飞灰包装智能产线设计与虚拟调试

目的 设计一种全自动飞灰包装智能产线,旨在为某垃圾焚烧厂的飞灰包装产线的自动化改造项目提供可行性方案。方法 从飞灰包装的实际工艺需求出发,介绍产线总体设计和工位布局。针对吨袋开口装置和机器人专用手爪的设计与工作原理进行介绍。推导理论套袋力公式以指导专用手爪和出灰筒等机构的设计。在产线结构设计的基础上,为进一步验证该结构和布局是否能够无障碍地实现飞灰包装的所有工序流程,采用基于NX MCD和虚拟PLC的虚拟调试的方法,并结合PLC程序为整个包装产线进行工序流程仿真。结果 仿真显示该产线可以在PLC程序控制下全自动地、无障碍地实现飞灰包装的11个工序。产线的6个工位均可以实现无人运行。结论 可以通过添加开口装置与机器人等设备,改造原有半自动的包装产线,并为原产线解决了大型吨袋的自动开口、取袋、套袋的问题。     

基于虚拟仿真技术的灌装生产线设计与仿真

目的 针对灌装生产线的设计与验证过程,基于虚拟仿真技术,实现灌装生产线的快速设计与验证。方法 首先通过分析灌装生产线的生产过程,利用SolidWorks三维建模软件分别对灌装生产线中的灌装机、搓盖机、贴标机、喷码机、装箱机等设备设计三维模型。然后将所有设备的三维模型导入Demo 3D仿真软件,进一步按照各设备的动作流程对模型进行动作设计及运动规划,构建灌装生产线虚拟仿真系统。最后根据设备功能和生产产能要求,在虚拟仿真系统中通过不断地调整设备机械结构及机构的运行速度,最终实现灌装生产线的快速设计与迭代优化。结果 得出灌装生产线的优化设计方案,并根据该设计方案研制出灌装自动生产线,生产线的产能为2400 瓶/h,满足企业要求。结论 该方法能够实现灌装生产线的快速设计与验证,缩短设计开发周期,减少设计和验证成本。     

虚拟现实环境下液压支架部件无缝联动方法研究

目前在液压支架的虚拟仿真过程中对四连杆机构、顶梁和立柱之间的联动还缺乏比较有效的表达方法。针对这种情况,提出了一种基于解析法与虚拟现实技术相结合的液压支架部件无缝联动方法。首先根据某型号液压支架进行UG建模并进行模型修补,运用解析法对关键尺寸进行姿态解算。之后导入Unity3d中建立"父子"关系,并在C#环境下进行协同联动程序编写,建立基于有限状态机理论的运动状态任务与关系,同时建立GUI界面与虚拟手操作两种交互方法。最后进行实际应用和测试,验证了无缝联动方法的可行性和有效性,为液压支架的联动仿真和基于3D的虚拟状态监测及控制提供理论支撑和应用实践。     

基于nRF24E01的卫星三轴半物理仿真系统研究

针对利用反作用飞轮作为执行机构的微小卫星姿态控制系统单轴气浮台半物理仿真缺乏仿真实物的全面性问题,研究基于nRF24E01无线RS232串行通信模块的多单轴气浮转台联动运行、Matlab XPC实时仿真技术、星载计算机及反作用飞轮和光纤陀螺物理实物的卫星姿态控制系统三轴气浮台半物理仿真的方案设计;利用该仿真系统对以反作用飞轮为主要执行机构的卫星偏置动量三轴稳态控制模式进行了半物理仿真验证。仿真结果表明:半物理仿真平台工作效果良好,能够实现偏置动量三轴稳态控制算例的仿真过程,并观测到三轴敏感器和执行器的联动运行效果,验证了半物理仿真系统方案设计合理、可靠。     

基于虚拟误差传感的大尺度空间有源降噪性能研究

针对大尺度空间有源降噪系统误差传声器布放位置受限问题,本文使用虚拟误差传感在降噪目标区域放置多个虚拟误差传声器,将静音区由物理误差传声器点转移至虚拟误差传声器点,扩大降噪目标区域中静音区范围。为了对降噪性能及影响因素进行分析与研究,给出多通道虚拟误差传感的原理和算法,对降噪性能及物理与虚拟误差传声器的数量和布放等因素进行仿真分析,在飞机模型舱内进行实验验证。仿真及实验结果表明：使用虚拟误差传感有利于增大降噪目标区域降噪量及静音区;物理与虚拟误差传声器的布放影响静音区的分布;合理的物理与虚拟误差传声器数量及布放可以扩大静音区使其100%覆盖降噪目标区域,最优数量与初级声场频率特性相关。     

水下分散自重构系统虚拟原型

开发了水下分散自重构系统的虚拟原型,从模块、拓扑和构形三个层次对水下分散自重构系统进行了描述,实现了对其运动和自重构过程的动力学仿真,并通过3D方式实时显示仿真与分析结果。利用该虚拟原型分析了系统的多种步态和自重构过程,说明虚拟原型可以为系统自重构策略提供直观可信的设计和测试手段。相对于实物样机,虚拟原型也具有低成本和易扩展的特点。     

虚拟激励算法下的汽车悬架振动分析

采用虚拟激励法和模态叠加相结合的方法,应用mathematic语言编制了二分之一车辆模型的悬架系统性能仿真程序。并以某汽车悬架系统为例,进行了模拟仿真计算,得到了给定测点在平稳路面激励下的响应功率谱矩阵和系统各阶振幅及相位差与路面激励频率之间的关系。计算结果表明该方法具有一定实用价值,可大体上反映出汽车振动性能及平顺性好坏。     

基于ADAMS平台的四足机器人越障仿真与测试

针对四足机器人在静步态行走过程中面对非平坦路面上障碍物的情况,提出一套完整的四足机器人翻越障碍物的步态理论分析方法,同时使用ADAMS虚拟样机软件对该步态进行运动仿真与测试。文中详细叙述了机器人膝关节与髋关节的运动轨迹规划,将规划的轨迹离散化后导入ADAMS和利用ADAMS/PostProcessor得到仿真测试结果。该研究通过虚拟样机平台弥补了前期客观条件限制下的测试局限,测试结果验证了四足机器人翻越障碍物的理论分析。四足机器人翻越障碍物的步态理论对未来四足机器人实物样机的设计和制造工作有着指导意义。     

基于ADAMS的船舶隔振系统性能研究

以某型空气弹簧作为隔振支撑装置的船舶隔振试验系统为原型,以三个方向的一维弹簧模拟了三维非线性空气弹簧,建立了基于ADAMS的船舶隔振试验系统虚拟平台模型。在此平台上,对设备进行了振动分析,并按GJB对潜艇机械设备的测试要求,模拟了船舶在海上航行时遇到的大风浪横摇摆、受冲击的情况。通过仿真分析结果,对以后隔振装置的选型和布置提供了一定的参考依据。     

新型送纸架的设计与控制分析

在蜂窝纸的加工生产线中,送纸架用来安装纸筒并不断给后续设备提供纸张.由于原有纸架自动化程度低,性能较差,降低了生产效率,并有可能破坏纸张输送.为此借助虚拟分析软件进行送纸架的运动学仿真,以保证整体动作的协调性;同时对设备关键部位的合理性进行动力学分析,以检验是否符合要求;在此基础上完成设备的LOGO程序控制和接线图.目前该新型送纸架应用到了蜂窝纸生产线中,并取得了良好的效果.     

Simulation framework for the verification of PLC programs in automobile industries

The objective of this study is to propose a framework of virtual plant models for the verification of PLC logic through modeling and simulation. The proposed virtual plant model consists of three types of object: the virtual device model (object model), the intermediary transfer model (functional model), and the PLC program & HMI (dynamic model). A virtual device model consists of a physical part, which is used to represent the properties of a real device and a logical part, which is used to manage the device's operation. For the fidelity of the virtual plant model, an intermediary transfer model controls the virtual device through a PLC program and sends information on the virtual device's state to the supervisory control model. Moreover, the PLC program and HMI are used for constructing communication environments similar to a real manufacturing line. For the implementation of the proposed virtual plant model, this study employs an I/O model based on the formalism of Automata and Discrete Event Systems Specifications (DEVS). As a result of the application to a car assembly line, 18 error codes are detected through the manual mode and have been revised. Finally, we can confirm there is no sequential error in the PLC program by checking the time chart. Moreover, the bottleneck and ramp-up/down times are reduced when a manufacturing system/line is built.     

采用Eonstudio技术建立虚拟三坐标测量机的研究

利用Eonstudio技术创建虚拟人机交互仿真机,可以避免昂贵设备的损害,节约成本,也可用于昂贵设备的培训系统中。针对该技术实施中真实模型建立和动态仿真交互技术难点,首先利用纹理坐标展开和烘焙技术建立真实感加强的虚拟三坐标设备模型,然后采用Eonstudio技术实现三坐标测量机的人机交互操作,最后利用流套接字编程模型实现两台计算机的信息通讯,完成虚拟三坐标测量设备的建立。在开发的一个初步原型系统中,证明了此方法的适用性和有效性。     

Control logic verification for an automotive body assembly line using simulation

In this paper, an approach is proposed that verifies the controller logic processes for the automobile industry via simulation. For this purpose, a state-based object model that creates a virtual car body assembly line is proposed and a verification methodology using observed signal sequences during the simulation is proposed. This approach was applied to an assembly line controlled by a PLC and the effectiveness of the proposed system was explained in a case study.     

气瓶焊接设备的虚拟改装设计

 基于虚拟制造(VM)技术讨论了设备虚拟改装的原理和特点，提出虚拟改装系统的实现方法和运行模式，讨论了老旧机床本体及新附加装置的建模方法，并在工业用非重复充装焊接钢瓶生产线建设中，进行了焊接专机的改装实践.利用虚拟技术确保机床改装一次性成功，降低老旧设备改造的工程成本，在生产中能满足工艺要求.     

Transparent Access to Heterogeneous IoT Based on Virtual Resources

The Internet of Things (IoT) inspires industries to deploy a massive number of connected devices to provide smart and ubiquitous services to influence our daily life. Edge computing leverages sufficient computation and storage at the edge of the network to enable deploying complex functions closer to the environment using Internet-connected devices. According to the purpose of the environment including privacy level, domain functionality, network scale and service quality, various environment-specific services can be provided through heterogeneous applications with sensors and actuators based on edge computing. However, for providing user-friendly service scenarios based on the transparent access to heterogeneous devices in edge computing, a consistent interface shall be provided to deliver services from edge computing to clients. In this paper, we propose transparent computing based on virtual resources to access heterogeneous IoT devices without considering the underlying network configuration at the edge of the networks. For supporting transparent access to different edge computing environments through a consistent interface, the virtual resource of edge gateway is proposed to bridge the Internet and devices which are deployed on the edge of the network. The proposed edge gateway exposes the services of the Internet of Things devices to the Internet using virtual resources that represent the resources of physical devices. The virtual resources provide a consistent interface to enable clients to access devices in edge computing without considering underlying protocols. The virtual resource is generated by the resource directory in the edge gateway through the registration of a device. Based on the device registration, the device information is stored in the gateway to link virtual resources and devices for translating messages according to the destination protocols and identifying physical devices that are represented by virtual resources. Moreover, through collaboration with the service provider, the function of device discovery and monitoring is provided to clients.     

MEMS器件虚拟运行中运动规律求解器的设计与实现

针对虚拟运行（在器件动态模型的基础上对MEMS器件运动性能进行评测的设计工具,其作用在于建立MEMS设计参数与器件运行之间的直接联系）中运动规律的联立、求解和实时仿真等问题,分析了几种典型MEMS器件的动态模型,提出了运动规律求解器的设计原理和体系结构,其中包括三项关键技术：物理运动规律在部件库系统中的形式化表示,物理问题自动求解的推理算法,以及离线编译的优化技术。最后,设计和实现了运动规律求解器原型系统,并在该系统中测试了微泵的虚拟运行,达到了通过修改阀片设计参数和膜片驱动参数实时观察虚拟运行中状态相应变化的目标,即在微泵的设计参数与其运行之间建立了直接的关联关系。     

Combining virtual simulation and physical vehicle test data to optimize durability testing

This paper describes an ongoing project to model a vehicle on a computer with a multibody dynamics simulation software package and to merge that work with physical proving ground and laboratory tests in order to shorten vehicle development time. The intention is to mirror as closely as possible the behaviour of a physical vehicle in order to assist in determining its durability characteristics under varying road conditions. This modelling work is important because, if done with sufficient fidelity, it can be used in order to assess vehicle responses by using different suspension components or payloads. Also, potential issues associated with vehicle structure, suspension components or payload positioning can be observed on a computer prior to performing physical tests. The process has the potential to reduce vehicle development cost and time. The virtual dynamic vehicle model has been created by using Automatic dynamic analysis of mechanical systems (ADAMS) software package. The calculated outputs from the model are being compared to force and displacement data collected from actual vehicle on‐road testing or a servo‐hydraulic road test simulator (RTS). The virtual model can be adjusted until the calculated responses are in close agreement with those of the physical vehicle, thus linking the virtual and real‐world results.     

虚拟制造中仿真技术的应用

虚拟制造系统是现实制造系统在虚拟环境下的精确映射,是利用计算机模型仿真真实系统中的物理和逻辑活动。本文指出仿真是实现虚拟制造的主要手段。仿真在制造系统中的应用按照人的介入与否分为一般仿真层和虚拟现实层。分析了两层之间的联系与区别,列出了各层仿真的主要内容和可实现的程度;介绍了目前主要的虚拟制造仿真软件;最后,给出了三维动画表示的生产线虚拟仿真的一个实例。