Abstract
The development of object-oriented digital twins (DTs) is relevant for the virtual commissioning and adjustment of electromechanical and hydraulic systems of rolling mills. An important task solved with the use of digital data is the configuration of control systems. A comparison is given of information transmission structures in digital models, digital shadows and DTs. Options for placing a virtual model of an object and a control system algorithm on a personal computer (PC) or in a programmable logic controller (PLC) resource are considered. The relevance of assessing signal delays when placing a control program in a PLC and an object model in a PC is emphasized; insufficient knowledge of this issue is noted. It is shown that additional delay is introduced by the difference between PLC and PC interfaces. This results in distortion of information exchange between the object and the control system and disruption of the twinning process. A study of the central dynamics of a conditional discrete object with a proportional controller was carried out. The virtual model is implemented in the Matlab Simulink Desktop Real Time environment on a PC, the control system is implemented in the PLC programming language. By comparing oscillograms obtained at different regulator gains, it is proven that the delay in signal transmission results in its distortion and in an increase in the oscillatory properties of the system. A method is proposed for determining delays that occur during the exchange of information in the structure of a digital twin, including transmitting a test signal via the UDP interface to a virtual model program on a PC and “returning” to the PLC, recording both signals at the PLC output and calculating the time delay. The definition of the delay is considered by estimating the time shift of the sawtooth signal entering the PLC input and its response after “returning” from the PC. In order to simulate delays when developing a control algorithm, it is proposed to include additional discrete links in the structure of the system. An assessment is made of the influence of the discrete nature of the PLC program on the delay of signals. It has been proven that delays due to this reason are insignificant and can be neglected. The results obtained and the method for determining delays are recommended for use in creating object-oriented digital twins of mechatronic rolling mill complexes.
Keywords
electromechanical system, digital twin, development, controller, personal computer, placement, data exchange, delay, definition, method, modeling, recommendations
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