Satellite flexible collinear production system and control method

Abstract

The invention discloses a satellite flexible collinear production system and a control method, and the system comprises an assembly island unit cluster which comprises a plurality of operation units for the assembly of satellites of different models, and is configured to independently complete the specific assembly or test process of the satellites; the intelligent heavy-load AGV cluster comprises a plurality of AGV platforms and is configured to carry satellites to circulate among the operation units; the full-process online measurement and compensation network comprises a measurement device for dynamically measuring the parking precision of the AGV and the pose state of the satellite in real time, and the measurement device is configured to measure the pose information of the satellite and the AGV in real time and send the information to the assembly island unit cluster and the intelligent heavy-load AGV cluster; and the digital twin central control system is in communication connection with the assembly island unit cluster and the intelligent heavy-load AGV cluster, and is used for scheduling the production takt and controlling equipment actions. According to the invention, the targets of instant response and rapid networking are met, and the satellite manufacturing efficiency and the product consistency are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of aerospace manufacturing technology, and in particular to a flexible collinear satellite production system and control method. Background Technology

[0002] With the rapid deployment of global low-Earth orbit (LEO) satellite internet constellations, large-scale constellation projects, exemplified by SpaceX's Starlink, have entered the stage of large-scale construction. Starlink plans to deploy a total of 42,000 satellites, with the next-generation V3 version aiming for an annual production capacity of 10,000 satellites. The manufacturing cycle for a single satellite needs to be compressed to a few days, creating a routine production demand of "dozens per day, tens of thousands per year." This type of constellation construction requires satellites with rapid networking and instant deployment capabilities. Traditional satellite manufacturing employs a "one-piece customization" artisan production model, relying on fixed workstations and skilled technicians for manual assembly. The manufacturing cycle for a single satellite can be as long as 1-2 years, with core assembly processes measured in weeks or months (3-6 months per satellite). This not only results in low production efficiency but also makes it difficult to guarantee product consistency, creating a huge gap with the large-scale, low-cost requirements of constellation construction and becoming a core bottleneck restricting the rapid deployment of LEO constellations. The existing production model cannot meet the construction requirements of the next-generation LEO satellite constellation in terms of capacity, cycle time, and cost, necessitating a breakthrough from traditional manufacturing concepts and the establishment of a completely new large-scale production system.

[0003] In the field of large-scale production, the automotive industry, especially the "lighthouse factories" for new energy vehicles, has developed mature automation solutions. For example, GAC Aion's intelligent ecological factory achieves a production cycle of 53 seconds per vehicle. Through core technologies such as time-based cycle production, AGV flexible logistics, AI vision real-time quality monitoring, and continuous digital optimization, it achieves flexible co-line production with 100,000 configuration combinations, improving personnel efficiency and production cycle by more than 20%. However, satellite manufacturing, as an aerospace-grade precision engineering, has fundamentally different technical requirements from automotive production: First, assembly accuracy must reach the micrometer level (e.g., the alignment accuracy between the solar array and the payload module is ±5μm), far exceeding the millimeter-level standard in the automotive industry; second, cleanliness control is stringent, with core electronic component assembly required in an ISO 5 (Class 100) clean environment, and the leakage rate of propulsion system pipeline welding must be less than 1×10⁻⁶. - 9 Pa・m³ / s; thirdly, functional testing involves multi-dimensional space simulation verification of thermal vacuum, electromagnetic compatibility, and mechanical environment, and the testing process is complex and time-consuming. Directly transplanting equipment and logic from the automotive production line would lead to fatal problems such as contamination of precision components, loss of assembly accuracy, and interruption of the testing process, making it unsuitable for the aerospace-grade requirements of satellite manufacturing.

[0004] To address the demands of mass production of satellites, existing technologies have disclosed some related patent solutions, but significant limitations remain. For example, the "integrated mechanical and thermal satellite structural panel suitable for mass production" achieves mass production by simplifying structural components, but focuses only on the structural panel manufacturing process and does not cover the overall satellite assembly and testing process. The "stacked flat-panel satellite capable of automated mass production" achieves automated assembly through self-guiding features, but its core solution addresses structural integration issues and does not consider the coupling requirements of high-speed production and precision operations. Furthermore, automated quality characteristic testing solutions only cover a single testing stage, and flexible milling systems for complex spacecraft parts only target component processing, failing to achieve full-process collaboration. Existing solutions generally suffer from the problem of "single-point optimization and system deficiencies," failing to resolve three core contradictions: 1) the deep coupling between high-speed flow production in the automotive industry and aerospace-grade micron-precision assembly; 2) flexible logistics and multi-process collaboration in ISO 5-7 clean environments; and 3) the full-process online integration of overall satellite electrical performance, mechanical environment, and thermal vacuum testing. Currently, there is no ultra-large-scale satellite co-production system that can achieve "full-process online, zero offline testing," which cannot meet the comprehensive requirements of low-Earth orbit constellation large-scale deployment for production efficiency, accuracy, and reliability. Summary of the Invention

[0005] This invention aims to address the bottleneck that traditional satellite assembly methods cannot support the deployment of Starlink-level ultra-large-scale constellations.

[0006] This invention provides a flexible collinear satellite production system, comprising: The assembly island unit cluster contains multiple work units for assembling different satellite models, which are configured to independently complete specific satellite assembly or testing procedures. Intelligent heavy-duty AGV clusters, comprising multiple AGV platforms, are configured to carry satellites as they move between work units; The full-process online measurement and compensation network includes a measurement device for real-time dynamic measurement of the docking accuracy of AGVs and the position and attitude of satellites. The measurement device is configured to measure the position and attitude information of satellites and AGVs in real time and send the information to the assembly island unit cluster and the intelligent heavy-duty AGV cluster. The digital twin central control system is communicatively connected to the assembly island unit cluster and the intelligent heavy-duty AGV cluster, and is used to schedule production cycle and control equipment actions.

[0007] In one embodiment of the present invention, the working unit includes: The payload co-loading island is equipped with a six-degree-of-freedom parallel robot and a vision guidance system for automatically grasping and micron-level aligning stacked satellite modules with self-guiding characteristics; The digital assembly island is equipped with a dual-arm collaborative robot and a multi-configuration unfolding arm posture-assisted support device for the automatic unfolding and installation of large flexible structures. The online integration test island is configured to perform a docking and full-item test when a satellite enters via an intelligent heavy-duty AGV cluster.

[0008] In one embodiment of the present invention, the intelligent heavy-duty AGV cluster includes: A universal satellite adapter interface is used to accommodate the loading of satellites with different configurations; The soft landing locking mechanism includes an active damping unit, an air-float locking device, and a reference array embedded in the ground. It is configured to control the AGV platform to descend after it enters the work unit, and achieve mechanical engagement with the reference array on the ground through the active damping unit and the air-float locking device.

[0009] In one embodiment of the present invention, the measuring device includes a laser tracker, an indoor GPS and a machine vision sensor deployed at a specific node on the production line.

[0010] In one embodiment of the present invention, the digital twin central control system includes a digital twin subsystem, which maps the operating status of the physical production line in real time for equipment fault prediction and production simulation.

[0011] In one embodiment of the present invention, the online integrated test island integrates a floating docking automated test interface, a quality characteristic test bench, an automatic counterweight component, and an on-board equipment automated test system for docking and full-item testing.

[0012] In one embodiment of the present invention, the dual-arm collaborative robot automatically adjusts its posture based on a digital model.

[0013] In one embodiment of the present invention, the online integrated test island further includes an automatic counterweight module for calibrating the satellite's center of mass deviation.

[0014] The present invention also provides a satellite flexible collinear production control method using the above system, comprising: The digital twin central control system generates dynamically optimized assembly task queues based on production tasks and the digital twin model of the production line. The intelligent heavy-duty AGV cluster, according to the task queue, sequentially transfers the satellites to the corresponding work units; Once the AGV enters the target work unit, it is rigidly connected to the ground reference via a soft landing locking mechanism; The island's automated equipment performs assembly or testing operations guided by an online measurement network; All measurement data during the operation is uploaded to the digital twin central control system in real time. The system dynamically updates the satellite data and optimizes subsequent task scheduling accordingly.

[0015] In one embodiment of the present invention, it further includes: When the satellite is transferred to the online integration test island, the test system automatically connects and completes all tests. If the deviation of the quality characteristic data exceeds the threshold, the digital twin central control system drives the automatic counterweight component to perform online compensation.

[0016] The present invention has the following beneficial effects: (1) By deeply coupling the lean production rhythm of the automotive industry with the aerospace assembly process, the system design capacity can reach dozens of units per day, truly meeting the constellation deployment needs of tens of thousands of units per year. (2) The flat cell layout and digital twin scheduling enable the system to be compatible with mixed production of multiple satellite models, greatly improving the production line’s adaptability to design changes and different mission requirements, just like the innovation of flexible milling system in the production of aerospace parts; (3) Abandoning the traditional offline process of “assembly-offline-testing-rework”, the assembly process is fully monitored and closed-loop corrected in real time through an online precision measurement network and automated compensation unit, which greatly improves product consistency and first-pass yield. (4) The entire process, from parts picking and assembly to testing and plugging, is automated, which not only reduces the risk of human contamination in the clean room, but also solves the problem of the shortage of high-tech workers restricting the expansion of production capacity. Attached Figure Description

[0017] Figure 1 This diagram illustrates the overall layout of a satellite flexible collinear production system according to an embodiment of the present invention. Figure 2 A schematic diagram of the structure of an intelligent heavy-duty AGV cluster according to an embodiment of the present invention is shown; Figure 3 The diagram shows the scheduling interface and data flow of a digital twin central control system according to an embodiment of the present invention. Detailed Implementation

[0018] In the following description, the invention is described with reference to various embodiments. However, those skilled in the art will recognize that the embodiments may be practiced without one or more specific details or with other alternatives and / or additional methods, materials, or components. In other instances, well-known structures, materials, or operations are not shown or described in detail so as not to obscure the inventive points of the invention. Similarly, for illustrative purposes, specific quantities, materials, and configurations are set forth to provide a comprehensive understanding of embodiments of the invention. However, the invention is not limited to these specific details.

[0019] In this invention, the various embodiments are merely intended to illustrate the solutions of the invention and should not be construed as limiting.

[0020] In this specification, references to "an embodiment" or "this embodiment" mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in at least one embodiment of the invention. The phrase "in one embodiment" appearing throughout this specification does not necessarily refer to the same embodiment in all instances.

[0021] Furthermore, the numbering of the steps in the methods of the present invention does not limit the execution order of the method steps. Unless otherwise specified, the method steps may be executed in different orders.

[0022] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0023] Figure 1 A schematic diagram of the overall layout of a satellite flexible collinear production system according to an embodiment of the present invention is shown.

[0024] like Figure 1 As shown, in this embodiment, the satellite flexible collinear production system includes: The assembly island cluster comprises 100 units, abandoning the traditional long-distance linear production line and adopting a modular layout based on work cells. Each cell is a self-contained unit with complete functionality, including: Cell 1: Payload Co-mounted Island 110: Drawing inspiration from the stacked flat-panel satellite design concept in the patented technology of Gesun Aerospace, the satellite adopts a modular structure (platform functional module, payload functional module). This island is equipped with a high-precision six-DOF parallel robot and a vision guidance system, directly grasping pre-integrated functional modules for precise "stacked" alignment, achieving an alignment accuracy better than ±3 micrometers. The satellite structure itself features self-guiding characteristics, combining rapid mechanical coarse positioning with precise visual positioning.

[0025] Cell2: Digital Assembly Island 120: Equipped with a dual-arm collaborative robot and a multi-configuration deployable arm posture-assisted support device, it is used for the automatic deployment and installation of large flexible structures such as solar panels and antennas. The robot automatically adjusts its posture based on a digital model (MBSE) to complete complex operations such as bolt tightening and electrical connector insertion.

[0026] Cell3: Online Integrated Test Island 130: An integrated automated testing system for quality characteristics testing, rapid acceptance testing of cable networks, and automated testing of inter-satellite laser communication terminals. After the satellite enters via AGV, no manual cable plugging or unplugging is required; a single docking and full-item testing are achieved through the floating docking automated testing interface.

[0027] The testing system runs automatically: Mass characteristic test: Automatic measurement of center of mass and moment of inertia revealed a Z-axis center of mass deviation of 0.5mm. The system immediately activated the automatic center of mass counterweight assembly, accurately calculated and installed a counterweight block to bring the data to standard.

[0028] Communication payload testing: The automated testing system communicates with the telemetry, tracking, and command (TT&C) transponder on the satellite, quickly configures parameters such as frequency and power, and performs full-function testing. Simultaneously, automated testing is conducted on the inter-satellite laser terminal.

[0029] The entire testing process was completed within 45 minutes, and the test data that passed was automatically entered into the satellite's "digital passport".

[0030] The intelligent heavy-duty AGV cluster of 200 comprises multiple AGVs acting as a "mobile assembly platform" for satellites to move between cells. For example... Figure 2 As shown, its platform integrates a replaceable universal satellite adapter interface 210, which can adapt to the loading of satellites with different configurations. The intelligent heavy-duty AGV cluster 200 also integrates a soft landing locking mechanism. When the AGV enters the Cell work area, the AGV platform descends and mechanically engages with the high-precision reference array 213 on the ground (similar to the rigid foundation of an automobile welding workshop) through the active shock absorption unit 211 and the air-bearing locking device 212, thus converting the "mobile mode" into a "rigid operation mode" to ensure the absolute stability of the assembly process.

[0031] The full-process online measurement and compensation network 300 is a measurement network consisting of laser trackers, indoor GPS (iGPS) and machine vision sensors deployed at key nodes of the production line (cell entrance / exit, AGV path).

[0032] This system is used for real-time dynamic measurement of AGV docking accuracy and satellite pose status. The measurement data is fed back to the AGV and assembly robot in real time, forming a closed-loop control of "measurement-adjustment-operation" to achieve full-process accuracy traceability.

[0033] Digital twin central control system 400, such as Figure 3 As shown in the figure, the data upload process from the physical layer (production line equipment) to the digital layer (digital twin model) and the closed-loop process of the digital layer issuing control commands to the physical layer after optimization by the reinforcement learning engine are illustrated. The interface example shows real-time monitoring and dynamic scheduling information.

[0034] It employs a top-tier production execution system from the automotive industry, combined with BOM data from aerospace assembly. The system incorporates a built-in "digital twin" model to simulate production line status in real time. It receives data from each cell and AGV, dynamically optimizing production cycle time based on reinforcement learning algorithms to achieve "co-line mixed-flow production" of different satellite models. For example, when the assembly process of a certain satellite model changes, the system can automatically allocate resources, update work instructions, and predict the impact on overall line capacity.

[0035] In another embodiment of the present invention, the satellite flexible collinearity production control method of the system in the above embodiment includes the following steps: Step S1: Intelligent Planning and Scheduling of Production Tasks The digital twin central control system 400 receives the large-scale production plan (including satellite model, capacity target, delivery cycle and other parameters) issued by the production management system, calls the preset structured satellite BOM data (covering component models, assembly relationships, accuracy requirements and material list), and optimizes the path planning through genetic algorithm based on the whole satellite assembly digital twin model, dynamically calculates the time to adapt to the capacity demand, automatically generates the assembly task queue containing process priority, equipment allocation plan and logistics path, and simultaneously sends it to the intelligent heavy-duty AGV cluster 200 and each production island control system.

[0036] Step S2, Satellite Platform Loading and Standby: Idle AGVs in the intelligent heavy-duty AGV cluster 200 respond to scheduling commands, travel to the adaptation area, and align with the satellite platform reference surface. The soft landing mechanism on the AGV is activated, with a buffer stroke of 20mm, to achieve stable acceptance of the satellite platform (modular structure, including reference positioning pins). Subsequently, it is fixed by the locking mechanism, and the AGV enters the standby state, providing real-time feedback of position and load status to the digital twin central control system 400.

[0037] Step S3: The payload compartment and platform are stacked and aligned at the micrometer level. The AGV receives path instructions from the central dispatcher and travels to the load-bearing island 110. After entering the island, the AGV aligns with the island's reference surface, triggering the soft landing mechanism to lock and achieve a rigid connection between the AGV and the island (connection gap ≤ 0.1mm). The six-degree-of-freedom parallel robot inside the island starts, guided by a combination of binocular vision and laser displacement sensors, grasps the satellite payload bay and moves it to the alignment station. The full-process online measurement and compensation network 300 starts simultaneously, monitoring the alignment deviation in real time through a laser interferometer and dynamically feeding it back to the robot control system, achieving a micron-level "stacked" alignment between the payload bay and the platform. The alignment process data is automatically uploaded to the digital twin central control system 400, completing the process loop.

[0038] Step S4: Automated installation of solar panels and other mechanisms: After the payload bay and platform are aligned, the digital twin central control system 400 issues an unlocking command, releasing the AGV locking mechanism and carrying the semi-finished satellite to the digital assembly island 120 along a preset path. Through an online measurement network, collaborative robots are guided to work synchronously, automatically completing the installation of mechanisms such as the solar panels, antennas, and attitude control modules. During installation, force feedback sensors monitor the locking torque in real time, a 3D vision system verifies the alignment accuracy, and data is transmitted back and updated to the digital twin model in real time.

[0039] Step S5: Full-process online integration testing and deviation compensation: The semi-finished satellite is transferred to the online integration test island 130, where it is quickly connected to the multi-dimensional integration test system via an adaptive floating docking interface. The system initiates a full range of tests at once, including centroid testing, cable continuity testing, communication load transmit / receive power testing, and thermal vacuum environment simulation testing. Test data is uploaded in real time to the digital twin central control system 400 and compared with preset thresholds. If a deviation is detected (such as centroid out-of-tolerance or abnormal cable continuity), the system immediately triggers a closed-loop compensation command, driving the electromagnetically driven automatic counterweight module or cable repair unit within the island to perform online adjustments. After adjustment, real-time retesting continues until all indicators meet the requirements, achieving "zero offline rework".

[0040] Step S6: Integrating the finished satellite cache with the factory shipment: After all assembly and testing processes are completed, the digital twin central control system generates a process qualification certificate and issues a transfer instruction. The AGV carries the finished satellite to the finished product buffer area, completing the binding of the finished satellite to the buffer position. The buffer area is linked with the automatic packaging line, and the system automatically generates a unique identification code for the finished satellite (associated with production data and test reports), which is synchronized to the factory management system. The finished satellite awaits subsequent automated packaging and delivery.

[0041] In one embodiment of the present invention, the production process for mass production of tens of thousands of a certain type of flat-panel low-Earth orbit communication satellite is as follows: Step 1: Task Generation Based on the monthly production target of 3,000 satellites and the real-time status of the production line (such as a cell under maintenance), the central control system generates a mixed-flow production task queue for 100 satellites per day through simulation and optimization using a digital twin model.

[0042] Step 2: AGV circulation and platform loading: In the intelligent heavy-duty AGV cluster, AGVs automatically travel to the material area and load the Type A satellite platform through their universal adapter interface. After loading, the sensors on the AGVs communicate with the measurement network to confirm their initial pose.

[0043] Step 3, Cell1-High Precision Stacking Assembly: The AGV enters the payload loading island according to the schedule. After entering the designated workstation, the AGV performs a "soft landing": the active shock absorption system is activated, the AGV platform descends smoothly, and the four air-bearing feet on the bottom precisely engage with the high-precision reference array pre-embedded in the ground, achieving nanometer-level rigidity locking. Subsequently, the six-degree-of-freedom parallel robot grabs the payload compartment of the A-type satellite from the material rack, uses the self-guiding features on the compartment for mechanical pre-introduction, and at the same time, the vision system identifies the reference points on the compartment to guide the robot to complete the final alignment, with an alignment accuracy of ±3 micrometers. The force and displacement data of the entire process are uploaded in real time.

[0044] Step 4: Cell2-Sun Wing Automatic Installation: The satellite, having completed its core alignment, is carried into the digital assembly island by an AGV. The AGV then locks itself in place. Guided by an online measurement network, a dual-arm collaborative robot precisely grasps the solar panel substrate and tightens the connecting bolts with a preset torque.

[0045] Step 5: Cell3 Online Integration Testing and Compensation The satellite enters the online integration test island. After the AGV locks, the automated test interface at its bottom automatically floats and docks with the universal test port at the bottom of the satellite, achieving one-time connection. The test system runs automatically: Mass characteristic test: Automatic measurement of center of mass and moment of inertia revealed a Z-axis center of mass deviation of 0.5mm. The system immediately activated the automatic center of mass counterweight assembly, accurately calculated and installed a counterweight block to bring the data to standard.

[0046] Communication payload testing: The automated testing system communicates with the telemetry, tracking, and command (TT&C) transponder on the satellite, quickly configures parameters such as frequency and power, and performs full-function testing. Simultaneously, automated testing is conducted on the inter-satellite laser terminal.

[0047] The entire testing process was completed within 45 minutes, and the test data that passed was automatically entered into the satellite's "digital passport".

[0048] Step 6: Finished Product Output The AGV carries the tested and qualified satellites away from the test island and into the finished product buffer area. The entire process requires no human intervention. From platform loading to finished product rollout, the single-satellite assembly, integration, and testing (AIT) cycle is compressed to within 4 hours, and a single production line has the capacity to produce more than 60 satellites per day.

[0049] Although various embodiments of the invention have been described above, it should be understood that they are presented by way of example only and not as limitations. It will be apparent to those skilled in the art that various combinations, modifications, and alterations can be made without departing from the spirit and scope of the invention. Therefore, the breadth and scope of the invention disclosed herein should not be limited by the exemplary embodiments disclosed above, but should be defined solely by the appended claims and their equivalents.

Claims

1. A flexible collinear satellite production system, characterized in that, include: The assembly island unit cluster contains multiple work units for assembling different satellite models, which are configured to independently complete specific satellite assembly or testing procedures. Intelligent heavy-duty AGV clusters, comprising multiple AGV platforms, are configured to carry satellites as they move between work units; The full-process online measurement and compensation network includes a measurement device for real-time dynamic measurement of the docking accuracy of AGVs and the position and attitude of satellites. The measurement device is configured to measure the position and attitude information of satellites and AGVs in real time and send the information to the assembly island unit cluster and the intelligent heavy-duty AGV cluster. The digital twin central control system is communicatively connected to the assembly island unit cluster and the intelligent heavy-duty AGV cluster, and is used to schedule production cycle and control equipment actions.

2. The system according to claim 1, characterized in that, The work unit includes: The payload co-loading island is equipped with a six-degree-of-freedom parallel robot and a vision guidance system for automatically grasping and micron-level aligning stacked satellite modules with self-guiding characteristics; The digital assembly island is equipped with a dual-arm collaborative robot and a multi-configuration unfolding arm posture-assisted support device for the automatic unfolding and installation of large flexible structures. The online integration test island is configured to perform a docking and full-item test when a satellite enters via an intelligent heavy-duty AGV cluster.

3. The system according to claim 1, characterized in that, The intelligent heavy-duty AGV cluster includes: A universal satellite adapter interface is used to accommodate the loading of satellites with different configurations; The soft landing locking mechanism includes an active damping unit, an air-float locking device, and a reference array embedded in the ground. It is configured to control the AGV platform to descend after it enters the work unit, and achieve mechanical engagement with the reference array on the ground through the active damping unit and the air-float locking device.

4. The system according to claim 1, characterized in that, The measuring device includes laser trackers, indoor GPS, and machine vision sensors deployed at specific nodes on the production line.

5. The system according to claim 1, characterized in that, The digital twin central control system includes a digital twin subsystem, which maps the operating status of the physical production line in real time for equipment fault prediction and production simulation.

6. The system according to claim 2, characterized in that, The online integrated test island integrates a floating docking automated test interface, a quality characteristic test bench, an automatic counterweight component, and an on-board equipment automated test system for docking and full-item testing.

7. The system according to claim 2, characterized in that, The dual-arm collaborative robot automatically adjusts its posture based on a digital model.

8. The system according to claim 2, characterized in that, The online integrated test island also includes an automatic counterweight module for calibrating satellite centroid deviation.

9. A satellite flexible collinear production control method using the system described in any one of claims 1 to 8, characterized in that, include: The digital twin central control system generates dynamically optimized assembly task queues based on production tasks and the digital twin model of the production line. The intelligent heavy-duty AGV cluster, according to the task queue, sequentially transfers the satellites to the corresponding work units; Once the AGV enters the target work unit, it is rigidly connected to the ground reference via a soft landing locking mechanism; The island's automated equipment performs assembly or testing operations guided by an online measurement network; All measurement data during the operation is uploaded to the digital twin central control system in real time. The system dynamically updates the satellite data and optimizes subsequent task scheduling accordingly.

10. The method according to claim 9, characterized in that, Also includes: When the satellite is transferred to the online integration test island, the test system automatically connects and completes all tests. If the deviation of the quality characteristic data exceeds the threshold, the digital twin central control system drives the automatic counterweight component to perform online compensation.

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