Virtual-physical interaction control method for intelligent cantilever roadheader driven by digital twin
WANG Yan
KOU Haonan
ZHANG Xuhui
WEI Shirui
YANG Zhiwei
ZHAO Youjun
Abstract：In response to the dual requirements of real-time responsiveness and operational reli-ability for intelligent control in coal mine rapid tunneling systems,this paper proposed a digital twin-driven virtual-physical interaction control method that integrates the high-precision deci-sion-making capability of virtual models with the rapid-response advantage of physical control mechanisms,establishing intelligent collaborative control between the tunneling physical enti-ty and its digital twin counterpart.First,a hierarchical virtual-physical interactive control framework was constructed,consisting of physical equipment layer,virtual model layer,func-tional service layer,and data information layer,achieving complete cross-domain data interac-tion links.Subsequently,a multi-agent collaborative decision-making model was proposed,comprising cutting pose perception agent,shaping quality evaluation agent,and control opti-mization agent,which realized cross-domain knowledge sharing and optimized decisions through collaborative mechanisms.Based on the transmission process analysis of virtual-physi-cal interactive control states,a fusion control execution logic integrating physical and virtual control decisions was developed.Through steps including"state alignment","evolution pre-diction",and"command fusion",the impact of interactive time delay on control decision-mak-ing is effectively reduced.Finally,the effectiveness of the proposed method was validated through the construction of an experimental system platform.
Keywords：intelligent tunnelingdigital twinvirtual-physical interactionmulti-agentfusion control logic
Publication Date：2025-03-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：13( 330-342 )