CN105184385B - A kind of distributed control method of automated manufacturing system - Google Patents
A kind of distributed control method of automated manufacturing system Download PDFInfo
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Abstract
It is a kind of to be directed to the automated manufacturing system being embedded into assembly manipulation in Flexible Manufacture path, first according to the current state of system, obtain the set T for the transition that can be enableden；And then judge TenIn each element whether can ensure system deadlock free operation.The foundation of judgement is：Analog transmissions element t ∈ TenAccording to the position of t, if Current resource can support corresponding Tokken to arrive at the crucial library institute of son of a crucial library institute/key library institute entity, for the situation of crucial library institute entity, need to ensure that the Tokken of other parallel processes of assembly manipulation can arrive at the crucial library institute of corresponding son, then t ∈ Tdf.After detection is moved the capital to another place in all changes, T is obtaineddf, transmitting t ∈ Tdf, next state is entered, is rejudged.The present invention can ensure the deadlock free of system, and obtain larger permissive as far as possible, by the way of being controlled in prediction, realize control online in real time.
Description
Technical Field
The invention belongs to the technical field of automatic manufacturing systems, and relates to a distributed control method of an automatic manufacturing system.
Background
Over the past decades, with the widespread use of information, automation, and computing technologies, traditional manufacturing systems have gradually transitioned to automated manufacturing systems with the goal of greatly reducing manufacturing costs, improving product quality, and ensuring production safety, and allowing rapid response to market changes and customization requirements. Deadlock freedom in automated manufacturing systems can be likened to stability in continuous systems, and a manufacturing system, no matter how well it performs, is unacceptable once a deadlock occurs, since it means that the system can be at any time subject to production stalls with serious and even catastrophic consequences. To solve the deadlock problem in automated manufacturing systems, people mainly use three mathematical tools: directed graphs, automata and Petri nets. The Petri Net can more appropriately simulate, analyze and control an automated manufacturing system. The automatic manufacturing system with the flexible processing path can adapt to an automatic mechanical manufacturing system with a changed processing object, can automatically adjust and realize batch and efficient production of various workpieces within a certain range, and can timely change products to meet market demands. Automated manufacturing systems with assembly operations can produce products that require parallel processing runs and assembly operations. Each of these two systems has the advantage that the other is not replaceable. The research on each of these two systems has been quite extensive and intensive, but the research on combining the two has been shallow.
The basic distributed predictive control method finds good application in automated manufacturing systems having only flexible processing paths, such as S4An automated manufacturing system for R-structures. Specifically, it is first assumed that while any process is performing a specific operation, other processes are temporarily in a stopped state until the operation is completed. For this particular process, it may be predicted whether any of the tokens may advance from the current location to its nearest target location or location with the greatest resource occupancy. If the prediction is true, the token may proceed one step; otherwise, it must pause at the current location. Thus, these target locations or locations with the greatest resource occupancy are denoted as key repositories. The specific implementation process of the method can be referred to the paper Distributed Supervisor Synthesis for Automated manufacturing systems Using Petri Nets. This approach has limitations for systems with assembly operations. Thus, the method is theoretically good, but has drawbacks in the course of wide spread.
The basic distributed predictive control approach has not been applicable, particularly for automated manufacturing systems having both flexible tooling paths and assembly operations. The concrete expression is as follows: 1. the assembly operation needs to be carried out synchronously in each parallel process, and is completed in the last processing stage of each parallel process. Therefore, if the key libraries are defined in one parallel process, even if the truken can reach the key libraries, the system cannot be guaranteed to complete the assembly operation, which needs to be completed by the cooperation of the parallel processes. 2. The complexity of the system is greatly enhanced as the assembly operation is embedded into the flexible tooling path. According to the basic distributed predictive control method, before each step of the Token, it must be checked whether the existing resource can support its reaching of the nearest key pool. However, in such a complex system, if the truken is the standard for reaching its nearest key library, the system can be ensured to be free from deadlock, but the system permissibility is greatly reduced, thereby affecting the system performance.
Disclosure of Invention
To overcome the problems in the prior art, it is an object of the present invention to provide a distributed control method of an automated manufacturing system, which is suitable for an automated manufacturing system having both a flexible processing path and an assembly operation, and which can enhance the control capability of a complex manufacturing system while achieving higher permissibility using the method.
In order to achieve the purpose, the invention adopts the following technical scheme:
a distributed control method for an automated manufacturing system, comprising the steps of:
1) is initialized toWherein, TenIs a collection of enabled transitions, TdfIs a set of transitions that cause the automated manufacturing system to run without deadlocks;
2) acquiring the current state M of the automatic manufacturing system;
3) checking whether each transition in the automated manufacturing system is enabled based on the current state M, if tiIs enabled, then Ten＝Ten+{tiWhere t isiIs any one transition in an automated manufacturing system;
4) judgment of TenWhether any one element t in (a) is located in a flag map module representing an assembly operation;
5) when T isenSimulating a transmitting element t when any one element t in the map module representing the assembly operation;
6) when T ∈ TenAnd t is not located at the representation assemblyWhen in the operational signature block, the transmit element t is simulated, if the current resource can support the mobile Token arrival corresponding to the transmit element tA key library of (1), then Tdf＝Tdf+ { t }, otherwise,carrying out step 4); wherein,the system is a set of key libraries of the system structure, wherein the marker graph module in the system is replaced by a library and the whole of a front set and a back set thereof;
7) when T isenAfter all transitions are detected, obtaining a set T of transitions which enables the system to run without deadlockdfAnd outputting any T e to TdfThe automated manufacturing system transmits t, enters the next state, and then returns to step 1).
The step 5) specifically comprises the following steps:
5.1) if the current resource can support the transmission of a mobile token corresponding to T to reach one sub-key repository in the key repository universe, and in all other parallel processes of the token map module representing the assembly operation, there is a token that can reach the corresponding sub-key repository in the key repository universe, Tdf＝Tdf+{t}；
5.2) if the current resource can support the transmission of the mobile token corresponding to t to reach one sub-key library in the key library unified body, and in all other parallel processes of the mark map module representing the assembly operation, no token can reach the sub-key library in the key library unified body, then the method comprises the steps ofCarrying out step 4);
5.3) if the current resource can not support the mobile Token corresponding to the transmission t to reach one sub-key library in the key library unified body, thenStep 4) is performed.
Set C of key library unification of the marker graph moduleMGSet of key libraries related to the system architecture after the label graph module in the system has been replaced by a libraryIs the set C of key libraries for the entire automated manufacturing system.
The key libraries of the marker graph module are unified into a sequence pair consisting of a plurality of sub key libraries; the sub-key libraries are respectively distributed in each parallel process and have the same type; the number of the sub-key libraries in the key library integration is equal to the number of the parallel processes of the marker map module.
Compared with the prior art, the invention has the following beneficial effects: the invention acquires the state M of the original system firstly, and obtains the transmittable set T of transitions for ensuring the system to have no deadlock property by operating the method according to the current statedfFinally, in order to ensure the permissibility of the system, the instruction is randomly output, i.e. the random output TdfAnd when the system receives the instruction, the system transmits the element t, enters the next state, and acquires the current state again to predict a new round. Steps 1) to 7) of the present invention constitute an activity supervision controller of the automatic manufacturing system proposed in the present invention, i.e., the system is free from deadlock. The invention aims to generate an active supervisory controller of an automatic manufacturing system by a distributed control method, thereby ensuring the deadlock-free performance of the system and obtaining larger permissivity as far as possible. The control method adopts a mode of prediction and control at the same time, and realizes real-time online control.
The key points of the control method of the invention are as follows:
first, the libraries are distinguished into key libraries and non-key libraries (i.e., all libraries in the system except the key libraries). The former represents the location with the minimum or maximum resource occupancy; the latter representing the other positions. From the resource acquisition perspective, there must be sufficient resources after the position with the minimum resource occupancy; after the position with the largest resource occupancy, more resources are necessarily no longer needed. The existence of key repositories is undoubted, since no resources are occupied at the initial and target locations, which are themselves key repositories. The key library acts as a "safety island" in the process. For AESM (automated manufacturing system with flexible tooling path and assembly operations), the invention extends the concept that the key library is originally designed for. The essential meaning of the key library is that it is the library that uses the most or the least resources in a process. Thus, these target locations or locations with the greatest or least resource occupancy are marked as key repositories. However, in AESM, the signature block represents the assembly operation, its start and end, which signals that all of its parallel processes must start and end simultaneously. Therefore, in the tag diagram module, the key library is not a single one, but a key library entity, and each element in the entity is called a sub-key library entity. The key library universe is actually the ordinal of the sub-key libraries. All the sub-key libraries are distributed in each parallel process respectively and represent the libraries with the most or the least used resources in the parallel process. In a key library universe, the number of sub-key libraries is equal to the number of parallel processes in the tag graph module, and the sub-key libraries must be of the same type, i.e., all are the libraries with the most resources or all are the libraries with the least resources. The system does not contain other parts of the marker graph module, and the key library is still the library with the most or least used resources, because if the marker graph module is replaced by a library, the structure is S4R structure, definition of key library and definition in basic prediction control methodThe same is true.
Secondly, the method adopts an online real-time mode of prediction and control, and the control method only allows a specific Token to advance one step even if the resources are sufficient and support the further advance and the further advance of the specific Token. When other processes are in a stopped state, the existing resources can fully support the token to proceed to the next critical location.
Finally, the control method of the present invention operates without detecting global information. The execution of each step depends only on whether the existing resources are sufficient. The state of other processes, except the current process, need not be known. Because the system with the flexible processing path and the assembly operation completely depends on local information, the control method skillfully realizes a distributed operation mode and greatly reduces the communication flow between the controller and each process.
Therefore, the control method is suitable for the actual more complex automatic manufacturing system, and enhances the control capability of the complex manufacturing system. Finally, the definition of the key library is expanded, so that the new definition covers the original definition and can accurately describe the position of the key library in the AESM. The method of the invention can obtain higher permissivity.
Drawings
FIG. 1 is a diagram of a feedback system formed by a controller and a Petri net;
fig. 2 is a flow chart of the present invention.
Fig. 3 is an explanatory diagram of 3 flag map modules, in which fig. 3(a) and 3(b) are both flag map modules, and fig. 3(c) is not a flag map module.
Fig. 4 is a schematic diagram of a process from SSM to ESSM, where fig. 4(a) is a Simple State Machine (SSM) and fig. 4(b) is an extended state machine (ESSM).
FIG. 5 is a block diagram of an example AESM.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The system of the present invention refers to a system having both a flexible processing path and an assembly operation, and more particularly, to embedding the assembly operation into the flexible processing path, and is an online, real-time, distributed control method.
The core idea of the invention is to treat the label graph module and other parts in the AESM differently, and more specifically to treat the key library integration and the key library place differently. From the point of understanding, the nature of the method can be set forth in this way: first, the token graph module is virtualized as a library, since the token graph module itself in the AESM can be considered as being replaced by a library. The network structure is typical S at this time4And R, the key library is the library with the most or least used resources in each process. Then, for each map module, breaking each map module to find all sub-key libraries, wherein the sub-key libraries are libraries with the most or least used resources in each parallel process in the map module; the key library of the label graph module is unified into an even sequence combined by the sub-key libraries in each parallel process, so that the number of the sub-key libraries in the key library unified into an even sequence is equal to the number of parallel paths in the label graph module. It should be noted that the sub-key libraries in the key library universe must be of the same type, i.e., they are all the sub-key libraries with the most resources or the sub-key libraries with the least resources. Finally, operating the system, and when the Token does not advance to the mark map module, regarding the mark map module as a library place, and when the existing resource can support the Token to advance to any key library place, the Token can advance one step; when a token enters the token graph module, each time the token proceeds one step in each parallel run, it must be guaranteed that the token can reach its child key library, and,all the tokens in other parallel processes can reach the corresponding sub-key library sites, that is, the token existing in each sub-key library in the unified body of one key library can reach, and the token can be advanced one step.
Referring to fig. 2, the control method of the present invention is directed to an automated manufacturing system having a flexible processing path and assembly operation, comprising the steps of:
1) is initialized toWherein, TenIs a collection of enabled transitions, TdfIs a set of transitions that cause the automated manufacturing system to run without deadlocks;
2) acquiring the current state M of the automatic manufacturing system;
3) checking whether each transition in the automated manufacturing system is enabled based on the current state M, if tiIs enabled, then Ten＝Ten+{tiWhere t isiIs any one transition in an automated manufacturing system;
4) judgment of TenWhether any one element t in (a) is located in a flag map module representing an assembly operation;
5) when T isenSimulating a transmitting element t when any one element t in the map module representing the assembly operation;
5.1) if the current resource can support the transmission of a movable token corresponding to T to reach one sub-key library in the key library universe, and in all other parallel processes of the marker map module representing the assembly operation, when there is a token that can reach the corresponding sub-key library in the key library universe, Tdf＝Tdf+{t}；
5.2) if the current resource can support the transmission of the corresponding movable token of the t to one sub-key library in the key library unified body, and the token represents the assembly operationIn all other parallel processes of the marking graph module, when there is no Keckon which can reach the sub-key library in the key library unified body, thenCarrying out step 4);
5.3) if the current resource can not support the transmission of the movable token corresponding to the t to reach one sub-key library in the key library unified body, thenCarrying out step 4);
6) when T ∈ TenAnd when t is not located in the map block representing the assembly operation, simulating the transmission element t if the current resource can support the movable Token arrival corresponding to the transmission element tA key library of (1), then Tdf＝Tdf+ { t }, otherwise,carrying out step 4); wherein,the system is a set of key libraries of the system structure, wherein the marker graph module in the system is replaced by a library and the whole of a front set and a back set thereof;
7) when T isenAfter all transitions are detected, a set T of transitions enabling the system to run without deadlock is obtaineddf. Outputting any T e TdfThe automated manufacturing system transmits a transition t to the next state and then returns to step 1).
The above steps 1) to 7) constitute an active supervisory controller of the automatic manufacturing system. Referring to fig. 1, when the controller gives a control result t, the controlled system transmits t, and then the controlled system goes to a new state M, and the state M is input into the controller, and the controller analyzes the state M, and then when a new output result t is given, the controlled system transmits t, and then the controlled system enters another state. The process is repeated.
Set of key libraries for an entire automated manufacturing systemWherein, CGMIs a set of key library unification of the label graph module;is the collection of key libraries of the system structure after replacing the marker graph module in the system with one library. Namely, the key library of the whole automatic manufacturing system is composed of two parts, one part is a set of key libraries of the label graph module, and the other part is a set of key libraries of the system structure after the label graph module in the system is replaced by one library and the front set and the rear set thereof. The key libraries of the marker graph module are unified into a sequence pair consisting of a plurality of sub key libraries; the sub-key libraries are distributed in each parallel process respectively, and the sub-key libraries must have the same type, namely, all the sub-key libraries are the libraries with the most used resources or all the libraries with the least used resources; the number of the sub-key libraries in the key library integration is equal to the number of the parallel processes of the marker map module.
The key library is derived from the steps from simple to complex, and the specific process is as follows.
Definitions 1 given a list not containing PRLoops or paths, their key library defined as C ═ { C ═ C1,C2,C3}, wherein:
note: c1The defined key library is of a type I, which means that the used resources are minimum, and generally, no resources are used; c2、C3The key pool place defined is type II, which represents the pool place with the most resources used in the loop or path.
Definition 1 gives the definition of the key library for a loop or path in a system, and all the definitions are based on the definition, because the flexible processing path is formed by loops, and the signature module is formed by parallel paths.
Definition 2 for the signature Module B (t)s,te) Its key library is actually the collection of the key library as a whole, and is recorded asWherein m is equal to N+The following conditions need to be satisfied:
1.B(ts,te) The number of parallel paths in (a) is n, ；
2. is a key library integrated body, in the unified body of the key library,are of the same type, in particular type I or type II.
Definition 3 for S4A network of R structures, the key library of which is defined asWherein C is1、C2、C3Has the same meaning as defined in definition 1.
Note: s4The system with the R structure does not comprise assembly operation and is composed of a plurality of sequential processes, and all the processes are mutually influenced by being mutually connected through shared resources, so that the key library does not need to consider the key library integration, and only the key library in all the processes needs to be considered. Wherein, the symbol diagram module is used for representing the assembly operation.
Definitions 4 for AESM, the set of its key libraries is defined asWherein, CMGIs a set of key library unification of the label graph module;is a place of use p*After replacing the signature Block, the corresponding S of AESM4R*A key library of (2); using a library p*After replacing the signature block, AESM is a block with S4R*System of features, key library of which is noted
Note: the key library of AESM takes care to distinguish the signature block from other parts and is therefore considered separately. The key library of the map module is determined according to definition 2, and the key libraries of other parts need to temporarily regard the map module as a library, which is determined according to definition 3.
Referring to fig. 1, the original Petri net and the controller form a feedback system. Note that the controller here is the present invention which proposes a distributed control method. The controller firstly collects the state of the original system, and the transmittable transition T ensuring no deadlock is obtained by operating the method according to the state of the original networkdfFinally, to ensure the permissibility of the system, the instruction is output randomly, i.e. T is outputdfAnd one transmittable transition t, the system receives the instruction, transmits the t, enters the next state, and the controller acquires the current state again to perform prediction simulation. This process can be represented by fig. 1, where M represents the state of the original Petri net output.
The control method of the invention can dynamically and real-timely generate event occurrence sequences since global information does not need to be considered. It is clear that the sequence is not unique, and each sequence is capable of independently directing the entire system to advance from an initial state to a target state. In an extreme case, when the processes except the self are in an initial state, a specific token in any process can reach the target position certainly; all resources are then released and other processes in the process repeat the above steps until all reach the target location.
The following is a detailed description of a specific embodiment.
Firstly, the invention provides a new Petri network structure, namely, an Augmented Extended stateMAC, which is a state machine translated into an enhanced extension in Chinese, referred to as AESM for short. It embeds the assembly operation into a flexible processing path, representing a more complex process flow, meaning that there may also be a splitting operation and an assembly operation, and parallel processing courses between them, in the flexible processing path. The assembly operation is represented by a labeled graph module. AESM is further given by the following definitions.
Definition 5 a simple state machine, denoted SSM, is a strongly connected state machine denoted N ═ (P, T, F), where P ═ { P ═ P0}∪PA，p0Is an idle library place, P is an element of PA，PAIs a set of active libraries, each loop in N contains p0。
Define 6 a signature block B (T)s,te) Can be represented by a Petri net that satisfies the following requirements: 1)2)3)tsand teThe sub-network in between is a label graph. Referring to fig. 3, fig. 3 is an explanatory diagram of 3 flag blocks, where fig. 3(a) and fig. 3(b) are both flag blocks, and fig. 3(c) is not a flag block, because fig. 3(c) contains an internal loop, and a flag block cannot contain an internal loop.
Definition 7 in SSM, replacing the active library and the pre-and post-sets of the active library step by step with a signature module, an extended state machine, denoted as ESM, is obtained.
FIG. 4(a) is a simple state machine, replacing { t ] in FIG. 4(a) with the signature block in FIG. 3(a)3,p5,t5Where t in the label graph module11、t15Respectively replace t in FIG. 4(a)3、t5. Thus, one ESM is obtained.
Define 8 an enhanced extended state machine N ═ (P, T, F, W) denoted as AESM, which satisfies the following condition:
2.for each i ∈ NK，For any i, j ∈ NK，i≠j，
3. For each i ∈ NK(supplementary letter meaning)Is an ESM;
4. for each r ∈ PRThere is only a minimum P-half stream Xr∈N|P|So that { r } - | | Xr||∩PR，And Xr(r)＝1。
Referring to fig. 5, fig. 5 is a block diagram of an example AESM. Wherein there are three processes, each J1＝{p1,p2,p3,p4,p6,p7,p9}，J2＝{p1,p2,p5,p8,p9}，J3＝{p10,p11,p12,p13,p14}. Wherein { p3,p4,p6,p7Is a marker map block, t2，t7Respectively representing a flow splitting operation and an assembly operation. J. the design is a square1Includes a label graph module, so its key library is a unified body, i.e. it contains a label graph module<p6,p7>。J2And J3Is p8And p13。σ1＝<t1,t10,t3,t11,t6,t12,t8,t13,t9,t14>,σ2＝<t1,t10,t2,t11,t4,t5,t12,t7,t13,t9,t14>，σ1、σ2Is two transmission sequences, and can ensure that the system runs without deadlock.
Claims (3)
1. A distributed control method for an automated manufacturing system, comprising the steps of:
1) is initialized toWherein, TenIs a collection of enabled transitions, TdfIs a set of transitions that cause the automated manufacturing system to run without deadlocks;
2) acquiring the current state M of the automatic manufacturing system;
3) according to the current stateM, checking whether each transition in the automatic manufacturing system is enabled, if tiIs enabled, then Ten＝Ten+{tiWhere t isiIs any one transition in an automated manufacturing system;
4) judgment of TenWhether any one element t in (a) is located in a flag map module representing an assembly operation;
5) when T isenSimulating a transmitting element t when any one element t in the map module representing the assembly operation;
6) when T ∈ TenAnd when t is not located in the signpost module representing the assembly operation, simulating the transmission transition t if the current resource can support the mobile Token arrival corresponding to the transmission transition tA key library of (1), then Tdf＝Tdf+ { t }, otherwise,carrying out step 4); wherein,the system is a set of key libraries of the system, wherein the marker graph module in the system is replaced by a library and the whole of a front set and a rear set of the library;
7) when T isenAfter all transitions are detected, obtaining a set T of transitions which enables the system to run without deadlockdfAnd outputting any T e to TdfThe automatic manufacturing system transmits t, enters the next state and then returns to the step 1);
the step 5) specifically comprises the following steps:
5.1) if the current resource can support the transmission of a mobile token corresponding to T to reach one sub-key library location in the key library universe, and there is a token that can reach the corresponding sub-key library location in the key library universe in all other parallel processes of the marker map module representing the assembly operation, respectively, Tdf＝Tdf+{t}；
5.2) if the current resource can support the transmission of the mobile token corresponding to t to reach one sub-key library in the key library unified body, and in all other parallel processes of the mark map module representing the assembly operation, no token can reach the sub-key library in the key library unified body, then the method comprises the steps ofCarrying out step 4);
5.3) if the current resource can not support the mobile Token corresponding to the transmission t to reach one sub-key library in the key library unified body, thenCarrying out step 4);
the system comprises a key library, a mark graph module, a front-end set and a back-end set, wherein the key library consists of two parts, one part is a set of key libraries of the mark graph module which are integrated, and the other part is a set of key libraries of the system structure after the mark graph module is integrally replaced by one library and the front-end set and the back-end set of the mark graph module in the system; the key libraries of the marker graph module are integrated into a sequence pair consisting of a plurality of sub-key libraries.
2. The distributed control method for an automated manufacturing system according to claim 1, wherein the set C of key library unifications of the signature modulesMGSet of key libraries of the system after the whole replacement of the signature graph module in the system by one library and its pre-set and post-setIs the set C of key libraries for the entire automated manufacturing system.
3. The distributed control method of an automatic manufacturing system according to claim 1, wherein the key libraries of the signature module are unified into a sequential couple consisting of a plurality of sub-key libraries; the sub-key libraries are respectively distributed in each parallel process and have the same type; the number of the sub-key libraries in the key library integration is equal to the number of the parallel processes of the marker map module.
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