CN114578766B - Flight control computer hardware time-varying dynamic digital twin assembly method - Google Patents
Flight control computer hardware time-varying dynamic digital twin assembly method Download PDFInfo
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- CN114578766B CN114578766B CN202210029832.0A CN202210029832A CN114578766B CN 114578766 B CN114578766 B CN 114578766B CN 202210029832 A CN202210029832 A CN 202210029832A CN 114578766 B CN114578766 B CN 114578766B
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- 238000000034 method Methods 0.000 title claims abstract description 56
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 42
- 238000004519 manufacturing process Methods 0.000 claims abstract description 45
- 230000010349 pulsation Effects 0.000 claims abstract description 38
- 239000000463 material Substances 0.000 claims abstract description 32
- 238000012502 risk assessment Methods 0.000 claims abstract description 17
- 230000000694 effects Effects 0.000 claims abstract description 6
- 238000011156 evaluation Methods 0.000 claims description 8
- 238000012546 transfer Methods 0.000 claims description 8
- 238000004422 calculation algorithm Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 5
- 208000006011 Stroke Diseases 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 3
- 238000013178 mathematical model Methods 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims 1
- 239000011159 matrix material Substances 0.000 description 10
- 230000001276 controlling effect Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a flight control computer hardware time-varying dynamic digital twin assembly method, which comprises the following steps: establishing a twin model of a time-varying dynamic full-flow pulsation assembly production line of flight control computer hardware, inputting production data of the flight control computer hardware, summarizing in a twin system to enable each device and each station to be mutually matched, and jointly realizing pulsation assembly flow of flight control computer hardware equipment, thereby achieving virtual-real linkage effect; the dynamic regulation and control of the twin system for dealing with the emergency is realized by combining the fault risk assessment method, the calling frequency of equipment with high fault risk level in the whole flight control computer hardware assembly equipment is reduced by assessing the fault risk level of each device, and then the physical system is controlled to realize the time-varying dynamic whole-flow pulsation assembly of the material production process.
Description
Technical Field
The invention belongs to the fields of software engineering and computer science, and particularly relates to a time-varying dynamic digital twin assembly method for flight control computer hardware.
Background
Intelligent manufacturing has become a popular term in current China, and most of the intelligent manufacturing is realized by means of intelligent assembly equipment, and the basis of normal operation of the assembly equipment is digital monitoring. With the improvement of the integration and informatization degree of equipment systems, the difficulty of digital monitoring is continuously increased. The method is characterized in that data are not visual, sudden states are encountered, autonomous regulation and control are not possible, and the like. Meanwhile, most of flight control computer hardware equipment in the manufacturing industry has the characteristic of pulsation work, and a pulsation assembly production line is an advanced assembly production line and is mainly used in the aviation field at present. The pulsation assembly production line can set buffering time, the requirement on production beats is not high, and when a certain link of production has a problem, the whole production line can not move or be reserved for the next station to solve. The assembly work of one assembly body is completed completely, namely one-time pulsation production. Thus, during the pulse production of the flight control computer hardware equipment, emergency situations such as: handling of equipment failures, assembly errors, etc. is particularly critical.
The digital twin technology is a result of the fact that physical things and development rules of the physical things in the objective world are defined by software, a twin body of flight control computer hardware equipment can be represented in a computer through three-dimensional modeling, collected data are transmitted into the computer to drive the twin body to make the same motion as physical equipment, and therefore the virtual-real linkage effect is achieved. In addition, the digital twin system can also process data by combining an intelligent algorithm, so that the twin system has the functions of judgment and decision, and further provides guidance for the operation and maintenance process of the flight control computer hardware equipment physical model. Therefore, the invention provides a time-varying dynamic digital twin assembly method of flight control computer hardware, which can realize timely treatment of emergency in the pulsation production process of flight control computer hardware equipment and ensure normal operation of a production line.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the method can realize simulation and regulation of the pulse production flow of the flight control computer hardware equipment.
The invention solves the technical problems by adopting the following technical scheme: a time-varying dynamic digital twin assembly method for flight control computer hardware comprises the following steps:
step one: and establishing a twin model of the time-varying dynamic full-flow pulsation assembly production line of the flight control computer hardware equipment, and inputting production data of the flight control computer hardware equipment. Each device and the station are mutually matched to jointly realize the pulsation type assembly flow of the flight control computer hardware equipment, and the method is specifically realized as follows:
(1) and establishing a twin model according to the flight control computer hardware equipment physical model. The operation flow is as follows: firstly, a material conveying AGV conveys a material to go out of a warehouse, enters an assembly station, completes the assembly process under the cooperation of an auxiliary AGV, a spin lock mechanical arm and a grabbing mechanical arm, then enters a transfer station to transfer the material onto a transport vehicle, meanwhile, the material conveying AGV returns to a warehouse to convey the next material, then the transport vehicle carrying the material enters a detection station, and the assembly station is used for installing a second material when detecting, so that the pulsating production of a workshop is realized.
(2) And acquiring data of the physical model, inputting the data into a twin system, and driving the twin model to move. Extracting data of a physical model of the flight control computer hardware equipment by using a sensor, such as: and the twin system extracts corresponding data information by analyzing character strings, and realizes the linkage of the virtual model and the physical model in the system in a mode of controlling the speed, the direction angle and the position of the corresponding object.
Step two: the dynamic regulation and control of the twin system for dealing with the emergency is realized by combining the fault risk assessment method, the calling frequency of equipment with high fault risk level in the whole flight control computer hardware equipment is reduced by assessing the fault risk level of each device, and then the physical system is controlled to realize the time-varying dynamic whole-flow pulsation assembly of the material production process. The fault risk assessment method has the characteristics of simplifying the assessment program and simplifying the calculation process, so that the fault risk assessment method is suitable for assessing all equipment in a production line. The specific implementation is as follows:
(1) establishing a risk assessment mathematical model:
the five parameters input are set according to the content of the fault risk assessment method, namely the equipment service progress, the equipment maintenance frequency, the running stability of the equipment at the moment, the equipment fault times and the equipment vibration frequency. And further evaluate the risk status of each device in the production line. The specific process is as follows
Step1: and (3) establishing a comparison matrix, listing all factors influencing the risk assessment level of the fault, judging the importance level of all factors by combining expert experience, and listing an evaluation index matrix, namely the comparison matrix.
Step2: and finally obtaining the eigenvectors of the comparison matrix through matrix operation.
Step3: and establishing a comment set and index factor grading standard by using a fuzzy evaluation method. And finally, determining the risk level of the corresponding equipment by combining the maximum membership principle with the feature vector of the fault influence factor.
(2) And regulating and controlling the calling frequency of the equipment according to the risk level. After the evaluation by using the algorithm, the fault risk of the equipment can be classified into five grades: "Low risk", "lower risk", "Stroke risk", "higher risk", "high risk". If the failure risk level of the equipment in operation is higher, the pulsation time of the related working procedure of the equipment is correspondingly prolonged, and meanwhile, the pulsation time of the related working procedure with lower failure risk is shortened, so that the pulsation time of the whole production line is ensured to be unchanged as much as possible; if a certain device fails to stop working in the process of assembling the flight control computer hardware device, the system marks the device as a high risk state, starts the standby device to replace the failed device, reduces the pulse time of the working procedure before the working procedure of the failed device, reserves time for the replacement device, avoids crowding of assembled parts, properly shortens the pulse time of the working procedure after the replacement of the device with the low risk device, improves the assembly efficiency, and ensures that the total pulse time is kept unchanged or smaller as much as possible. And adjusting the equipment calling probability and the pulsation time length according to the equipment fault risk, thereby realizing the effect of time-varying dynamic whole-flow pulsation.
Compared with the prior art, the invention has the advantages that:
(1) The visual monitoring of the fly-control computer hardware pulsation type assembly production flow can be realized by applying a digital twin technology, and the motion data of the physical model is collected and input into a twin system for summarization so as to drive the twin model to move, thereby realizing the 'virtual-real linkage' effect.
(2) The fault risk assessment method is used for achieving fault risk assessment of the twin system on each device in the flight control computer hardware equipment, and further scheduling rules are set to regulate and control the pulsation time of the pulsation production line according to assessment risk, possible device faults and other emergency conditions, so that the aim of time-varying dynamic whole-flow pulsation assembly of the digital twin-driven flight control computer hardware equipment is achieved.
Drawings
FIG. 1 is a schematic diagram of a pulse line according to the present invention;
fig. 2 is a flow chart of the method of the present invention.
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.
The invention solves the technical problems by adopting the following technical scheme: a time-varying dynamic digital twin assembly method for flight control computer hardware comprises the following steps:
step one: and establishing a twin model of the time-varying dynamic full-flow pulsation assembly production line of the flight control computer hardware equipment, and inputting production data of the flight control computer hardware equipment. The flight control computer hardware equipment pulse line comprises: the automatic material conveying system comprises a material conveying AGV, an auxiliary AGV, a spin lock mechanical arm, a grabbing mechanical arm, a warehouse, an assembly station, a transfer station and a detection station. Each device and the station are mutually matched to jointly realize the pulsation type assembly flow of the flight control computer hardware equipment, and the method is specifically realized as follows:
(1) and establishing a twin model according to the flight control computer hardware equipment physical model. The operation flow is as follows: firstly, a material conveying AGV conveys a material to go out of a warehouse, enters an assembly station, completes the assembly process under the cooperation of an auxiliary AGV, a spin lock mechanical arm and a grabbing mechanical arm, then enters a transfer station to transfer the material onto a transport vehicle, meanwhile, the material conveying AGV returns to a warehouse to convey the next material, then the transport vehicle carrying the material enters a detection station, and the assembly station is used for installing a second material when detecting, so that the pulsating production of a workshop is realized. Referring to fig. 1, a schematic diagram of a pulse production line of the present invention is shown, wherein 1 is time-varying dynamic regulation and control of a production line physical model by a control center, 2 is a physical model of a final assembly production line of a flight control computer hardware device, and 3 is a control center of a system.
(2) And acquiring data of the physical model, inputting the data into a twin system, and driving the twin model to move. Extracting data of a physical model of the flight control computer hardware equipment by using a sensor, such as: and the twin system extracts corresponding data information by analyzing character strings, and realizes the linkage of the virtual model and the physical model in the system in a mode of controlling the speed, the direction angle and the position of the corresponding object.
Step two: the dynamic regulation and control of the twin system for dealing with the emergency is realized by combining the fault risk assessment method, the calling frequency of equipment with high fault risk level in the whole flight control computer hardware equipment is reduced by assessing the fault risk level of each device, and then the physical system is controlled to realize the time-varying dynamic whole-flow pulsation assembly of the material production process. The problem to be solved relates to scheduling of production tasks and collaborative scheduling of resources, so that the problem to be solved is complex and the solving difficulty is high. In a distributed manufacturing environment where various emergencies are frequently encountered, rapid strain adjustment needs to be performed on a scheduling plan, and when severe time pressure is applied to solving such problems, algorithms are required to have the characteristics of high operation speed, less occupied resources and high adaptability. The fault risk assessment method has the characteristics of simplifying the assessment program and simplifying the calculation process, so that the fault risk assessment method is suitable for assessing all equipment in a production line. The specific implementation is as follows:
(1) establishing a mathematical model:
step1: a comparison matrix is established, and all factors affecting the fault risk assessment level are listed as follows: the equipment service progress, the equipment maintenance frequency, the running stability of the equipment at the moment, the equipment failure frequency and the equipment vibration frequency, wherein the equipment service progress is the quotient of the service life of the equipment and the nominal life of the equipment, and the running stability is the quotient of the running speed of the equipment and the nominal speed of the equipment. And judging the importance level of each factor by combining expert experience, and listing the evaluation index matrix, namely the comparison matrix.
Step2: and finally obtaining a 1 multiplied by 5 vector serving as a characteristic vector of the comparison matrix through matrix operation.
Step3: establishing a comment set and an index factor grading standard by using a fuzzy evaluation method, wherein the comment set is as follows: "Low risk", "lower risk", "Stroke risk", "higher risk", "high risk". And finally, determining the risk level of the corresponding equipment by means of the maximum membership principle and the feature vector of the fault influence factor, wherein the level with the highest index value is the final evaluation level of the current equipment.
(2) And regulating and controlling the calling frequency of the equipment according to the risk level. Referring to fig. 2, the risk of failure of a device can be classified into five classes after evaluation using an algorithm: "Low risk", "lower risk", "Stroke risk", "higher risk", "high risk". The equipment calling probabilities corresponding to the 5 risks are as follows: 1. 0.75, 0.5, 0.25, 0. In the pulsation production process, the pulsation time of the related process needs to be adjusted according to different risk levels of equipment, and the higher the risk level of the equipment is, the longer the pulsation time of the process is set. If the failure risk level of the equipment in operation is higher (for example, medium risk, high risk and high risk), the pulsation time of the relevant process of the equipment is correspondingly prolonged, and meanwhile, the pulsation time of the relevant process with lower failure risk is shortened, so that the pulsation time of the whole production line is ensured to be unchanged as much as possible; if a certain device fails to stop working in the process of assembling the flight control computer hardware device, the system marks the device as a high risk state, starts the standby device to replace the failed device, reduces the pulse time of the working procedure before the working procedure of the failed device, reserves time for the replacement device, avoids crowding of assembled parts, properly shortens the pulse time of the working procedure after the replacement of the device with the low risk device, improves the assembly efficiency, and ensures that the total pulse time is kept unchanged or smaller as much as possible. And adjusting the equipment calling probability and the pulsation time length according to the equipment fault risk, thereby realizing the effect of time-varying dynamic whole-flow pulsation. The pulsation time lengths corresponding to the equipment for setting different risks are respectively set as standard time lengths: 100%,120%,140%,175%,200%.
While the foregoing has been described in relation to illustrative embodiments thereof, so as to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, but is to be construed as limited to the spirit and scope of the invention as defined and defined by the appended claims, as long as various changes are apparent to those skilled in the art, all within the scope of which the invention is defined by the appended claims.
Claims (1)
1. The method is characterized by constructing a digital twin system of a final assembly production line and adjusting the use of equipment by combining a fault risk assessment method, and comprises the following steps of:
step one: establishing a twin model of a time-varying dynamic whole-flow pulsation assembly production line of the flight control computer hardware assembly, and inputting production data of the flight control computer hardware equipment;
step two: the method comprises the steps of combining a fault risk assessment method to realize dynamic regulation, determining the calling frequency of equipment of each fault risk level in the whole flight control computer hardware equipment by assessing the fault risk level of each device, and further controlling a physical system to realize time-varying dynamic full-flow pulsation assembly of the material production process;
in the first step, the fly control computer hardware equipment pulse product line comprises: the automatic material conveying system comprises a material conveying AGV, an auxiliary AGV, a spin lock mechanical arm, a grabbing mechanical arm, a warehouse, an assembly station, a transfer station and a detection station; each device and the station are mutually matched to jointly realize the pulsation type assembly flow of the flight control computer hardware equipment, and the method is specifically realized as follows:
(1) the method comprises the steps of establishing a twin model according to a flight control computer hardware equipment physical model, and obtaining a twin system operation flow formed by the hardware equipment and the twin model, wherein the twin system operation flow comprises the following steps: firstly, carrying materials by a material conveying AGV, discharging the materials, entering an assembly station, completing the assembly process under the cooperation of an auxiliary AGV, a spin lock mechanical arm and a grabbing mechanical arm, then entering a transfer station to transfer the materials onto a transport vehicle, simultaneously, returning the materials to a storehouse by the material conveying AGV to carry the next materials, then entering a detection station by the transport vehicle carrying the materials, and installing a second material by the assembly station while detecting, thereby realizing the pulsating production of a workshop;
(2) collecting data of a physical model, inputting the data into a twin system, and driving the twin model to move; extracting data of a flight control computer hardware equipment physical model using sensors includes: the motion speed, the motion direction, the joint angles of the mechanical arm and the position information of materials of each AGV are input into a twin system, the twin system extracts corresponding data information by analyzing character strings, and the virtual twin model and the physical model are linked in the twin system in a mode of controlling the speed, the direction angle and the position of a corresponding object;
the second step is specifically implemented as follows:
(1) establishing a risk assessment mathematical model, setting five input parameters, namely equipment service progress, equipment maintenance frequency, equipment operation stability at the moment, equipment failure times and equipment vibration frequency according to the content of a fault risk assessment method, and further assessing the risk state of each equipment in a production line;
(2) according to the calling frequency of the risk level regulation equipment, the fault risk of the equipment is classified into five levels after the algorithm evaluation: "Low risk", "lower risk", "risk of stroke", "higher risk", "high risk"; if the failure risk level of the equipment in operation belongs to the middle risk, the higher risk and the high risk, the pulsation time of the related process of the equipment is correspondingly prolonged, and the pulsation time of the related process with lower failure risk is shortened, so that the pulsation time of the whole production line is ensured to be unchanged; if a certain device fails to stop working in the process of assembling the flight control computer hardware device, the system marks the device as a high risk state, starts the standby device to replace the failed device, reduces the pulse time of the procedure before the procedure where the failed device is located, reserves time for replacing the device, avoids crowding of assembled parts, shortens the pulse time of the procedure after the replacement of the device with the low risk device, improves the assembly efficiency, ensures that the total pulse time is kept unchanged or changed to be smaller than a threshold value, and adjusts the device calling probability and the pulse duration according to the equipment failure risk, thereby realizing the effect of time-varying dynamic whole-flow pulse.
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