Data fusion and simulation-based planning and control in cyber physical system for digital assembly of aeroplane

作     者：Hui Li Linxuan Zhang Tianyuan Xiao Jietao Dong 

作者机构：State CIMS Engineering Research Center at Tsinghua University Main Building Room 604Beijing 100084P.R.China State CIMS Engineering Research Center at Tsinghua University Main Building Room 601Beijing 100084P.R.China State CIMS Engineering Research Center at Tsinghua University Main Building Room 619Beijing 100084P.R.China 

出 版 物：《International Journal of Modeling, Simulation, and Scientific Computing》 (建模、仿真和科学计算国际期刊（英文）)

年 卷 期：2015年第6卷第3期

页      面：66-84页

核心收录：

学科分类：0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 0701[理学-数学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：The work was supported by the project:2013BAF02B00. 

主　　题：Intelligent aeroplane assembly cyber physical system multi-sensor data fusion simulation-based control disturbance observer robust adaptive sliding mode controller 

摘      要：This paper introduces a CPS application for intelligent aeroplane assembly.At first,the CPS structure is presented,which acquires the characteristics of general CPS and enables“simulation-based planning and controlto achieve high level intelligent assembly.Then the paper puts forward data fusion estimation algorithm under synchronous and asynchronous sampling,respectively.The experiment shows that global optimal distributed fusion estimation under synchronized sampling proves to be closer to the actual value compared with ordinary weighted estimation,and multi-scale distributed fusion estimation algorithm of wavelet under asynchronous sampling does not need time registration,it can also directly link to data,and the error is smaller.This paper presents hybrid control strategy under the circumstance of joint action of the inner and outer loop to address the problems caused by the less controllable feature of the parallel mechanism when undertaking online process simulation and control.A robust adaptive sliding mode controller is designed based on disturbance observer to restrain inner interference and maintain robustness.At the same time,an outer collaborative trajectory planning is also designed.All the experiment results show the feasibility of above proposed methods.