基于数字孪生的智能制造产线建模与PLC虚拟调试研究

Research on Modeling and PLC Virtual Debuguring of Intelligent Manufacturing Production Line Based on Digital Twin

摘要: 为解决柔性制造中物理产线现场调试时间过长，设备之间存在碰撞隐患以及难以对控制系统进行脱机测试等问题，在SimReal智能制造与机器人工艺仿真平台上进行基于数字孪生技术的虚拟调试研究。该研究结合了四种技术：机器人参数化建模、运动单元伺服驱动、产线工艺流程配置以及PLC虚拟联调等，完成了机器人的建立及其运动校准、运动部件的编程控制、整条生产线的设计以及生产工艺流程的设计，并实现了PLC与仿真环境之间的通信以及脱机调试等功能。测试结果显示，所建立系统的运动限制合理，生产线运行良好，控制逻辑正确可靠，能够大大减少现场调试时间，避免设备之间的干涉以及程序出错等问题发生，可以供类似柔性生产线进行数字化设计以及离线调试使用。

Abstract: To address the issues such as the long on-site debugging time of physical production lines in flexible manufacturing, potential collisions between equipment, and the difficulty of offline testing of control systems, this paper conducts a research on virtual debugging based on digital twin technology on the SimReal intelligent manufacturing and robot process simulation platform. This research integrates four technologies: robotic parametric modeling, servo drive of motion units, production line process flow configuration, and PLC virtual joint debugging. It completes the construction and motion calibration of robots, the programming control of moving components, the design of the entire production line and the production process, and realizes functions such as communication between PLC and the simulation environment, as well as offline debugging. The test results show that the motion constraints of the established system are reasonable, the production line operates well, and the control logic is correct and reliable. This system can greatly reduce on-site debugging time, avoid equipment interference and program errors, and can be used for the digital design and offline debugging of similar flexible production lines.