Abstract: The satellite assembly shop-floor is transforming from the traditional single-satellite and single-station assembly mode into the multi-satellite batch pulsing assembly mode.However,the asynchronous of assembly execution and material distribution is one of the important factors affecting the efficiency and quality of satellite assembly.To solve this problem,a just-in-time material distribution method based on grey theory and multi-model interaction mechanism was proposed,which was suitable for satellite assembly digital twin shop-floor.Aiming at the completion time uncertainty of the personnel operations in the process completion time prediction problem,a method of predicting material demand time based on grey theory was proposed.A time-controlled path planning method was proposed to solve the collision problem between mobile carriers with a guide rail and without one.A multi-model interaction mechanism was established through the time window to ensure that carriers did not collide between paths.The application verification was carried out in the satellite assembly digital twin shop-floor.The result suggested that the proposed method could effectively reduce the prediction error caused by differences among workers,and effectively solve the problem that the time of path planning was uncontrollable in the mixed environment.

Key words: satellite assembly, material distribution, time prediction, path planning, digital twin

摘要： 针对卫星总装车间由传统的单星单工位总装模式向多星组批脉动式总装模式转型过程中,因装配执行和物料配送不同步而影响卫星总装效率和质量的问题,提出一种适用于卫星总装数字孪生车间的基于灰色理论和多模型交互机制的物料准时配送方法。首先,针对工艺完成时间预测问题中人员操作完成时间的不确定性,提出基于灰色理论的物料需求时间预测方法;其次,针对有轨无轨混合环境下的移动运载工具碰撞问题,提出一种时间可控的混合环境下的路径规划方法,并通过时间窗建立了多模型交互机制,以保证路径之间无碰撞;最后,在卫星总装数字孪生车间开展应用验证,实验结果表明,所提方法能够降低由工人差异造成的预测误差,有效解决混合环境下路径规划时间不可控的问题。

关键词: 卫星总装, 物料配送, 时间预测, 路径规划, 数字孪生