面向复杂危险场景精准作业的人机协同控制与跨域实时优化

本项目针对高危险复杂生产场景下高精密作业的重大需求，开展基于设计域与生产域跨域协同容差分析与误差实时控制的人机协同精准作业新方法研究，替代高技能工人，实现复杂、精密、危险生产作业的高效流程化，是未来工业互联网实现制造过程流程化的核心环节，对应于重大研发计划第二项科学问题。项目围绕“人机协同过程多因素误差复杂耦合，传递规律不清”、“人在闭环系统透明性约束下人机协同高精准同步控制的鲁棒性、稳定性保证”、“工艺设计与人机协同控制跨域容差分析与动态优化”三个核心科学问题，突破人机协同遥操作多源误差预测、无线网络高实时传输与高精度同步、人机精准协同控制、跨域容差动态优化等理论技术难题，搭建实验平台，并在生产现场开展试验验证，项目的研究成果将为国防军工等危险、复杂、高精密作业的高效流程化提供基础理论和核心技术支撑。

In view of the significant demand for high-precision operations in high-risk and complex production scenarios, the project carries out research on a new man-machine collaborative precision operation method based on cross-domain collaborative tolerance analysis and real-time error control between the design domain and production domain. This method can replace high-skilled workers and realize the efficient process of complex, precise, and dangerous production operations. It is the core link of the future industrial Internet to realize the process of the manufacturing process. The research of this project corresponds to the second scientific issue of the major research and development plan. The project focuses on three core scientific issues: "man-machine coordination process multi-factor error complex coupling, unclear transmission law", "robustness and stability guarantee of high-precision synchronization control of man-machine collaboration under the constraints of transparency of the human in closed loop system" and "cross domain tolerance analysis and dynamic optimization of process planning and man-machine collaborative control", and breaks through the theoretical and technical problems such as multi-source error prediction of man-machine cooperative teleoperation, high-speed real-time transmission and high-precision synchronization of wireless network, precise man-machine cooperative control, and dynamic optimization of cross domain tolerance. This project will build an experimental platform and carry out test verification in the production site.The research results of the project will provide basic theory and core technology support for the efficient process of dangerous, complex and high-precision operations such as national defense and military industry.