| Re: [escet-dev] How to test 3D digital twins? |
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Hi Dennis,
The goal of this exercise is to find errors in the digital twins. Last year, due to the Corona restrictions, testing was optional. There was only a single group who tested on the festo workstations. Their controller worked without errors on the
digital twin, but it did not work on the Festo workstation. The reason for this was that the actuator setting to immediately stop the sliding manipulator was true/true (pressure on both sides), whereas in the digital twin, the actuator setting for this was
false/false. False/false (absence of pressure) on the Festo workstation caused the sliding manipulator to slowly stop => stopping at an incorrect location.
“Behave in the same way” means that a controller that works correctly on the twin should work correctly on the Festo system, and that a controller that shows erroneous behavior on the Festo workstation should show the same erroneous behavior on
the twin.
Ideally, we would like to consider the full state space, but obviously that is impossible. The controller is hybrid (timed) so has infinite state space.
In principle we only look at the observable behavior at the festo workstation and at the twin (it a product picked up properly and release at the required target location), but we could probably generate certain graphs of behavior in TwinCAT.
I don’t understand this question.
Bert
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