Aiming at problems of complicated logic

long commissioning cycle and high commissioning cost in the design process of flexible manufacturing system control scheme

a virtual commissioning method based on experimentable digital twin was proposed. This method established the twin model of physical system in a layered manner

and established a three-layer logic model of equipment layer

unit layer

and system layer based on the extended form of discrete event system specification. The logic model was repeatedly verified and modified through simulation. The mapping rule from logic model to PLC program was established to realize the rapid design of PLC program. Finally

taking a FMS as an example

the process of logic modeling and PLC program design were demonstrated in detail. The feasibility and effectiveness of the proposed method were verified.