Digital twin system construction method based on IEC61499

Abstract

The invention provides an IEC61499-based digital twinning system construction method, which belongs to the field of digital twinning-oriented industrial control, and comprises the following steps of: constructing a digital twinning layer consisting of digital twinbodies according to a physical entity; a control system layer is constructed based on 4DIAC software under the IEC61499 standard, the control system layer is in communication connection with the digital twinborn layer to obtain data from the digital twinborn layer, data calculation and / or logic judgment are / is performed according to the obtained data, and the digital twinborn body is controlled to act according to the calculation and / or logic judgment result; a man-machine interaction layer is constructed based on software Fuxa, the man-machine interaction layer is in communication connection with the control system layer so as to obtain data from the control system layer and visually display the data, or send a task command to the control system layer, and the system control layer controls the digital twins to act according to the received task; and a data storage layer connected with the control system layer and the man-machine interaction layer is constructed. The design efficiency and the intelligent level of the digital twin system can be improved.

Description

Technical Field

[0001] The present invention belongs to the field of industrial control for digital twins, and specifically relates to a method for constructing a digital twin system based on IEC61499. Background Art

[0002] With the rapid development of the Internet of Things, big data, and intelligent manufacturing technologies, digital twins have entered the public consciousness and are gradually being applied to industrial manufacturing. Digital twin technology uses 3D modeling technology to create digital models of physical objects and map various data of the physical entity to the digital model. Using digital twins can facilitate control system design and debugging, improving work efficiency and reducing debugging time and losses.

[0003] In the existing technology, when using digital twins to assist in the design of control systems, PLC is used for implementation. PLC has independent and complete hardware and software functions, and is a special-purpose computer designed specifically for industrial control. With the continuous advancement of industrial manufacturing technology and the increasing complexity of the manufacturing process, the required control programs are becoming more and more complex, and the amount of data required is also increasing. However, for a long time, the development of PLCs has been specialized, and various types of PLC products use a closed system architecture. PLCs from different manufacturers are incompatible with each other, and there is no unified standard. There is a great deal of independence in the type, number, language, and external communication transmission protocols of programming elements, which requires system programmers to spend a lot of time learning before they can actually use them. Summary of the Invention

[0004] The purpose of this invention is to propose a digital twin system construction method based on IEC61499, which can improve the design efficiency and intelligence level of the digital twin system.

[0005] The present invention is achieved through the following technical solutions:

[0006] A method for constructing a digital twin system based on IEC61499 includes the following steps:

[0007] Build a digital twin layer composed of digital twins based on physical entities;

[0008] The control system layer is built based on the 4DIAC software under the IEC61499 standard. The control system layer communicates with the digital twin layer to obtain data from the digital twin layer, performs data calculations and / or logical judgments based on the obtained data, and controls the actions of the digital twin based on the calculation and / or logical judgment results.

[0009] A human-computer interaction layer with a display interface is built based on the Fuxa software. The human-computer interaction layer communicates with the control system layer to obtain data from the control system layer and visualize the data, or send task commands to the control system layer. The system control layer controls the digital twin to perform actions based on the received tasks.

[0010] Construct a data storage layer connected to the control system layer and the human-computer interaction layer respectively.

[0011] Furthermore, when constructing the digital twin layer, a digital twin is constructed based on the data model, state information and data information of the physical entity.

[0012] Furthermore, the digital twin layer is provided with a first OPC UA server for realizing communication connection with the system control layer. A node tree with multiple twin data nodes is established in the first OPC UA server. The digital twin layer constructs the data sent to the control system layer as a twin output data node, and constructs the data received from the control system layer as a twin input data node.

[0013] Furthermore, the control system layer is provided with a first OPC UA client and a second OPC UA server, and the human-computer interaction layer is provided with a second OPC UA client. The first OPC UA client is connected to the first OPC UA server to obtain data from the digital twin layer, and according to the obtained data, the corresponding computing function blocks and / or logic function blocks are obtained using 4DIAC-IDE, the obtained computing function blocks and / or logic function blocks are designed and drawn, and 4DIAC-Forte is used to implement the function blocks. The second OPC UA server is connected to the second OPC UA client to obtain task commands from the human-computer interaction layer.

[0014] Furthermore, the implementation of the control system layer includes the following steps:

[0015] Step S21: Use the SUBSCRIBE function of the Subscribe function block of the 4DIAC-IDE to connect the twin output data node of the twin data node, and use the WRITE function of the Client function block of the 4DIAC-IDE to connect the twin input data node of the twin data node;

[0016] Step S22: Based on the data obtained from the digital twin layer, obtain computing function blocks and / or logic function blocks from the function block library of 4DIAC-IDE, and create a combination function block from the computing function block and logic function block group when necessary;

[0017] Step S23: Connect the IND event output of the Subscribe function block to the event input of the calculation function block or the logic function block, connect the RD_1 data output of the Subscribe function block to the event input of the calculation function block or the logic function block, connect the event output of the calculation function block or the logic function block to the event input of the Client function block, and connect the data output of the calculation function block or the logic function block to the SD_1 data input of the Client function block.

[0018] Step S24: Based on the data display requirements of the human-computer interaction layer, use the WRITE function of the Publish function block to create the control output data node required for communication with the human-computer interaction layer, and write the data obtained from the digital twin layer into the control output data node;

[0019] Step S25: Based on the task delivery requirements of the human-computer interaction layer, use the READ function of the Subscribe function block to create the control input data node required by the human-computer interaction layer, and read the data changes of the control input data node;

[0020] Step S26: parse the task data obtained from the human-computer interaction layer according to the requirements, connect the input data node of the twin data node of the digital twin layer, and complete the motion control of the digital twin;

[0021] Step S27: According to the data storage requirements, call the add, delete, modify and check function block in the sqlite3 database, connect the data to be stored to the data input end of the add, delete, modify and check function block, bind the event output end of the source function block of the data to be stored to the event input end of the add, delete, modify and check function block to complete the data storage requirements.

[0022] Furthermore, the implementation of the human-computer interaction layer includes the following steps:

[0023] Step S31: Based on the data display requirements, create a second OPC UA client in the connection function of the Fuxa software. The second OPC UA client connects to the second OPC UA server in the control system layer and selects the control output data node required for data display.

[0024] Step S32: Create a new interface in Views in Fuxa, call the output control and bind the output control property to the control output data node required for data display;

[0025] Step S33: Invoke the input control in Fuxa, bind the input control attribute to the control input data node of the control system layer that receives the command, and set the user input requirements, which include the data type and range.

[0026] Step S34: Based on data storage requirements, create a script in the Scripts function of Fuxa that calls the sqlite3 function, read the data of the control output data node, and save it to the data storage layer.

[0027] Furthermore, the digital twin layer is implemented using a 3D SIM digital twin platform.

[0028] Furthermore, in step S27, the add, delete, modify and check function blocks include sqlite3_createtable to create a table function block, sqlite3_insert to insert data function block, sqlite3_select to query data function block, sqlite3_update to update data function block, and sqlite3_delete to delete data function block.

[0029] The present invention has the following beneficial effects:

[0030] 1. The present invention constructs a digital twin layer composed of digital twins based on physical entities. The control system layer is constructed based on the 4DIAC software under the IEC61499 standard. The control system layer is connected to the digital twin layer to obtain data from the digital twin layer, perform data calculation and / or logical judgment based on the obtained data, and control the action of the digital twin according to the calculation and / or logical judgment results. The human-computer interaction layer is constructed based on the software Fuxa. The human-computer interaction layer is connected to the control system layer to obtain data from the control system layer and visualize the data, or send task commands to the control system layer. The system control layer controls the digital twin to act according to the received task and constructs The data storage layer, which is connected to the control system layer and the human-computer interaction layer respectively, is combined with digital twins and IEC64199 to divide the digital twin system into four layers: digital twin layer, control system layer, human-computer interaction layer, and data storage layer. The function distribution is clear. Based on the modular characteristics of IEC64199, the implementation of functions at each layer is modularized, which can quickly complete the construction of new production lines or the reconstruction speed based on the original modules after adjustment, and facilitate rapid adjustment and updating of the overall system, effectively improving the design efficiency and intelligence level of the digital twin system, saving repetitive work, and also enabling distributed deployment, and can be used in a variety of scenarios.

[0031] 2. Use a unified OPC UA protocol for communication between the digital twin layer, control system layer, and human-computer interaction layer, facilitating communication between different devices and avoiding the communication difficulties of traditional systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described in detail below with reference to the accompanying drawings.

[0033] Figure 1 Schematic diagram of the architecture of the present invention.

[0034] Figure 2 This is a schematic diagram of the digital twin layer 3D SIM warehouse model of the present invention.

[0035] Figure 3 It is a partial functional block diagram of the control system layer 4DIAC program of the present invention.

[0036] Figure 4 This is a schematic diagram of the sqlite3 database functional blocks of the control system layer 4DIAC of the present invention.

[0037] Figure 5 This is the storage location display interface of the No. 1 vertical warehouse of the Fuxa program of the human-computer interaction layer of the present invention.

[0038] Figure 6 This is a partial cargo information table in the sqlite3 database of the data storage layer of the present invention. DETAILED DESCRIPTION

[0039] like Figure 1 As shown in the figure, the digital twin system construction method based on IEC61499 includes the following steps:

[0040] Build a digital twin layer composed of digital twins based on physical entities;

[0041] Specifically, when constructing the digital twin layer, the digital twin is constructed based on the data model, state information, and data information of the physical entity. In this embodiment, the digital twin layer is implemented using the 3D SIM digital twin platform. A warehouse model is constructed in 3D SIM, including models of vertical warehouses, stackers, warehouse-side conveyors, and conveyor-side cargo pushing devices. Figure 2 As shown in the figure, add the actions of the moving parts of the model as action modules, including the movement of the stacker, the rotation of the conveyor belt, the extension and return of the push device, etc.

[0042] The digital twin layer is equipped with a first OPC UA server that enables communication with the system control layer. A node tree with multiple twin data nodes is established in the first OPC UA server. The digital twin layer constructs data sent to the control system layer as twin output data nodes and constructs data received from the control system layer as twin input data nodes. In this embodiment, a first OPC UA server is created on the 3D SIM digital twin platform, and the port of the first OPC UA server is set to 4888. A node tree is established in the first OPC UA server, creating directories for the push device, stacker, conveyor belt, and storage location, and creating data nodes corresponding to the action module under the directory. Taking the stacker as an example, the stacker has five nodes: x-axis movement x_move, y-axis movement y_move, fork extension z_move, get cargo, and release cargo, as well as corresponding action completion nodes: x-axis movement completion x_move_finish, y-axis movement completion y_move_finish, fork extension completion z_move_finish, get cargo completion get_finish, and release cargo completion release_finish.

[0043] The following is an example of a node creation statement:

[0044] <Node displayname="move_z"pnodeidstr="ns=2;s=Data / hengjia1"level="3"nodeidstr="ns=2;s=Data / hengjia1 / move_z"arrayrank="1"nodetype="2"datatype="float" / >

[0045] Write all nodes in the above format as .xml files and place them in the OPC UAServer folder of the 3D SIM project to complete the creation of the first OPC UA server.

[0046] The control system layer is built based on the 4DIAC software under the IEC61499 standard. The control system layer communicates with the digital twin layer to obtain data from the digital twin layer, performs data calculations and / or logical judgments based on the obtained data, and controls the actions of the digital twin based on the calculation and / or logical judgment results.

[0047] The control system layer is provided with a first OPC UA client and a second OPC UA server, and the human-computer interaction layer is provided with a second OPC UA client. The first OPC UA client is connected to the first OPC UA server to obtain data from the digital twin layer, and according to the obtained data, the corresponding computing function blocks and / or logic function blocks are obtained using 4DIAC-IDE, the obtained computing function blocks and / or logic function blocks are designed and drawn, and 4DIAC-Forte is used to implement the function blocks. The second OPC UA server is connected to the second OPC UA client to obtain task commands from the human-computer interaction layer.

[0048] like Figure 3 As shown, the specific implementation of the control system layer includes the following steps:

[0049] Step S21: Use the SUBSCRIBE function of the Subscribe function block of 4DIAC-IDE to connect the twin output data node of the twin data node, such as Figure 3 As shown in the first column on the left (shown in the red box on the left), use the WRITE function of the Client function block of 4DIAC-IDE to connect the twin input data node of the twin data node, as shown in Figure 3 As shown in the first column on the right (shown in the red box on the right);

[0050] Step S22: Obtain the action requirements of the digital twin layer based on the data obtained from the digital twin layer, obtain the calculation function block and / or logic function block from the function block library of 4DIAC-IDE, and create the calculation function block and logic function block group as a combined function block when necessary, such as Figure 3 The middle part is shown;

[0051] Step S23: Figure 3 As shown, connect the IND event output terminal of the Subscribe function block to the event input terminal of the calculation function block or the logic function block, connect the RD_1 data output terminal of the Subscribe function block to the event input terminal of the calculation function block or the logic function block, connect the event output terminal of the calculation function block or the logic function block to the event input terminal of the Client function block, and connect the data output terminal of the calculation function block or the logic function block to the SD_1 data input terminal of the Client function block;

[0052] Step S24: Based on the data display requirements of the human-computer interaction layer, use the WRITE function of the Publish function block to create the control output data node required for communication with the human-computer interaction layer, and write the data obtained from the digital twin layer into the control output data node, that is, connect the data obtained from the digital twin layer from the corresponding function block to the data input terminal of Publish;

[0053] Step S25: Based on the task delivery requirements of the human-computer interaction layer, use the READ function of the Subscribe function block to create the control input data node required by the human-computer interaction layer, and read the data changes of the control input data node;

[0054] The control output data node and the control input data node belong to the first OPC UA client and the second OPC UA server respectively. In this embodiment, the port number for creating the first OPC UA client and the second OPC UA server is 4841.

[0055] Step S26: parse the task data obtained from the human-computer interaction layer according to the requirements, connect the input data node of the twin data node of the digital twin layer, and complete the motion control of the digital twin;

[0056] More specifically, the user inputs the pre-agreed task code corresponding to the task content into the human-computer interaction layer interface. The control system layer parses the task code to obtain the specific task content, creates a task distribution function block or function block diagram based on the task content, and then connects the corresponding input data node of the digital twin node.

[0057] Step S27: Based on the data storage requirements, call the CRUD function block in the sqlite3 database, connect the data to be stored to the data input of the CRUD function block, and bind the event output of the source function block of the data to be stored to the event input of the CRUD function block to complete the data storage requirements.

[0058] Among them, the add, delete, modify and query function blocks include sqlite3_createtable to create a table function block, sqlite3_insert to insert data function block, sqlite3_select to query data function block, sqlite3_update to update data function block, and sqlite3_delete to delete data function block.

[0059] The event input of the sqlite3_createtable table creation function block is the initialization event init, the execution of table creation is running, the data input is the database db, the table name table_name, and the table property table_property, the event output is the initialization completion confirmation inito, the execution of table creation is runningo, and the data output is the error message err.

[0060] The event input of the sqlite3_insert data insertion function block is the initialization event init, the execution of data insertion running, the data input is the database db, the table name table_name, the inserted data attribute data_property, and the inserted data content data_value. The event output is the initialization completion confirmation inito, the execution of data insertion completion runningo, and the data output is the error message err.

[0061] The event input of the sqlite3_select query data function block is the initialization event init and the execution query data running. The data input is the database db, the table name table_name, the query data target select_goal, and the query data condition select_condition. The event output is the initialization completion confirmation inito and the query data completion runningo. The data output is the data query result select_result and the error message err.

[0062] The event input of the sqlite3_update update data function block is the initialization event init and the execution of update data running. The data input is the database db, the table name table_name, the update data content update_value, and the update data condition update_condition. The event output is the initialization completion confirmation inito and the update data completion runningo. The data output is the error message err.

[0063] The event input of the sqlite3_delete data deletion function block is the initialization event init, the execution of updating data running, the data input is the database db, the table name table_name, and the data deletion condition delete_condition, the event output is the initialization completion confirmation inito, the update data completion runningo, and the data output is the error message err.

[0064] A human-computer interaction layer with a display interface is built based on the Fuxa software. The human-computer interaction layer communicates with the control system layer to obtain data from the control system layer and visualize the data, or send task commands to the control system layer. The system control layer controls the digital twin to perform actions based on the received tasks.

[0065] In this example, the software Fuxa connects to the OPC UA server created by 4DIAC with port number 4841. The implementation of the human-computer interaction layer includes the following steps:

[0066] Step S31: Based on the data display requirements, create a second OPC UA client in the connection function of the Fuxa software. The second OPC UA client connects to the second OPC UA server in the control system layer and selects the control output data node required for data display. In this embodiment, the node selected is the vertical warehouse location node.

[0067] Step S32: Create a new interface in Views in Fuxa, call the output control and bind the output control property to the control output data node required for data display;

[0068] The new interface includes a main interface and several sub-interfaces. Call the graphic module in the main interface, create text on it and write the library number, add a click event to the graphic module, and use the click event to trigger the jump interface function, so that you can switch from the main interface to the sub-interface. Correspondingly, add a return button on the sub-interface so that you can return to the main interface from the sub-interface.

[0069] In the sub-interface, call the Table control to display the storage location status, and bind the attributes of each cell in the table to the corresponding storage location status OPC UA data node to be displayed. The interface is as follows: Figure 5 As shown in the figure, add three buttons under the table space: Inbound, Outbound, and Query. Each button adds a click event and triggers a pop-up window function, which pops up the three functional interfaces of Inbound, Outbound, and Query respectively.

[0070] Step S33: Invoke the input control in Fuxa, bind the input control attribute to the control input data node of the control system layer that receives the command, and set the user input requirements, which include the data type and range.

[0071] In this example, Fuxa creates interfaces for loading, unloading, and querying data. Input controls are called within these interfaces, and their properties are bound to data nodes created by the control system layer to receive commands. User input requirements, such as the data type and range, are also set. The tasks required are loading, unloading, and querying data. For unloading, for example, three input controls, store_id, row, and column, are created within the unloading interface to pass the store ID, row, and column information for the unloading command. Each of these controls is then bound to the corresponding OPC UA node.

[0072] Step S34: Based on data storage requirements, create a script in the Fuxa Scripts function that calls the sqlite3 function. This script reads the data from the control output data node and saves it to the data storage layer. In this embodiment, the cargo information at the time of entry needs to be saved in the database. A new script is created to accomplish this. The script content is:

[0073] const sqlite3=require('sqlite3').verbose();

[0074] const db=new sqlite3.Database(' / test.db');

[0075] var a=$getTag('t_42e074a0-457a47fc' / *FUXA-code* / );

[0076] var b=$getTag('t_42eaca71-87154995' / *FUXA-name* / );

[0077] var c=$getTag('t_948cb93b-046d462a' / *FUXA-storeID* / );

[0078] var d=$getTag('t_e1313c70-972b4cdc' / *FUXA-hang* / );

[0079] var e=$getTag('t_5a490afb-b0a047d7' / *FUXA-lie* / );

[0080] var f=$getTag('t_dc6af0ee-6c804a44' / *FUXA-message* / );

[0081] var g=$getTag('t_38e40434-4d7a409b' / *FUXA-user* / );

[0082] var h = Date.now();

[0083] var table;

[0084] switch(c){

[0085] case 1:

[0086] table = "store1_of_all";

[0087] break;

[0088] case 2:

[0089] table = "store2_of_all";

[0090] break;

[0091] case 3:

[0092] table = "store3_of_all";

[0093] break;

[0094] case 4:

[0095] table = "store4_of_all";

[0096] break;

[0097] case 5:

[0098] table = "store5_of_all";

[0099] break;

[0100] case 6:

[0101] table = "store6_of_all";

[0102] break;

[0103] }

[0104] db.run(`INSERT INTO ${table}(code,name,storeID,hang,lie,message,user,state,time) VALUES('${a}','${b}',${c},${d},${e},'${f}','${g}','正在入库',${h})`); / / Insert data

[0105] db.close((err) => {

[0106] if (err) { console.error(err.message);}

[0107] console.log('Close the database connection.');});

[0108] Construct a data storage layer connected to the control system layer and the human-computer interaction layer respectively;

[0109] The data storage layer uses the sqlite3 lightweight database. In this embodiment, the database is used to save and record the storage location status and cargo information of the storage location. Figure 6 shown.

[0110] The above description is merely a preferred embodiment of the present invention and therefore cannot be used to limit the scope of the present invention. In other words, equivalent changes and modifications made according to the scope of the patent application and the contents of the specification should still fall within the scope of the patent of the present invention.

Claims

1. A method for constructing a digital twin system based on IEC61499, characterized by: The steps include: Build a digital twin layer composed of digital twins based on physical entities; The control system layer is built based on the 4DIAC software under the IEC61499 standard. The control system layer communicates with the digital twin layer to obtain data from the digital twin layer, performs data calculations and / or logical judgments based on the obtained data, and controls the actions of the digital twin based on the calculation and / or logical judgment results. A human-computer interaction layer with a display interface is built based on the Fuxa software. The human-computer interaction layer communicates with the control system layer to obtain data from the control system layer and visualize the data, or send task commands to the control system layer. The system control layer controls the digital twin to perform actions based on the received tasks. Construct a data storage layer connected to the control system layer and the human-computer interaction layer respectively.

2. The method for constructing a digital twin system based on IEC61499 according to claim 1, characterized in that: When constructing the digital twin layer, a digital twin is constructed based on the data model, state information and data information of the physical entity.

3. The method for constructing a digital twin system based on IEC61499 according to claim 2, characterized in that: The digital twin layer is provided with a first OPC UA server for realizing communication connection with the system control layer. A node tree with multiple twin data nodes is established in the first OPC UA server. The digital twin layer constructs the data sent to the control system layer as a twin output data node, and constructs the data received from the control system layer as a twin input data node.

4. The method for constructing a digital twin system based on IEC61499 according to claim 3, characterized in that: The control system layer is provided with a first OPC UA client and a second OPC UA server, and the human-computer interaction layer is provided with a second OPC UA client. The first OPC UA client is connected to the first OPC UA server to obtain data from the digital twin layer, and according to the obtained data, the corresponding computing function blocks and / or logic function blocks are obtained using 4DIAC-IDE, the obtained computing function blocks and / or logic function blocks are designed and drawn, and 4DIAC-Forte is used to implement the function blocks. The second OPC UA server is connected to the second OPC UA client to obtain task commands from the human-computer interaction layer.

5. The method for constructing a digital twin system based on IEC61499 according to claim 3 or 4, characterized in that: The implementation of the control system layer includes the following steps: Step S21: Use the SUBSCRIBE function of the Subscribe function block of the 4DIAC-IDE to connect the twin output data node of the twin data node, and use the WRITE function of the Client function block of the 4DIAC-IDE to connect the twin input data node of the twin data node; Step S22: Based on the data obtained from the digital twin layer, obtain computing function blocks and / or logic function blocks from the function block library of 4DIAC-IDE, and create a combination function block from the computing function block and logic function block group when necessary; Step S23: Connect the IND event output of the Subscribe function block to the event input of the calculation function block or the logic function block, connect the RD_1 data output of the Subscribe function block to the event input of the calculation function block or the logic function block, connect the event output of the calculation function block or the logic function block to the event input of the Client function block, and connect the data output of the calculation function block or the logic function block to the SD_1 data input of the Client function block. Step S24: Based on the data display requirements of the human-computer interaction layer, use the WRITE function of the Publish function block to create the control output data node required for communication with the human-computer interaction layer, and write the data obtained from the digital twin layer into the control output data node; Step S25: Based on the task delivery requirements of the human-computer interaction layer, use the READ function of the Subscribe function block to create the control input data node required by the human-computer interaction layer, and read the data changes of the control input data node; Step S26: parse the task data obtained from the human-computer interaction layer according to the requirements, connect the input data node of the twin data node of the digital twin layer, and complete the motion control of the digital twin; Step S27: According to the data storage requirements, call the add, delete, modify and check function block in the sqlite3 database, connect the data to be stored to the data input end of the add, delete, modify and check function block, bind the event output end of the source function block of the data to be stored to the event input end of the add, delete, modify and check function block to complete the data storage requirements.

6. The method for constructing a digital twin system based on IEC61499 according to claim 5, characterized in that: The implementation of the human-computer interaction layer includes the following steps: Step S31: Based on the data display requirements, create a second OPC UA client in the connection function of the Fuxa software. The second OPC UA client connects to the second OPC UA server in the control system layer and selects the control output data node required for data display. Step S32: Create a new interface in Views in Fuxa, call the output control and bind the output control property to the control output data node required for data display; Step S33: Invoke the input control in Fuxa, bind the input control attribute to the control input data node of the control system layer that receives the command, and set the user input requirements, which include the data type and range. Step S34: Based on data storage requirements, create a script in the Scripts function of Fuxa that calls the sqlite3 function, read the data of the control output data node, and save it to the data storage layer.

7. A method for constructing a digital twin system based on IEC61499 according to any one of claims 1 to 5, characterized in that: The digital twin layer is implemented using the 3D SIM digital twin platform.

8. The method for constructing a digital twin system based on IEC61499 according to claim 5, characterized in that: In step S27, the add, delete, modify and check function blocks include sqlite3_createtable to create a table function block, sqlite3_insert to insert data function block, sqlite3_select to query data function block, sqlite3_update to update data function block, and sqlite3_delete to delete data function block.

Images