基于多核并行数字孪生的叉车稳定性预警方法及试验

doi:10.16265/j.cnki.issn1003-3033.2024.08.0394

摘要/Abstract

摘要：

为提高叉车安全性和智能化水平,提出一种基于多核并行数字孪生的叉车稳定性预警方法。首先,利用开源飞控的高精度惯性导航传感器,评估司机操作习惯和路面平整度,并以此驱动数字孪生体运行;其次,利用优化算法迭代计算满足稳定性条件的极限作业参数,即最高载重量和最快行驶速度等;然后,提出采用开源C语言编译的求解器和多核中央处理器(CPU)并行2种加速策略,以缩短寻优迭代时间;最后,以某型叉车为试验对象,验证飞控系统测量的准确性,分析数字孪生稳定性预警方法的实时性。结果表明:飞控系统具有较高的监测精度,理论计算值与采集值基本一致,全球定位系统(GPS)经纬度偏差约1 m;数字孪生程序具有较快的预测速度,运用开源C语言编译求解器的数字孪生体相比Simulation X3.8平台仿真速度提升3倍,并行数字孪生方法相比仿真平台运行效率提升20倍。

关键词: 多核并行, 数字孪生, 叉车, 稳定性预警, 预警方法, 并行优化

Abstract:

In order to improve the safety and intelligence level of forklift truck, a forklift stability warning method based on multi-core parallel digital twin is proposed. First, the open-source high-precision inertial navigation sensor is used to evaluate the driver's operating habits and road smoothness, and then drive the digital twin operation. Secondly, the optimization algorithm is used to calculate the limit operating parameters that meet the stability conditions, such as the highest load and the fastest driving speed. Then, two acceleration strategies are proposed, which use the open source C language compiled solver and multi-core Central Processing Unit (CPU) in parallel, to shorten the optimization iteration time. Finally, taking a forklift truck as the test object, the accuracy of the measurement of the flight control system is verified, and the real-time performance of the digital twin stability early warning method is analyzed. The results show that the flight control system has high monitoring accuracy, the theoretical calculated values are basically consistent with the collected values, and the longitude and latitude deviation of global positioning system (GPS) is about 1 m. The digital twin program has a faster prediction speed. The digital twin compiled by the open source C language is 3 times faster than the Simulation X3.8 platform, and the parallel digital twin method is 20 times more efficient than the simulation platform.

Key words: Multi-Core parallel, digital twins, forklift, stability early warning, early warning method, parallel optimization

中图分类号:

X941

马树焕, 宁志强, 卫立新. 基于多核并行数字孪生的叉车稳定性预警方法及试验[J]. 中国安全科学学报, 2024, 34(8): 93-100.

MA Shuhuan, NING Zhiqiang, WEI Lixin. Method and experiment of forklift stability warning based on Multi-Core parallel digital twin[J]. China Safety Science Journal, 2024, 34(8): 93-100.

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部件	类型	参数值
开源飞控	飞控系统2.8	高精度陀螺仪、罗盘
GPS	M8N	精度0.5 m
数传电台	权盛3DRRadio	433 MHz(2 000 m)
姿态测量传感器	维特蓝牙5.0	传输距离50 m
直流降压模块	超免电池电路	输出电压5 V
锂电池		额定电压11.1 V