为装载机构建高精度校准数字孪生，实现作业仿真与自动优化。
Developing a Calibrated Physics-Based Digital Twin for Construction Vehicles
- 基于物理的多体动力学模型，用AGX Dynamics模拟装载机工作过程。
- 通过传感器数据校准，对铲斗基部受力估计误差小，精度高。
- 适合智能施工、设备自动化研发人员参考使用。
本文提出一种轮式装载机的校准数字孪生系统。该系统将物理装载机与高保真数字模型集成，支持自动化诊断、运行优化及预规划仿真，提升施工自动化能力。数字模型采用AGX Dynamics软件中的物理驱动多体动力学方法，可精确模拟装载机铲斗在实际作业中的动态交互。研究中对真实装载机部署多种传感器，用于模型校准。校准后的数字孪生能以高精度估算铲斗基部受力，显著提升仿真的真实性，为自动化施工规划提供可靠依据。
原文摘要 · Abstract (English)
This paper presents the development of a calibrated digital twin of a wheel loader. A calibrated digital twin integrates a construction vehicle with a high-fidelity digital model allowing for automated diagnostics and optimization of operations as well as pre-planning simulations enhancing automation capabilities. The high-fidelity digital model is a virtual twin of the physical wheel loader. It uses a physics-based multibody dynamic model of the wheel loader in the software AGX Dynamics. Interactions of the wheel loader's bucket while in use in construction can be simulated in the virtual model. Calibration makes this simulation of high-fidelity which can enhance realistic planning for automation of construction operations. In this work, a wheel loader was instrumented with several sensors used to calibrate the digital model. The calibrated digital twin was able to estimate the magnitude of the forces on the bucket base with high accuracy, providing a high-fidelity simulation.
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