| Citation: | DONG H F，SUN H Y，YAN L，et al. Digital twin construction of cleaning for navigational lamps with physical empowerment[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（3）：785-795 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0357
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Airport navigational lamp cleaning equipment needs remote real-time monitoring of equipment condition and cleaning quality. Virtual platforms are utilized to map the operating conditions of the cleaning equipment. The establishment of the virtual environment is still largely dependent on data-driven, lacking the ability to perceive evolution and virtual simulation, and paying less attention to the executed parts. In view of the above problems, a digital twin model based on the multi-physical engine is proposed. The system uses CoppeliaSim to build a data and script dual-driven virtual space, integrates virtual sensing and visual detection, and realizes real-time communication through BlueZero. We present a motion enhancement technique based on improved mean filtering, which is implemented in the data integration subsystem provided by Qt, to address the issue of data flow ladder jump caused by communication delay.The experimental results show that the virtual-real synchronization error of the model is 74 ms after motion enhancement, which meets the synchronization requirements. The mean square error of the joint angle tracking of the cleaning manipulator is 0.827°, and the tracking error of the spatial position of the end is less than 2.775 mm, which meets the tracking accuracy requirements. The proposed model can dynamically present the stain condition when the lamps are cleaned, which proves the rationality of the proposed model and meets the application requirements of the cleaning process of the navigation lamps.
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