生产线数字化设计与仿真(NX MCD)

本书介绍基于西门子机电一体化概念设计（NX MCD）模块的生产线数字孪生制作与调试技术，主要内容分为两部分：第壹部分（第1~6
章）为机电一体化概念设计建模技术，包括简单几何体的三维建模、机电对象运动设置，以及过程控制与协同设计等技术，涵盖了基本机电对象、运动副、耦合副、传感器、运行时参数、运行时表达式、运行时行为、信号、仿真序列、代理对象和协同设计等的创建与应用；第二部分（第7、8章）为虚拟调试技术，包括硬件在环虚拟调试和软件在环虚拟调试，主要涉及虚拟调试系统软、硬件环境的搭建技术，以及通过OPC接口组件实现NX MCD虚拟设备与PLC信号连接的控制调试技术。书中的各个项目均保留了制作与调试过程的详细信息，尽可能让读者能够零基础地按步骤重复操作。
本书可作为高职高专院校智能控制技术、电气自动化技术和机电一体化技术等相关专业的教材，也可供从事工业生产数字化应用开发、调试与现场维护的工程技术人员参考。

第1章　绪论···············································1

1.1　数字孪生技术概述···································1
1.1.1　数字孪生的概念·························1
1.1.2　西门子数字双胞胎技术简介······2
1.1.3　西门子数字双胞胎的
实施工具·····································3
1.1.4　数字双胞胎技术中的
虚拟调试·····································4
1.2　机电一体化概念设计概述························4
1.2.1　机电一体化概念设计简介·········4
1.2.2　机电一体化概念设计的特点······5
1.2.3　数字双胞胎与机电一体化
概念设计·····································6
1.3　机电一体化概念设计的技术优势············7
1.4　机电一体化概念设计流程······················10
1.5　机电一体化概念设计案例······················11
1.6　本章小结·················································12
习题··································································12
第2章　 机电一体化概念设计
软件简介·····································13

2.1　软件环境简介·········································13
2.1.1　进入机电一体化概念设
计软件环境·······························13
2.1.2　主菜单命令·······························15
2.1.3　工具栏命令·······························19
2.1.4　“带条”工具栏命令···············23
2.2　软件故障处理·········································26
2.3　本章小结·················································28
习题··································································28
第3章　基本机电对象与执行器·············31

3.1　基本机电对象与执行器概述··················31
3.2　创建机电一体化概念设计训练平台··············31
3.2.1　创建步骤···································32
3.2.2　视图操作···································33
3.3　基本机电对象·········································36
3.3.1　刚体··········································36
3.3.2　碰撞体·······································43
3.3.3　传输面·······································51
3.3.4　对象源·······································55
3.3.5　碰撞传感器·······························59
3.3.6　对象收集器·······························60
3.3.7　对象变换器·······························65
3.3.8　碰撞材料···································68
3.4　执行器·····················································71
3.4.1　速度控制···································71
3.4.2　位置控制···································73
3.5　本章小结·················································75
习题··································································76
第
4
章　 机电一体化概念设计的
运动仿真···································77

4.1　 机电一体化概念设计运动仿真概述······77
4.2　运动副·····················································78
4.2.1　铰链副·······································78
4.2.2　固定副·······································81
4.2.3　滑动副·······································85
4.2.4　柱面副·······································89
4.2.5　球副··········································91
—· VII ·—

4.2.6　螺旋副·······································93
4.2.7　平面副·······································95
4.2.8　弹簧副·······································96
4.2.9　弹簧阻尼器·······························99
4.2.10　限制副···································101
4.2.11　点在线上副···························103
4.2.12　路径约束运动副···················103
4.2.13　线在线上副···························105
4.3　耦合副···················································107
4.3.1　齿轮副·····································107
4.3.2　机械凸轮副·····························113
4.3.3　电子凸轮·································120
4.4　传感器···················································122
4.4.1　碰撞传感器·····························122
4.4.2　距离传感器·····························122
4.4.3　位置传感器·····························124
4.4.4　通用传感器·····························125
4.4.5　限位开关·································126
4.4.6　继电器·····································127
4.5　约束·······················································128
4.5.1　断开约束·································128
4.5.2　防止碰撞·································131
4.6　变换对象属性·······································132
4.6.1　显示更改器·····························132
4.6.2　变换对象·································134
4.7　 物理定义转换—概念模型替换为
详细模型···············································135
4.8　本章小结···············································138
习题································································139
第
5
章　 仿真的过程控制与
协同设计·································141

5.1　过程控制与协同设计简述····················141
5.2　运行时参数与运行时表达式················141
5.2.1　运行时参数·····························141
5.2.2　运行时表达式·························143
5.2.3　虚拟轴运动副·························148
5.3　信号与运行时行为·······························150
5.3.1　信号与信号适配器·················150
5.3.2　运行时行为·····························157
5.4　仿真序列·

目前，全球工业文明正在逐步进入工业4.0 时代，这必将引发生产模式、商业模式和供需关系的重大变革。智能化、个性化制造和基于数
据的信息设计构成了未来商业模式的基础。最近几年， 德国工业4.0 的主要实践者——西门子公司的“数据驱动型商业模式”已经萌芽，工业领域中不同学科融合、协作的西门子数字孪生（Digital Twin ）技术也逐渐受到重视。数字孪生的意义在于： 它形成了一种闭环，在带有反馈回路的产品全生命周期中，能在现实物理系统（Physical Systems ）向虚拟网络赛博空间（Cyber Space）数字化模型反馈的过程中，确保各类仿真分析、数据积累、人工智能与现实物理系统之间的适用性。它除了使工厂生产更加灵活之外，还改变了工厂的生产模式——在个性化、品种复杂的情况下，能够保证整个工艺流程数据的透明，从而在控制产品质量、满足市场需求的过程中发挥重要作用。西门子机电一体化概念设计（NX MCD ）是数字孪生技术中的一种重要的数字化工具，它可以把既有的机械、电气、液压、气动、驱动、自动化和编程等学科知识综合为具有闭环反馈的制造业知识回路，进而使人们在数字环境下进行产品的制作与验证。这将使人们在产品创造的过程中，有能力打破学科之间的藩篱， 形成构建机电一体化系统的明晰视图，并以此为导向，助力整个机电产品的研发过程。因此，机电一体化概念设计可以看作是一个多学科技术融合与虚拟调试、开发的技术平台。它以一种并行的、可验证的方式，使人们在项目设计初期能够根据市场需求开展并行设计与调试工作， 并且在物理设备尚未到位的情况下能够联合运用多学科知识，通过“虚—虚”“虚—实”结合的虚拟调试对产品和生产工艺进行反复的修改与验证， 并把结果映射到真实的物理环境中去。这有力地支持了制造业“创造”的实施，无疑是工业4.0 背景下的现代制造需要掌握的一项关键技术。
本书是对前期教学与科研工作中有关数字孪生技术的总结。本书由孟庆波担任主编，企业人员靳国辉协助进行了书稿案例的开发与验证，胡金华与金文兵老师协助完成了书稿相关素材的整理、编辑与完善。本书在编写过程中，得到了杭州凯优科技有限公司、西门子（中国）有限公司（上海）、南京旭上数控技术有限公司等单位的大力支持与协助，以及浙江机电职业技术学院连续三届“工业机器人协会”的师生胡金华、程文锋、吕俊、秦江浩、张汉清、平凯元、杨志康、张金涛、冯裕川、胡怡人、郑钱钦、庄泽栋、曹奔、刘成锋、沈寅愉和曹杰等人对课程项目开发与素材积累的辛勤付出，在此一并致以衷心的感谢！ 由于编者水平有限，书中不妥甚至错误之处在所难免， 敬请广大读者批评指正。