融合MBSE与Modelica的机器人数字孪生建模方法

doi:10.16182/j.issn1004731x.joss.25-1081

系统仿真学报 ›› 2026, Vol. 38 ›› Issue (9): 2725-2738.doi: 10.16182/j.issn1004731x.joss.25-1081

• 论文 • 上一篇

融合MBSE与Modelica的机器人数字孪生建模方法

梅再武¹^,², 周江嫚³, 张聪¹^,², 高艺平⁴, 朱泽润¹^,²

^1.武汉工程大学机电工程学院，湖北武汉 430205
^2.智能焊接装备与软件工程技术湖北省研究中心，湖北武汉 430205
^3.武汉烽火富华电气责任有限公司，湖北武汉 430205
^4.智能制造装备与技术全国重点实验室，湖北武汉 430074

收稿日期:2025-11-05 修回日期:2025-12-24 出版日期:2026-09-30 发布日期:2026-10-02
通讯作者: 张聪
第一作者简介:梅再武(1987-)，男，讲师，博士，研究方向为机器人数字孪生。
基金资助:
全国重点实验室开放基金(IMETKF2025020);武汉东湖高新区“揭榜挂帅”项目(2024KJB325);武汉工程大学校内科研项目(23QD46)

Robotic Digital Twin Modeling Method Integrating MBSE and Modelica

Mei Zaiwu¹^,², Zhou Jiangman³, Zhang Cong¹^,², Gao Yiping⁴, Zhu Zerun¹^,²

^1.School of Mechanical & Electrical Engineering, Wuhan Institute of Technology, Wuhan 430205, China
^2.Hubei Research Center of Intelligent Welding Equipment and Software Engineering Technology, Wuhan 430205, China
^3.Wuhan Fenghuo Fuhua Electric Co. , Ltd, Wuhan 430205, China
^4.State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Wuhan 430074, China

Received:2025-11-05 Revised:2025-12-24 Online:2026-09-30 Published:2026-10-02
Contact: Zhang Cong

摘要/Abstract

摘要：

针对机器人数字孪生建模中系统架构设计与动态仿真脱节、模型可重用性与可扩展性不足等问题，提出一种融合MBSE与Modelica的模块化建模方法。该方法利用MBSE进行系统架构设计与需求追溯，结合Modelica实现多领域动态仿真，构建从系统设计到物理行为仿真的全链条数字孪生模型；通过建立标准化接口和通用模块组件模型库，实现机器人机械、电气和控制等多领域物理模型的解耦与集成，支持模型的快速组装与功能扩展。以6自由度工业机器人为对象开展数字孪生建模及仿真验证，结果与实验数据一致性良好，表明该方法在模型保真度方面表现优异。本研究为机器人数字孪生的规范化构建提供了有效解决方案，可显著提升模型的开发效率、可维护性和可扩展性，对推动机器人数字孪生技术的应用具有一定参考价值。

关键词: 机器人, 数字孪生, MBSE, Modelica, 多领域建模

Abstract:

To address the issues of disconnection between system architecture design and dynamic simulation, as well as the limited reusability and scalability of models in robotic digital twin modeling, a modular modeling approach integrating MBSE (model-based systems engineering) and Modelica is proposed. The method employs MBSE for system architecture design and requirement traceability, and combines Modelica for multi-domain dynamic simulation, forming a full-chain digital twin model from system design to physical behavior simulation. Standardized interfaces and a generic component model library are developed to decouple and integrate mechanical, electrical, and control subsystems, enabling rapid model assembly and functional expansion. A six-degree-of-freedom industrial robot is used as a case study for digital twin modeling and simulation verification. The simulation results show good consistency with experimental data, demonstrating the high fidelity of the proposed approach. This study provides an effective solution for standardized construction of robotic digital twins, significantly improving model development efficiency, maintainability, and scalability, and offering valuable reference for the application of digital twin technology in robotics.

Key words: robot, digital twin, MBSE, Modelica, multi-domain modeling

中图分类号:

TP391

梅再武,周江嫚,张聪等 . 融合MBSE与Modelica的机器人数字孪生建模方法[J]. 系统仿真学报, 2026, 38(9): 2725-2738.

Mei Zaiwu,Zhou Jiangman,Zhang Cong,et al . Robotic Digital Twin Modeling Method Integrating MBSE and Modelica[J]. Journal of System Simulation, 2026, 38(9): 2725-2738.

图/表 20

图1

表1

图2

图3

图4

图5

图6

图7

图8

表2

HSR-JR605型号机器人的电机参数

关节编号	转子转动惯量/ $(k g · m 2)$	电机力矩常数/ $(N · m / A)$	电机定子绕组等效电阻/ $Ω$	电机定子绕组等效电感/ $m H$
1	0.013 90	0.50	1.3	7.8
2	0.016 90	0.50	1.3	7.8
3	0.013 90	0.40	2.9	11
4	0.001 01	0.39	7.5	24
5	0.001 01	0.39	7.5	24
6	0.001 01	0.32	20.3	32

表2

图9

图10

图11

图12

图13

图14

图15

图16

表3

图17

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SysML元素	Modelica元素	映射说明
Block类	Model/Class	系统组件映射为可复用类
Attribute	Parameter	属性参数化
Flow Port	Connector	能量/物质接口
Proxy Port	Input/Output	信号接口
Constraint	Equation	物理约束方程
Composition	Component	组合关系

关节	RMSE/(N·m)	MAE/(N·m)	RAE/%
1	2.993 5	1.699 7	5.21
2	3.141 5	1.770 7	3.03
3	1.567 9	0.978 8	3.66
4	0.046 3	0.033 0	5.65
5	0.565 9	0.423 2	9.91
6	0.071 9	0.045 2	4.31

融合MBSE与Modelica的机器人数字孪生建模方法

Robotic Digital Twin Modeling Method Integrating MBSE and Modelica

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