CN112132359B - Digital twin satellite pulsation type final assembly workshop design method and system - Google Patents
Digital twin satellite pulsation type final assembly workshop design method and system Download PDFInfo
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Abstract
The invention discloses a design method and a system for a digital twin satellite pulsation type assembly workshop, wherein the method comprises the following steps: designing a digital twin-based two-level packaging design module, wherein the module completes the design and packaging of a final assembly station and a final assembly workshop; designing a digital twin virtual-real interaction debugging module, wherein the module realizes the debugging of a model, an interface and a system by establishing real-time data connection with a physical entity; designing a model library of the assembly staff, and realizing analysis and prediction of the process completion time, the process matching degree and the individual fatigue degree of the assembly staff; the design process simulation analysis module is used for carrying out simulation verification on the design scheme and carrying out optimization correction on the defect scheme; and designing a digital twin system instantiation module, wherein the module instantiates the design and outputs the design as a modularized assembly to guide workshop construction and system development. The method aims at the characteristics of the satellite pulsation type assembly workshop, and can improve the design efficiency and effectiveness of the satellite pulsation type assembly workshop to a certain extent.
Description
Technical Field
The invention belongs to the fields of industrial digitization and computer science, and particularly relates to a design method and a system for a digital twin satellite pulsation type final assembly workshop.
Background
The satellite assembly is a critical ring in the satellite development process, and affects the final quality of the satellite. Today, with the rapid development of commercial transformation in the satellite industry, the assembly mode of conventional satellite fixed stations has been difficult to cope with the development needs and challenges of low cost, short cycle, large volume, and high customization. The pulsation type assembly mode is an assembly mode of intermittent movement in a beat between continuous movement assembly and fixed assembly, and a specific process is completed by a specific station through deconstructing and redesigning a traditional process, so that satellite products move among different stations to complete assembly tasks. The pulsation type assembly mode greatly improves the assembly efficiency, is more beneficial to lean management of the assembly process, is convenient to improve the digitization, automation and intellectualization level of the whole system, and is an effective mode for dealing with future development demands and challenges of satellite assembly.
In the aspect of workshop design, the design and optimization are usually carried out by means of a digital model of equipment or units, and the scheme is verified and analyzed by means of off-line simulation or semi-real-time simulation, so that the design scheme is finally formed. These techniques have the following problems in the design of the production for the satellite pulse type assembly: (1) the existing design method is mainly aimed at a flow production line, has limited design method aiming at a pulsation type assembly workshop of complex products such as satellites and the like, and lacks consideration of factors such as personnel operation time, proficiency, fatigue and the like in discrete assembly; (2) the digital model of the existing design method is generally inconsistent and inaccurate with the actual scene and equipment, so that the credibility of the design result is reduced; (3) off-line simulation and semi-real-time simulation of the existing design method are usually disjointed with the process of the engineering unit in actual assembly production; (4) the existing design method has a lack in the design of a communication network and the design of a control mechanism; (5) the conversion rate of the design proposal results of the existing design method is not high when the actual assembly workshop is constructed, and models, interfaces, control mechanisms and the like generated during design cannot be directly or indirectly converted into a part of the management and control system of the assembly workshop.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: (1) the existing design method is mainly aimed at a flow production line, has limited design method aiming at a pulsation type assembly workshop of complex products such as satellites and the like, and lacks consideration of factors such as personnel operation time, proficiency, fatigue and the like in discrete assembly; (2) the digital model of the existing design method is generally inconsistent and inaccurate with the actual scene and equipment, so that the credibility of the design result is reduced; (3) off-line simulation and semi-real-time simulation of the existing design method are usually disjointed with the process of the engineering unit in actual assembly production; (4) the existing design method has a lack in the design of a communication network and the design of a control mechanism; (5) the conversion rate of the design proposal results of the existing design method is not high when the actual assembly workshop is constructed, and models, interfaces, control mechanisms and the like generated during design cannot be directly or indirectly converted into a part of the management and control system of the assembly workshop. Therefore, the invention aims at the problems, improves the traditional design method by means of digital twin technology, and improves the efficiency, accuracy, credibility, coverage and guidance of the design to a certain extent.
The invention solves the technical problems by adopting the following technical scheme: a design method of a digital twin satellite pulsation type assembly workshop comprises the following steps:
step (1), designing a digital twinning-based two-level packaging design module, wherein the module specifically realizes:
firstly, analyzing and decoupling a satellite pulsation type assembly workshop process, determining a specific process of each assembly station and a process relation among different assembly stations, designing an assembly station model comprising station equipment, layout, an operation mechanism and a behavior rule, and designing a communication interface among each equipment executor, a sensor and an upper computer, and a control mechanism script of a mechanical motion and path, a mechanical automatic control mechanism and an assembly process signing propulsion mechanism of the assembly station;
the method comprises the steps of (1.2) integrating a designed assembly station model, a communication interface and a control mechanism script, and integrally packaging the integrated assembly station model into an assembly station digital twin model, wherein the assembly station digital twin model can perform position adjustment, model interaction, interface debugging and mechanical motion simulation;
the method comprises the steps of (1.3) realizing modular design taking assembly stations as units based on the packaged digital twin models of all assembly stations, wherein the modular design comprises final assembly workshop layout design and logistics design based on the three-dimensional model of the assembly stations, workshop communication network architecture design based on an assembly station communication interface and workshop process flow control logic design based on a control mechanism script, and obtaining a designed final assembly workshop model, a communication network, a logistics scheme and control logic;
(1.4) integrating a final assembly workshop model, a communication network, a logistics scheme and control logic which are designed and developed, and packaging the whole of the final assembly workshop model into a final assembly workshop digital twin model;
step (2), designing a digital twin virtual-real interaction debugging module, wherein the module specifically realizes:
(2.1) establishing data communication between physical entities involved in the design of the assembly plant and a digital twin virtual model, wherein the digital twin virtual model comprises an assembly station digital twin model and an assembly plant digital twin model;
(2.2) under the same signal excitation, collecting feedback data of the physical entity and the digital twin virtual model, calculating a difference value between the physical entity and the digital twin virtual model, and judging whether the difference value is within a system permission threshold value;
(2.3) if the digital twin virtual model is not within the allowable threshold, correcting the digital twin virtual model, and judging the signal excitation and the difference again;
(2.4) outputting the digital twin virtual model if within the allowable threshold;
step (3), designing a final assembly worker model library, wherein the model library models related process operations of workers based on historical data and comprises a process average completion time prediction model P a Individual proficiency-based process completion time prediction model P p Worker-station matching degree model P based on individual operation capability m Fatigue prediction model P based on individual physical ability f ；
Step (4), designing a process simulation analysis module, wherein the module specifically realizes:
(4.1) taking real-time or historical data of an assembly work order, equipment and personnel or historical operation records as simulation driving scripts, importing a digital twin model of a final assembly workshop and a final assembly worker model, and simulating a satellite pulsation final assembly process;
(4.2) analyzing the functions, performances, feasibility and reliability of the design of the assembly workshop by means of simulation result parameters, and judging whether the design scheme needs to be corrected and optimized according to various indexes;
(4.3) if optimization is needed, determining an optimization target and an index, optimizing the design of the assembly workshop by means of a multi-target optimization algorithm and the like, forming a correction strategy for the design of the assembly workshop, and returning the strategy to the digital twin-based two-level package design module in the step 1 for redesign;
(4.4) outputting the final assembly shop design model if optimization is not needed;
and (5) designing a digital twin system instantiation module, wherein the module instantiates a general assembly workshop design model to form a general assembly workshop layout model, a network architecture and interface model, a logistics scheme and control strategy, a workshop control script and a worker process task allocation strategy, and the module is used for guiding assembly line field construction, installation and debugging and digital twin workshop system construction.
More preferably, the assembling station digital twin model of the step 1 includes: the model covers various objects of the field, personnel, materials, equipment and tools of the assembly station; firstly, constructing an assembly station three-dimensional model, wherein the three-dimensional model of equipment and tools is independent and movable, and carrying out layout design by combining a station scene model to construct the assembly station three-dimensional model; secondly, constructing a data model of each object, developing and associating related data interfaces, and ensuring the acquisition, processing and storage of data; then, constructing a mechanical motion model, a physical attribute model, a rule model and a control mechanism script of each object, wherein the association relation between personnel operation and equipment and products is required to be modeled so as to reflect the influence of the personnel operation on the assembly process; the digitalized description of the assembly station is realized through the models, and finally, the association relationship and the interaction relationship are established for all the models.
More preferably, the assembly shop digital twin model of the step 1 includes: the model covers various objects of sites, personnel, materials, equipment, tools and products of the assembly workshop; firstly, constructing a three-dimensional model of a final assembly workshop, and constructing the three-dimensional model of the final assembly workshop by designing and arranging the positions of stations on the basis of the three-dimensional model of an assembly station and combining the three-dimensional designs of a logistics distribution route, logistics storage and product storage; secondly, designing a workshop communication network architecture based on a data interface of an assembly station, performing interface debugging and association on a data model of the assembly station, adding data models of products, logistics, processes and environments, and constructing a data model for forming a final assembly workshop; then, building a logistics equipment motion model, a product quality model, a workshop operation and maintenance rule model, a workshop control mechanism script and a workshop environment model; the digital description of the assembly workshop is realized through the models, and finally, the association relationship and the interaction relationship are established for all the models.
More preferably, the virtual-real interaction debugging in the step 2 includes: the developed models, communication interfaces and control mechanism scripts are subjected to communication debugging with corresponding physical entities, the physical entities are subjected to self-fault elimination before being connected into the modules, the debugging physical entities are guaranteed to be reliable and reliable, meanwhile, the information communication is also real-time and reliable, under the same signal excitation, the station and workshop digital twin model are verified, and the geometric dimension of the three-dimensional model, the motion behavior of the mechanical motion model, the data relationship of the data model, the attribute characteristics of the physical attribute model, the consistency of the rules and boundaries of the rule model with the actual stations and equipment are guaranteed.
Specifically, the final assembly staff model library in the step 3 includes: A. process average completion time prediction model P a The method is used for predicting the completion time of different processes on the assembly station so as to assist in process propulsion, general assembly flow management, time prediction of logistics distribution and control strategy design; B. process completion time prediction model P based on individual proficiency p For performing a completion time prediction for a process that depends in part on the proficiency of an individual manual operation; C. worker-station matching degree model P based on individual operation capability m The system is used for realizing station process distribution according to the skill characteristics of workers; D. fatigue prediction model P based on individual physical ability f The method is used for predicting the fatigue degree of workers to realize the scheduling of the workers in the general assembly process and the process completion time prediction based on the scheduling.
More preferably, the final assembly shop optimization based on the multi-objective optimization algorithm in step 4 includes: through carrying out multi-aspect simulation analysis on the final assembly process, judging whether design defects exist in station process execution, station layout, logistics distribution and workshop production; aiming at design defects, indexes to be optimized and related constraints of the design defects are analyzed, mathematical expressions of an objective function, an index function and a constraint function are established, a proper multi-objective optimization algorithm is selected, mathematical model conversion is carried out on a design model to form an algorithm usable model, a corresponding optimal solution or a pareto optimal solution is formed through multi-objective optimization, and a final assembly workshop design correction strategy is formed by combining engineering actual conditions.
Specifically, the digital twin system instantiation in step 5 includes: A. the assembly workshop layout model comprises an assembly line scene layout diagram, an equipment layout diagram and a logistics path diagram, and is used for guiding site construction and digital twin satellite pulsation type assembly workshop system model construction; B. the network architecture scheme and the network interface script are used for guiding the construction of the field communication network, including network routing, interface configuration and protocol development; C. the logistics control scheme and the logistics equipment control script are used for guiding the construction of a logistics system, the establishment of a logistics strategy and the configuration of logistics equipment on a final assembly site, and the construction of an assembly line MES system; D. the automatic control scheme of the station equipment and the control script of the station equipment are used for guiding the formulation of an assembly line and a specific station control scheme, and the system construction of an assembly line MES system and a station MES subsystem; E. the worker process task allocation is used for guiding site worker station allocation, process allocation and worker scheduling.
According to another aspect of the present invention, there is provided a digital twin satellite pulse type assembly shop design system, comprising:
A. the digital twin-based two-level package design module comprises a plurality of standardized model libraries, model construction tools, communication network design tools, control logic design tools and three-dimensional graphical interaction interfaces, and supports the design and package of models, communication interfaces and control mechanisms of assembly stations, the design and package of position setting of the assembly stations in a final assembly workshop, and the design and package of logistics logic, logistics routes and logistics equipment control mechanism scripts;
B. the digital twin virtual-real interaction debugging module is used for accessing a physical entity and a virtual model into a system through a data interface to collect homologous data of the physical entity and the virtual model, comprises a process operation instruction library and an operation control instruction library, sends the same instruction as an excitation signal to the physical entity and the virtual model, verifies feedback output and difference value of the physical entity and the virtual model, and provides correction comments for the virtual model exceeding an allowable threshold;
C. the model library of the assembly staff is constructed according to the historical operation data of the staff on the assembly site, can be called by other modules and is updated according to the accumulation degree of the historical data;
D. the process simulation analysis module converts the assembly work order into a simulation script, drives the assembly work order by using equipment real-time or historical data and personnel real-time or historical operation records as simulation data, combines a final assembly worker model, simulates network functions, station functions, logistics functions and whole line operation functions of the final assembly design model, verifies the production capacity of the final assembly workshop under different conditions and generates simulation results; analyzing the simulation result, setting objective functions, index functions and constraint functions and selecting a multi-objective optimization algorithm for the model to be corrected and optimized, optimizing the design model and forming a correction strategy;
E. the digital twin system instantiation module instantiates and outputs the assembly shop design model as a design scheme including an assembly line scene layout diagram, a network architecture scheme, a network interface script, a logistics path diagram, a logistics control scheme, a logistics equipment control script, a station equipment automatic control scheme and a station equipment control script, and meanwhile, the assembly shop digital twin model and the assembly station digital twin model are beneficial to constructing digital twin of an actual assembly shop.
Compared with the prior art, the invention has the advantages that:
(1) The digital twin two-level packaging design mechanism is provided, a distributed and modularized design framework is formed, the design efficiency of a final assembly workshop is improved, and meanwhile, the error correction, improvement and expansion of the design are facilitated;
(2) The digital twin virtual-real interaction debugging module is designed, so that the consistency and accuracy of a design model are ensured to a certain extent, and the credibility of a design result is further improved;
(3) The model library of the assembly staff is designed, so that the defect of consideration of factors such as the operation time, the proficiency, the fatigue degree and the like of the staff in the traditional method is overcome to a certain extent;
(4) In the process simulation analysis module, simulation analysis is carried out by means of an actual production work order, and an optimization correction strategy is formed, so that a relatively good and accurate design result is ensured to a certain extent;
(5) The digital twin system instantiation module is designed, so that the conversion rate and coverage rate of design scheme results in the actual assembly workshop construction are improved to a certain extent.
Drawings
FIG. 1 is a flow chart of a design method and a system of a digital twin satellite pulsation type assembly shop.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without the inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
According to one embodiment of the invention, the design method of the digital twin satellite pulsation type assembly workshop comprises the following steps:
(1) Designing a digital twinning-based two-level packaging design module, wherein the module specifically realizes:
(1) firstly, analyzing and decoupling satellite pulsation type assembly workshop processes, determining specific processes of all assembly stations and process relations among different assembly stations, designing an assembly station model comprising station equipment, layout, operation mechanisms and behavior rules, and signing and propelling control mechanism scripts of mechanical movements and paths of the assembly stations, a mechanical automatic control mechanism and an assembly process;
(2) integrating the designed assembly station model, communication interface and control mechanism script, and integrally packaging the assembly station model into an assembly station digital twin model which can perform position adjustment, model interaction, interface debugging and mechanical motion simulation;
(3) based on the packaged digital twin models of all assembly stations, modular design taking the assembly stations as units is realized, wherein the modular design comprises a final assembly workshop layout design and a logistics design based on the three-dimensional model of the assembly stations, a workshop communication network architecture design based on the communication interfaces of the assembly stations and a workshop process flow control logic design based on the control mechanism script, so as to obtain a designed final assembly workshop model, a communication network, a logistics scheme and control logic;
(4) integrating a final assembly workshop model, a communication network, a logistics scheme and control logic which are designed and developed, and integrally packaging the final assembly workshop model into a final assembly workshop digital twin model;
(2) Designing a digital twin virtual-real interaction debugging module, wherein the module specifically realizes:
(1) establishing data communication between physical entities involved in the design of the assembly plant and a digital twin virtual model, wherein the digital twin virtual model comprises an assembly station digital twin model and an assembly plant digital twin model;
(2) under the same signal excitation, collecting feedback data of a physical entity and a digital twin virtual model, calculating a difference value between the physical entity and the digital twin virtual model, and judging whether the difference value is within a system allowable threshold;
(3) if the digital twin virtual model is not within the allowable threshold, correcting the digital twin virtual model, and judging the signal excitation and the difference value again;
(4) outputting the digital twin virtual model if the digital twin virtual model is within the allowable threshold;
(3) Designing a final assembly worker model library which models related process operations of workers based on historical data and comprises a process average completion time prediction model P a Individual proficiency-based process completion time prediction model P p Worker-station matching degree model P based on individual operation capability m Based onFatigue prediction model P of physical fitness f ；
(4) The design process simulation analysis module is specifically realized:
(1) taking real-time or historical data of an assembly work order and equipment and real-time or historical operation records of personnel as simulation driving scripts, importing a digital twin model of a final assembly workshop and a final assembly worker model, and simulating a satellite pulsation final assembly process;
(2) analyzing the functions, performances, feasibility and reliability of the design of the assembly workshop by means of simulation result parameters, and judging whether the design scheme needs to be corrected and optimized according to various indexes;
(3) if optimization is needed, an optimization target and an index are determined, the design of the assembly workshop is optimized by means of a multi-target optimization algorithm and the like, a correction strategy for the design of the assembly workshop is formed, and the strategy is returned to the digital twin-based two-level package design module in the step 1 for redesign;
(4) if optimization is not needed, outputting the design model of the final assembly workshop;
(5) The digital twin system instantiation module is designed, and the module instantiates a general assembly workshop design model to form a general assembly workshop layout model, a network architecture and interface model, a logistics scheme and control strategy, a workshop control script and a worker process task allocation strategy, and is used for guiding assembly line on-site construction, installation and debugging and digital twin workshop system construction.
The implementation of the assembly station and the assembly workshop digital twin model comprises the following steps: the model covers various objects such as fields, personnel, materials, equipment, tools, products and the like of the assembly stations and the assembly workshops. In order to realize the digital expression of the assembly station and the assembly workshop, firstly, a three-dimensional model of the whole assembly station scene is constructed, wherein the three-dimensional models of equipment and tools are independent and movable, are constructed through modeling software such as CAD (computer aided design), proE (program product oriented engineering) and the like and are imported into a program driven by the same image engine, are combined with the station scene model to carry out layout design, are constructed into the assembly station three-dimensional model, and further, on the basis of the assembly station three-dimensional model, the three-dimensional model of the assembly workshop is constructed in the image engine by designing and arranging the positions of stations and combining with the three-dimensional design of logistics distribution routes, logistics storage and product storage; secondly, constructing a data model of each object of the assembly station, developing and associating related data interfaces, ensuring the collection, processing and storage of data, defining the data expression and relation of each object by UML, designing and realizing a database in MySQL, associating with the three-dimensional model, further designing a workshop communication network architecture by OPNET and OMNeT++, debugging and associating the data model of the assembly station by interfaces, adding data models of products, logistics, processes and environments, and constructing a data model forming a final assembly workshop; and then, constructing a mechanical motion model, a physical attribute model, a rule model, a control mechanism script of each object of the assembly station, a logistics equipment motion model, a product quality model, a workshop operation and maintenance rule model, a workshop control mechanism script and a workshop environment model of a final assembly workshop by means of modes of action framework setting, action node setting, motion boundary setting, control script importing and the like, wherein a model is built for the association relation between personnel operation and equipment and products so as to reflect the influence of the personnel operation on the assembly process. The comprehensive digital description of the assembly station and the assembly workshop is realized through the models, and finally, the association relationship and the interaction relationship are established for all the models.
The virtual-real interaction debugging implementation comprises the following steps: the developed model, the communication interface and the control mechanism script are subjected to communication debugging with the corresponding physical entities, the physical entities are subjected to self-fault elimination before being connected into the module, the reliability and reliability of the physical entities subjected to debugging are ensured, and meanwhile, the information communication is also real-time and reliable. Under the same signal excitation, the digital twin models of the stations and workshops are verified, and the consistency of the geometric dimensions of the three-dimensional model, the motion behaviors of the mechanical motion model, the data relationship of the data model, the attribute characteristics of the physical attribute model, the rules and boundaries of the rule model, the actual stations and equipment is ensured.
The implementation of the assembly staff model library comprises the following steps: process average completion time prediction model P a And based on individualProcess completion time prediction model P of proficiency in body p The method is constructed based on historical data of worker process operation, a specific method is determined according to the sample size of the historical data, modeling is conducted based on gray theory when the sample size is small, and modeling is conducted by adopting a convolutional neural network when the sample size is large; worker-station matching degree model P based on individual operation capability m Analyzing historical operation data of workers by means of data mining, judging the fitness of different processes, and further determining the matching degree with different stations; fatigue prediction model P based on individual physical ability f And (3) by collecting physical health parameters of workers during working, establishing fatigue prediction curves of each person in different on-duty states.
The general assembly workshop optimization specific implementation based on the multi-objective optimization algorithm comprises the following steps: through carrying out multiple aspects of simulation analysis on the final assembly process, judging whether design defects exist in station process execution, station layout, logistics distribution and workshop production. Aiming at design defects, indexes to be optimized and related constraints of the design defects are analyzed, mathematical expressions of an objective function, an index function and a constraint function are established, a proper multi-objective optimization algorithm is selected from SPEA2, PESA-II, NSGA-II and other algorithms, mathematical model conversion is carried out on a design model to form an algorithm usable model, a corresponding optimal solution or a pareto optimal solution is formed through multi-objective optimization, and a final assembly workshop design correction strategy is formed by combining engineering actual conditions.
The digital twin system example implementation includes:
A. aiming at the assembly workshop layout model comprising an assembly line scene layout diagram, an equipment layout diagram and a logistics path diagram, forming a corresponding three-dimensional design drawing by carrying out information marking, rendering and format conversion on the three-dimensional model;
B. aiming at a network architecture scheme and a network interface script, the network architecture design scheme, IP interface allocation, a network equipment field arrangement scheme, a software and hardware data interface and the like are associated and output;
C. the logistics field device layout, the logistics system architecture, the logistics device configuration, the logistics emergency scheme and the like are associated and output aiming at a logistics control scheme and a logistics device control script;
D. aiming at the automatic control scheme of the station equipment and the control script of the station equipment, the control logic diagram of each equipment, partial equipment bottom control script, equipment path planning scheme and the like are associated and output;
E. aiming at the distribution of the worker process tasks, the worker station distribution, the process distribution and the worker production scheduling list formed by the simulation analysis are output.
According to another embodiment of the present invention, a digital twin satellite pulsation type assembly shop design system is provided, which specifically includes:
A. the digital twin-based two-level package design module comprises a plurality of standardized model libraries, model construction tools, communication network design tools, control logic design tools and three-dimensional graphical interaction interfaces, and supports the design and package of models, communication interfaces and control mechanisms of assembly stations, the design and package of position setting of the assembly stations in a final assembly workshop, and the design and package of logistics logic, logistics routes and logistics equipment control mechanism scripts;
B. the digital twin virtual-real interaction debugging module is used for accessing a physical entity and a virtual model into a system through a data interface to collect homologous data of the physical entity and the virtual model, comprises a process operation instruction library and an operation control instruction library, sends the same instruction as an excitation signal to the physical entity and the virtual model, verifies feedback output and difference value of the physical entity and the virtual model, and provides correction comments for the virtual model exceeding an allowable threshold;
C. the model library of the assembly staff is constructed according to the historical operation data of the staff on the assembly site, can be called by other modules and is updated according to the accumulation degree of the historical data;
D. the process simulation analysis module converts the assembly work order into a simulation script, drives the assembly work order by using equipment real-time or historical data and personnel real-time or historical operation records as simulation data, combines a final assembly worker model, simulates network functions, station functions, logistics functions and whole line operation functions of the final assembly design model, verifies the production capacity of the final assembly workshop under different conditions and generates simulation results; analyzing the simulation result, setting objective functions, index functions and constraint functions and selecting a multi-objective optimization algorithm for the model to be corrected and optimized, optimizing the design model and forming a correction strategy;
E. the digital twin system instantiation module instantiates and outputs the assembly shop design model as a design scheme including an assembly line scene layout diagram, a network architecture scheme, a network interface script, a logistics path diagram, a logistics control scheme, a logistics equipment control script, a station equipment automatic control scheme and a station equipment control script, and meanwhile, the assembly shop digital twin model and the assembly station digital twin model are beneficial to constructing digital twin of an actual assembly shop.
In summary, the invention discloses a design method and a system for a digital twin satellite pulsation type final assembly workshop, which comprise a digital twin based two-level packaging design module, a digital twin virtual-real interaction debugging module, a final assembly staff model library, a process simulation analysis module and a digital twin system instantiation module, and can solve the problems existing in the current satellite pulsation type final assembly workshop design to a certain extent, and improve the design efficiency, accuracy, credibility, coverage and guidance.
What is not described in detail in the present specification belongs to the prior art known to those skilled in the art.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (7)
1. The design method of the digital twin satellite pulsation type assembly workshop is characterized by comprising the following steps of:
step (1), designing a digital twin-based two-level packaging design module, and specifically realizing:
firstly, analyzing and decoupling a satellite pulsation type assembly workshop process, determining a specific process of each assembly station and a process relation among different assembly stations, designing an assembly station model comprising station equipment, layout, an operation mechanism and a behavior rule, and designing a communication interface among each equipment executor, a sensor and an upper computer, and a control mechanism script of a mechanical motion and path, a mechanical automatic control mechanism and an assembly process signing propulsion mechanism of the assembly station;
the method comprises the steps of (1.2) integrating a designed assembly station model, a communication interface and a control mechanism script, and integrally packaging the integrated assembly station model into an assembly station digital twin model, wherein the assembly station digital twin model can perform position adjustment, model interaction, interface debugging and mechanical motion simulation;
the method comprises the steps of (1.3) realizing modular design taking assembly stations as units based on the packaged digital twin models of all assembly stations, wherein the modular design comprises final assembly workshop layout design and logistics design based on the three-dimensional model of the assembly stations, workshop communication network architecture design based on an assembly station communication interface and workshop process flow control logic design based on a control mechanism script, and obtaining a designed final assembly workshop model, a communication network, a logistics scheme and control logic;
(1.4) integrating a final assembly workshop model, a communication network, a logistics scheme and control logic which are designed and developed, and packaging the whole of the final assembly workshop model into a final assembly workshop digital twin model;
designing a digital twin virtual-real interaction debugging module, and specifically realizing:
(2.1) establishing data communication between physical entities involved in the design of the assembly plant and a digital twin virtual model, wherein the digital twin virtual model comprises an assembly station digital twin model and an assembly plant digital twin model;
(2.2) under the same signal excitation, collecting feedback data of the physical entity and the digital twin virtual model, calculating a difference value between the physical entity and the digital twin virtual model, and judging whether the difference value is within a system permission threshold value;
(2.3) if the digital twin virtual model is not within the allowable threshold, correcting the digital twin virtual model, and judging the signal excitation and the difference again;
(2.4) outputting the digital twin virtual model if within the allowable threshold;
step (3), designing a final assembly staff model library, and modeling related process operations of staff based on historical data, wherein the final assembly staff model library comprises a process average completion time prediction model P a Individual proficiency-based process completion time prediction model P p Worker-station matching degree model P based on individual operation capability m Fatigue prediction model P based on individual physical ability f ；
And (4) designing a process simulation analysis module, and specifically realizing:
(4.1) taking real-time or historical data of an assembly work order, equipment and personnel or historical operation records as simulation driving scripts, importing a digital twin model of a final assembly workshop and a final assembly worker model library, and simulating a satellite pulsation final assembly process;
(4.2) analyzing the functions, performances, feasibility and reliability of the design of the assembly workshop by means of simulation result parameters, and judging whether the design scheme needs to be corrected and optimized according to various indexes;
(4.3) if optimization is required, determining an optimization target and an index, optimizing the design of the assembly workshop by means of a multi-target optimization algorithm to form a correction strategy for the design of the assembly workshop, and returning the strategy to the digital twin-based two-level package design module in the step (1) for redesign;
(4.4) outputting the final assembly shop design model if optimization is not needed;
and (5) designing a digital twin system instantiation module, and instantiating a final assembly workshop design model to form a final assembly workshop layout model, a network architecture and interface model, a logistics scheme and control strategy, a workshop control script and a worker process task allocation strategy, wherein the design digital twin system instantiation module is used for guiding assembly line field construction, installation and debugging and digital twin workshop system construction.
2. The method for designing a digital twin satellite pulse type assembly shop according to claim 1, wherein the assembly station digital twin model of the step (1) comprises: the model covers various objects of the assembly station, wherein the various objects comprise fields, personnel, materials, equipment and tools; firstly, constructing an assembly station three-dimensional model, wherein the three-dimensional models of equipment and tools are independent and movable, and carrying out layout design by combining a station scene model to construct the assembly station three-dimensional model; secondly, constructing a data model of each object, developing and associating related data interfaces, and ensuring the acquisition, processing and storage of data; then, constructing a mechanical motion model, a physical attribute model, a rule model and a control mechanism script of each object, wherein the association relation between personnel operation and equipment and products is required to be modeled so as to reflect the influence of the personnel operation on the assembly process; the digitalized description of the assembly stations is realized through the models, and finally, the association relationship and the interaction relationship are established for the models in all the assembly stations.
3. The method for designing a digital twin satellite pulse type assembly shop according to claim 1, wherein the assembly shop digital twin model of the step (1) comprises: the model covers various objects of the assembly workshop, wherein the various objects comprise fields, personnel, materials, equipment, tools and products; firstly, constructing a three-dimensional model of a final assembly workshop, and constructing the three-dimensional model of the final assembly workshop by designing and arranging the positions of stations on the basis of the three-dimensional model of an assembly station and combining the three-dimensional designs of a logistics distribution route, logistics storage and product storage; secondly, designing a workshop communication network architecture based on a data interface of an assembly station, performing interface debugging and association on a data model of the assembly station, adding data models of products, logistics, processes and environments, and constructing a data model for forming a final assembly workshop; then, building a logistics equipment motion model, a product quality model, a workshop operation and maintenance rule model, a workshop control mechanism script and a workshop environment model; the digital description of the assembly workshops is realized through the models, and finally, the association relationship and the interaction relationship are established for the models in all the assembly workshops.
4. The design method of the digital twin satellite pulse type assembly shop according to claim 1, wherein the virtual-real interaction debugging in the step (2) comprises: the developed model, the communication interface and the control mechanism script are subjected to communication debugging with the corresponding physical entities, the physical entities are subjected to self fault elimination before being connected into the digital twin virtual-real interaction debugging module, the reliability and reliability of the physical entities subjected to debugging are ensured, meanwhile, the information communication is also real-time and reliable, under the same signal excitation, the station and the workshop digital twin model are subjected to verification and verification, and the geometric dimension of the three-dimensional model, the motion behavior of the mechanical motion model, the data relationship of the data model, the attribute characteristics of the physical attribute model, the rules and boundaries of the rule model are kept consistent with the states of actual stations and equipment.
5. The method for designing a digital twin satellite pulse type assembly shop according to claim 1, wherein the assembly staff model library of the step (3) comprises:
A. process average completion time prediction model P a The method is used for predicting the completion time of different processes on the assembly station so as to assist in process propulsion, general assembly flow management, time prediction of logistics distribution and control strategy design;
B. process completion time prediction model P based on individual proficiency p For performing a completion time prediction for a process that depends in part on the proficiency of an individual manual operation;
C. worker-station matching degree model P based on individual operation capability m The system is used for realizing station process distribution according to the skill characteristics of workers;
D. fatigue prediction model P based on individual physical ability f The method is used for predicting the fatigue degree of workers to realize the scheduling of the workers in the general assembly process and the process completion time prediction based on the scheduling.
6. The digital twin satellite pulse type assembly shop design method according to claim 1, wherein the assembly shop optimization based on the multi-objective optimization algorithm in the step (4) comprises: through carrying out multi-aspect simulation analysis on the final assembly process, judging whether design defects exist in station process execution, station layout, logistics distribution and workshop production; aiming at design defects, indexes to be optimized and related constraints of the design defects are analyzed, mathematical expressions of an objective function, an index function and a constraint function are established, a proper multi-objective optimization algorithm is selected, mathematical model conversion is carried out on a design model to form an algorithm usable model, a corresponding optimal solution or a pareto optimal solution is formed through multi-objective optimization, and a final assembly workshop design correction strategy is formed by combining engineering actual conditions.
7. The method for designing a digital twin satellite pulse train assembly plant according to claim 1, wherein the digital twin system instantiation in the step (5) comprises:
A. the assembly workshop layout model comprises an assembly line scene layout diagram, an equipment layout diagram and a logistics path diagram, and is used for guiding site construction and digital twin satellite pulsation type assembly workshop system model construction;
B. the network architecture scheme and the network interface script are used for guiding the construction of the field communication network, including network routing, interface configuration and protocol development;
C. the logistics control scheme and the logistics equipment control script are used for guiding the construction of a logistics system, the establishment of a logistics strategy and the configuration of logistics equipment on a final assembly site, and the construction of an assembly line MES system;
D. the automatic control scheme of the station equipment and the control script of the station equipment are used for guiding the formulation of an assembly line and a specific station control scheme, and the system construction of an assembly line MES system and a station MES subsystem;
E. the worker process task allocation is used for guiding site worker station allocation, process allocation and worker scheduling.
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