为智能农机创建数字孪生，精准模拟横向运动特性。
Digital Twin Modeling of a Highly Automated Agricultural Tractor
- 基于Mevea仿真平台与ISOBUS协议，通过CAN通信实现虚拟与实机数据同步。
- 横向动态误差控制在5-10%内，纵向加速度建模仍需更优数据支持。
- 适合农机自动化研发、仿真测试及系统迭代的工程师与研究人员。
为提升研究效率与可复现性，本文构建了研究用自动驾驶拖拉机（AMX G-trac）的数字孪生模型，重点聚焦于遵循ISOBUS协议的CAN通信，实现数据读取与执行指令的精准传递。采用Mevea仿真软件提供运动学模型与可视化，利用Python通过Kvaser CanKing虚拟通道读写CAN消息。在直线行驶与转向工况下，对数字孪生与真实设备进行性能对比测试。结果表明，Mevea模型在横向动力学表现上与实机高度一致，误差通常在5%-10%之间；但在纵向动力学如加速度等特征上仍需更高质量数据以完善建模。本文所构建的模型为后续集成液压系统、拖拉机-农具耦合动力学等功能的第二代迭代奠定了基础。
原文摘要 · Abstract (English)
In efforts to increase research efficiency and availability, a digital twin of our research tractor (AMX G-trac) is created, focusing especially on the CAN communication for data reading and actuation command following the ISOBUS protocol. Mevea Simulation Software is utilized as the foundation, providing the kinematic model and visuals, while Python is used to read and write CAN messages over a Kvaser CanKing virtual CAN channel. Various performance tests involving straight line and turning behavior are performed in both the digital twin simulation and in the real world to measure similarity. Results indicate that the Mevea model behaves very comparable in its lateral dynamics, often within 5-10 percent, but requires better data to fully capture the longitudinal aspects like acceleration. The final model described in this paper sets the table for a second iteration to include more tractor functions such as hydraulics and tractor-implement dynamics.
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