tension force emulator module
Finish uncoiling tension, printing tension force and main transmission linear velocity mathematical modeling, be responsible for accepting the various control signals that data acquisition module is sent, as digital and analogue signals such as uncoiling tension, printing tension force, main line velocity setting, starting, parkings, carry out exporting some signals after the computing, as uncoiling tension feedback, printing tension feedback, main line velocity feedback, disconnected paper alerting signal etc., give electric control gear or virtual reality module, referring to table 1.
This module is a software platform with Matlab7.0, utilizes its Simulink module to set up each controlled quentity controlled variable mathematical model, and carries out real-time simulation.This part is operated on the industrial computer to be finished.
3. virtual reality module
Finish quiet dynamic model of flexible printing machine virtual reality and virtual scene modeling, accept signals such as starting that industrial computer sends over, parking, print speed printing speed, disconnected paper warning, and demonstrate the corresponding various dummy activitys of flexible printing machine in real time according to these signals.This module is total system " empty machine " part.
This module is utilized OpenGL
[2]Pattern library function is set up the virtual reality three-dimensional model of flexible printing machine under the VC++6.0 platform, this process is mainly finished modeling and simulation on graphics workstation.Need to prove when making up the flexible printing machine virtual reality model, can be transformed into its three-dimensional model that in Three-dimensional Design Software such as SolidWorks, ProE, designs in advance in the VC++6.0/OpenGL environment, and then the model that conversion is come carried out some corrections, just can obtain visual effect preferably.Certainly this needs some conversion work, though in transfer process, can lose some information, compared with directly setting up the printing machine model in the OpenGL environment has saved a large amount of loaded down with trivial details, time-consuming duplication of labour.Above-mentioned Three-dimensional Design Software generally provides multiple format transformation, as Virtual Reality Modeling Language VRML (Virtual Reality Modeling Language), be a kind of good format transformation, it can preserve the multiple information such as shape, size, position, color, material, illumination, viewpoint position of 3D solid.The present invention mainly adopts this kind method.
4. data acquisition module
Finish the uncoiling tension of flexible printing machine electric control gear generation, the collection of printing analog-and digital-amount signals such as tension force, starting and stopping, acceleration and deceleration operation, and these signals are sent in the industrial computer, analyze then, calculate and handle, anti-electric control gears of giving of signal such as the uncoiling tension feedback of calculating, printing tension feedback, spindle drive linear velocity, disconnected paper warnings, electric control gear is then finished the operation conditions that corresponding action is simulated the compliance printing machine at last.Thereby this module is the bridge that connects between electric control gear and the industrial computer.
5. interface communication module
Finish the data communication between electric control gear and industrial computer, industrial computer and the graphics workstation.This module needs fast, transmits between above-mentioned module in real time or accepts data, and data rate is concerning the real-time requirement of total system.Can adopt serial communication or transmit data by LAN (Local Area Network).This paper adopts the latter, and utilization server (Server) and client (Client) mode communicate, and graphics workstation as server end, is accepted the data that the industrial computer client is sent.Data can be transmitted with very fast speed and very high precision like this, and this is guaranteed by the TCP/IP network transmission protocol.Matlab7.0 provides tcpip function
[3], VC++6.0 provides CSocket class
[4], the both provides network communicating function, thereby is not difficult to realize the real-time network communication between above-mentioned two large platforms.
Three, the gordian technique of emulation of the present invention
The real-time problem is the key technical problem in the native system implementation process, and it mainly comprises the problem of following two aspects.
One) the real-time simulation computational problem of flexible printing machine controlling models
The solution of this problem mainly is to adopt the powerful simulation calculation kit Simulink of Matlab7.0 to set up and calculate the flexible printing machine controlling models.The paper tension control system does not belong to real-time generally and requires very high system, therefore utilizes Simulink to carry out model in line computation, and is unquestionable fully on the speed.Can certainly utilize that RTW (Real-Time Workshop) kit is the C code between the The Component Object Model COM (Component Object Model) of Matlab7.0 or real-time working to the Simulink model conversation, so just can under kinds of platform, directly call it, calculate in real time.
Two) the real-time interaction problems of flexible printing machine tension force emulator and its virtual reality module
This problem is the key of total system real-time problem, and its basic reason is that the demonstration of 3-D view is played up with effect, the realization of three-dimensional animation and communicate by letter and all will consume a large amount of memory sources, and hardware devices such as computer display card are had higher requirement.Be to solve the real-time problem, and consider the financial cost problem, we have carried out a large amount of simplification and optimization work to the manufacturing process of the processing of data and 3-D view, three-dimensional animation.Concrete solution is as follows:
1. model simplification:
● for only containing more than 500 main function components, capacity is the three-dimensional model of 5M byte with the printing machine three-dimensional model simplifying of original more than 5000 parts among the Solidworks;
● simplified the 3-D view of VRML form storage, read mode;
2. image optimization:
● adopted the multi-level buffer technology, realized the calculating on backstage and the demonstration separate processes on foreground, made the switching of dynamic menu more level and smooth, smooth;
● adopt isolation technique static and dynamic menu, reduced the memory source consumption of dynamic menu;
● adopt array operation and storage thereof, treatment technology, realized that the compression of redundant data is handled, and reduced the function calls number of times, avoided the resource of redundant processing and the consumption of time;
● adopted the multithreading treatment technology, the processing and the communication process of graph image have been separated.
By above-mentioned measure, reduced the demand of native system to memory source, computer hardware equipment, making it also can real time execution on common PC.
Four, l-G simulation test checking
Major equipment comprises a flexible printing machine simulation operations platform, an industrial computer, and PCL-818L data acquisition board of interpolation, a wildcat graphics workstation, internal home network etc., software platform mainly are Matlab7.0 and VC++6.0.Fig. 4 has provided flexible printing machine virtual reality three-dimensional scene.
Operate steadily on this overall system fast, virtual reality scenario is true to nature, and flexible printing machine simulation operations platform is realized the real-time control to the virtual printing machine, produces a desired effect.The control accuracy of each major parameter of tension force emulator sees Table 2.
The expectation precision of each major parameter of table 2 tension force emulator and realistic accuracy contrast
| Expectation precision (%) | Realistic accuracy (%) | |
| Uncoiling tension | ±1.5％ | ±0.6％ |
| Printing tension force | ±1.0％ | ±0.5％ |
| Main line speed | ±1.0％ | ±0.4％ |
Five, conclusion
Flexible printing machine virtual machine real electric system succeeds in developing, built the flexible printing machine simulation test platform of the full-digital control of a cover " machinery is virtual; control figureization ", can be the debugging services of flexible printing machine control section, with the feasibility and the effect of access control scheme.The virtual machine real electric thought of utilizing this emulation platform realizes the virtual printing machine of real flexible printing machine electric control gear real-time control computer simulation, and as the control to the actual print machine, both can obtain same control effect.This platform can shorten the construction cycle of flexible printing machine, reduces debugging cost, improves Enterprises'Competitiveness.After this test platform builds up,, can also extend to industries such as lathe, heavy-duty machine, light machine, change machine, frame, universal machine, engineering machinery except covering printing, package packing machine product line.The technology energy level of the design of elevating gear industry and product greatly.
Above embodiment is only for the usefulness that the present invention is described, but not limiting the scope of the invention.Relevant those skilled in the art under the situation that does not break away from the spirit and scope of the present invention, can also make various conversion or modification, and the technical scheme that all are equal to also should belong within the category of the present invention's protection, is limited by each claim.
Claims (7)
1. a virtual machine real electric analogue system that is used for the equipment manufacturing industry big machinery comprises an industrial computer, a graphics workstation that links to each other with this industrial computer and an electric control gear, and industrial computer comprises tension force emulator, data acquisition module and interface communication module; Graphics workstation comprises data virtual reality module, wherein:
Electric control gear is used to finish simulation and generates each controlled quentity controlled variable signal of true big machinery, be responsible for and industrial computer between carry out the signal transmitted in both directions;
The tension force emulator is used to finish uncoiling tension, printing tension force and main transmission linear velocity mathematical modeling, is responsible for accepting the various control signals that described data acquisition module is sent, and carries out output result signal after the computing;
The virtual reality module is used to finish quiet dynamic model of big machinery virtual reality and virtual scene modeling, accepts the command signal that industrial computer sends over, and demonstrates the corresponding various dummy activitys of big machinery in real time according to signal content;
Data acquisition module, finish the collection of the analog-and digital-amount signal of electric control gear generation, and signal is sent in the described industrial computer, analyze then, calculate and handle, the anti-electric control gear of giving of the signal that calculates, electric control gear is then finished the operation conditions that corresponding action is simulated actual big machinery at last;
The interface communication module is finished the data communication between electric control gear and industrial computer, industrial computer and the graphics workstation.
2. virtual machine real electric analogue system according to claim 1 is characterized in that: described big machinery is a flexible printing machine.
3. virtual machine real electric analogue system according to claim 2, it is characterized in that: the control signal that described tension force emulator is accepted comprises the digital and analogue signals of uncoiling tension, printing tension force, main line velocity setting, starting, parking, and the consequential signal of output comprises uncoiling tension feedback, printing tension feedback, main line velocity feedback and disconnected paper alerting signal.
4. virtual machine real electric analogue system according to claim 2 is characterized in that: the command signal that the industrial computer that described virtual reality module is accepted sends over comprises starting, parking, print speed printing speed, disconnected paper alerting signal.
5. virtual machine real electric analogue system according to claim 2 is characterized in that: what described data acquisition module was finished is the collection that comprises the analog-and digital-amount signal that uncoiling tension, printing tension force, starting and stopping, acceleration and deceleration move that the flexible printing machine electric control gear produces; Described data acquisition module feeds back, prints tension feedback, spindle drive linear velocity, the disconnected anti-electric control gear of giving of paper alerting signal to the uncoiling tension that comprises that calculates at last.
6. virtual machine real electric analogue system according to claim 1 is characterized in that: described industrial computer and graphics workstation adopt serial communication or transmit data by LAN (Local Area Network).
7. virtual machine real electric analogue system according to claim 1 is characterized in that: described industrial computer adopts the simulation calculation kit Simulink of Matlab7.0 to set up and calculate the flexible printing machine controlling models.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100232108A CN100478811C (en) | 2006-01-11 | 2006-01-11 | Virtual machine real electric emulate system for assembling large industrial machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100232108A CN100478811C (en) | 2006-01-11 | 2006-01-11 | Virtual machine real electric emulate system for assembling large industrial machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101000490A true CN101000490A (en) | 2007-07-18 |
| CN100478811C CN100478811C (en) | 2009-04-15 |
Family
ID=38692488
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100232108A Expired - Fee Related CN100478811C (en) | 2006-01-11 | 2006-01-11 | Virtual machine real electric emulate system for assembling large industrial machinery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100478811C (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101872161A (en) * | 2010-04-30 | 2010-10-27 | 浙江大学 | Method for interactive control on key devices in process industry on basis of virtual reality |
| CN101609615B (en) * | 2008-06-19 | 2012-07-04 | 广东电子工业研究院有限公司 | Real-time semi-physical simulation system and data acquisition method thereof |
| CN101751004B (en) * | 2008-12-12 | 2012-09-19 | 发那科株式会社 | Simulation apparatus |
| CN102692896A (en) * | 2011-11-17 | 2012-09-26 | 上海理工大学 | System for remotely maintaining printer in real time based on virtual reality technology |
| CN102722106A (en) * | 2011-03-29 | 2012-10-10 | 上海晟昊信息科技有限公司 | Immersive virtual reality emulation interaction display method and display system |
| CN103310038A (en) * | 2013-05-22 | 2013-09-18 | 天津大学 | Virtual machine actual electricity simulation system and method for rotary guiding executing mechanism |
| CN103676656A (en) * | 2012-09-18 | 2014-03-26 | 苏州御能动力科技有限公司 | Rapier loom simulation system and simulation method thereof |
| CN103793542A (en) * | 2012-10-30 | 2014-05-14 | 南车青岛四方机车车辆股份有限公司 | Modularization-based virtual high-speed train traction system |
| CN104835188A (en) * | 2015-04-01 | 2015-08-12 | 李冀辉 | Method of making high-quality three-dimensional mechanical simulation animation by means of personal computer |
| CN106940533A (en) * | 2017-04-11 | 2017-07-11 | 上海交通大学 | A kind of Real-time Decision method based on cloud faster than real time simulation platform and hardware in loop |
| CN107037783A (en) * | 2016-11-09 | 2017-08-11 | 湖南戈人自动化科技有限公司 | A kind of method that man-machine interface realizes advanced figure function |
| CN108389459A (en) * | 2018-03-15 | 2018-08-10 | 湖南工业大学 | A kind of printing simulation system based on virtual reality |
| CN110175803A (en) * | 2019-05-27 | 2019-08-27 | 中冶赛迪重庆信息技术有限公司 | A kind of automation managing and control system Virtual Debugging system and method based on logistics simulation |
-
2006
- 2006-01-11 CN CNB2006100232108A patent/CN100478811C/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101609615B (en) * | 2008-06-19 | 2012-07-04 | 广东电子工业研究院有限公司 | Real-time semi-physical simulation system and data acquisition method thereof |
| CN101751004B (en) * | 2008-12-12 | 2012-09-19 | 发那科株式会社 | Simulation apparatus |
| CN101872161A (en) * | 2010-04-30 | 2010-10-27 | 浙江大学 | Method for interactive control on key devices in process industry on basis of virtual reality |
| CN102722106A (en) * | 2011-03-29 | 2012-10-10 | 上海晟昊信息科技有限公司 | Immersive virtual reality emulation interaction display method and display system |
| CN102692896A (en) * | 2011-11-17 | 2012-09-26 | 上海理工大学 | System for remotely maintaining printer in real time based on virtual reality technology |
| CN102692896B (en) * | 2011-11-17 | 2013-12-11 | 上海理工大学 | System for remotely maintaining printer in real time based on virtual reality technology |
| CN103676656B (en) * | 2012-09-18 | 2016-06-15 | 上海英威腾工业技术有限公司 | A kind of analogy method applying arrow shaft loom simulator |
| CN103676656A (en) * | 2012-09-18 | 2014-03-26 | 苏州御能动力科技有限公司 | Rapier loom simulation system and simulation method thereof |
| CN103793542A (en) * | 2012-10-30 | 2014-05-14 | 南车青岛四方机车车辆股份有限公司 | Modularization-based virtual high-speed train traction system |
| CN103310038A (en) * | 2013-05-22 | 2013-09-18 | 天津大学 | Virtual machine actual electricity simulation system and method for rotary guiding executing mechanism |
| CN104835188A (en) * | 2015-04-01 | 2015-08-12 | 李冀辉 | Method of making high-quality three-dimensional mechanical simulation animation by means of personal computer |
| CN107037783A (en) * | 2016-11-09 | 2017-08-11 | 湖南戈人自动化科技有限公司 | A kind of method that man-machine interface realizes advanced figure function |
| CN106940533A (en) * | 2017-04-11 | 2017-07-11 | 上海交通大学 | A kind of Real-time Decision method based on cloud faster than real time simulation platform and hardware in loop |
| CN106940533B (en) * | 2017-04-11 | 2020-01-03 | 上海交通大学 | Cloud super real-time simulation platform and hardware-in-loop based real-time decision method |
| CN108389459A (en) * | 2018-03-15 | 2018-08-10 | 湖南工业大学 | A kind of printing simulation system based on virtual reality |
| CN110175803A (en) * | 2019-05-27 | 2019-08-27 | 中冶赛迪重庆信息技术有限公司 | A kind of automation managing and control system Virtual Debugging system and method based on logistics simulation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100478811C (en) | 2009-04-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100478811C (en) | Virtual machine real electric emulate system for assembling large industrial machinery | |
| Iwata et al. | A modelling and simulation architecture for virtual manufacturing systems | |
| CN101262486B (en) | Modbus bus analysis system based on built-in platform | |
| CN105807628B (en) | Robot flexibility controller and its implementation for complicated CPS | |
| CN112506476B (en) | Method and device for quickly constructing digital twin workshop system | |
| CN110502861B (en) | Full-digital simulation system based on satellite information flow | |
| CN207991823U (en) | The virtual test bay system of aero-engine semi physical | |
| CN104842356B (en) | A kind of many robot palletizers teaching method based on Distributed Calculation Yu machine vision | |
| CN102436184B (en) | EMP (embedded microprocessor)-based double-target machine control real-time simulation system | |
| CN107797463A (en) | A kind of emulation mode of multiaxis electric propulsion semi-physical object simulating test platform | |
| CN104391683A (en) | Method and device for educing model cartoon in three-dimensional software based on 3Dmax script | |
| CN101799767B (en) | Method for carrying out parallel simulation by repeatedly switching a plurality of operation modes of simulator | |
| CN106200448B (en) | A kind of long-range mapped system of industry interface implementation | |
| CN105938678A (en) | Multi-platform numerical control simulator | |
| CN113253704A (en) | Simulation test method, device and system for vehicle ECU and electronic equipment | |
| CN104363110A (en) | EMS man-machine interface monitoring system and implementing method based on interface calculating service | |
| CN103244137A (en) | Synchronous servo control simulation device of cutter disc driving motor of earth pressure balance shield | |
| CN106054671A (en) | Intelligent vehicle simulation platform for active safety | |
| Chai et al. | Production line 3D visualization monitoring system design based on OpenGL | |
| CN201904023U (en) | Single-machine multi-platform numerical control machining rigid panel simulator | |
| CN102135762A (en) | Time trigger type real-time simulation control system | |
| CN107515587A (en) | System, method, apparatus, equipment and the storage medium of man-machine interactive operation emulation | |
| CN101340357A (en) | Debugging simulation system and method for remote monitoring terminal of subway safe door system | |
| CN105138390B (en) | Apply the real-time data communication system and method between process monitoring control system and simulation support svstem | |
| Lim et al. | Design and Implementation of IEC62541-based Industry-Internet of Things Simulator for Meta-Factory |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090415 Termination date: 20100211 |