CN106200575A - A kind of robustness control method of automated manufacturing system based on Petri network - Google Patents
A kind of robustness control method of automated manufacturing system based on Petri network Download PDFInfo
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- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41885—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
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Abstract
The present invention relates to the robustness control method of a kind of automated manufacturing system based on Petri network.It is by first, detect the transition of all enables under reachable state M, then all of enable, transition detect the deadlock-free transition set of guarantee system, in all of deadlock freedom transition, detect the transition that guarantee system is sane again, in all sane transition, finally detect that maximum concurrency allows transition.Transition are selected to launch in maximum concurrency allows transition set.Often launch transition, a new state will be obtained, under new state, continue executing with above-mentioned step.The most repeatedly, finally give the transition sequence of the sane deadlock free operation of guarantee system, according to this sequence transmission, not only ensure system deadlock freedom, and can guarantee that system is clog-free.Automated manufacturing system, as mathematical tool, is modeled by present invention application Petri network, thus realizes system and can continue smooth processing.
Description
Technical field
The invention belongs to automated manufacturing system technical field, relate to the steady of a kind of automated manufacturing system based on Petri network
Strong property control method.
Background technology
Manufacturing automation is a Main way of Manufacturing Technology Development.In response to the appearance of fierce market competition and elder generation
Entering the application of automatic technology, automated manufacturing system has gone through the development of saltatory.Its target is reduction manufacturing cost, changes
It is apt to product quality, improves productivity ratio and guarantee production safety.However, it is contemplated that the scale of system and the cost of resource, resource is not
Can unconfined offer.Therefore, resource-sharing is a preferable solution.Process owing to concurrently performing can be competed shared
Resource, system deadlock problem will catch someone on the wrong foot.Deadlock, whole system or stagnation once occur, or enters one extremely
Circulation.Although researcher has done substantial amounts of research in terms of the calculating and control of Deadlock, but most researcher is total
Assume that the resource of distribution will not fault.It is true that any manufacture researcher both knows about, the mechanical breakdown of system is easy to send out
Raw, and from various reasons, including the wear of work, faulty sensor, part disappearance and component faults etc..One
Simple faulty resource can cause the paralysis of whole system.
In the many decades in past, researchers have studied a series of method for supervision and control.These methods are permissible
It is divided into central control method and distributed control method.The most representative central control method be by Ramadge and
The supervision control method of Wonham proposition and beacon deadlock solution.The supervision control method that Ramadge and Wonham proposes
Control with master controller, and be under static mode, use formal language that one concrete target is carried out
Control.Bad state is by checking that all of state is avoided in advance.But, actual manufacture system by relatively small,
Interact and event driven subsystem forms, suitable huge of scale.Status number can be described as an astronomical figure.Letter
Mark deadlock solution is by introducing new control places, thus the beacon in anti-locking system is not cleared, thus realize be
System deadlock freedom.But, the introducing of new control places may proceed to form new beacon.Along with the increase of system scale, iteration time
Number can become to imagine.An once unreliable faulty resource, whole controller must redesign.It will be apparent that centralization
Control method in calculate and storage complexity be a big problem.Therefore, researchers turn to distributed AC servo system attention
Method.Using distributed control method, the completed task of master controller can be completed by a lot of local controls.Each
Local control, according to received information, makes Partial controll, thus greatly reduces calculating and storage complexity.
Although distributed control method has been obtained for being widely applied, but exists during promoting the use of
Defect, is embodied in: 1, for having the system of assembly manipulation, needs the carrying out that all processes are concurrent, adds in each process
Work is to final stage and meets certain condition, and assembly manipulation just can complete.It is obvious that the controller controlling assembly manipulation becomes
Complicated difficult is with design.Compared with flexible path, assembly manipulation imparts more rich structural information and researching value.2, great majority
Distributed method impracticable, because they are to be based on the design of coordinator between concrete system structure or Partial controll
One huge challenge.3, most distributed method is that resource based on distribution never can design on the basis of fault
's.It is true that faulty resource once occurs, may result in whole system and stagnate.
Summary of the invention
For solving problems of the prior art, it is an object of the invention to provide one and there is flexible path and assembling
The robustness control method of the automated manufacturing system based on Petri network of operation, in order to the process that need not faulty resource can be held
Continuous processing.
For achieving the above object, the technical solution adopted in the present invention is: a kind of automated manufacturing system based on Petri network
Robustness control method, including master controller and local control, master controller electrically connects with local control, and it is special
Levy and be: master controller at least comprises the following steps:
1) deadlock avoidance algorithm is carried out:
1.1) initialize, makeWherein, TENIt is to enable transition set, TDFIt is to make automated manufacturing system
The transition set of deadlock free operation；
1.2) gather reachable state M, including each storehouse contained torr agree number；
1.3) enable rule according to transition, under current state M, obtain all of enable and change set, even tiIt is to make
Can, then TEN: TEN∪{ti, wherein tiIt is any one transition under state M；
1.4) T is selectedENIn any one transitionAnd judge whether these transition are in the marking pattern module of assembly manipulation
In；
1.5) transition are worked asBeing positioned in the marking pattern module of assembly manipulation, module launches element
1.6) transition are worked asIt is not positioned in the marking pattern module of assembly manipulation, launches transitionIf current resource foot
To support that corresponding torr agree arrive nearest overall deadlock freedom key storehouse institute, thenI=i+1, enters
Row step 1.4), otherwise,I=i+1, carries out step 1.4), i is for adding rear assignment operator；
1.7) under state M, T is worked asENIn all of transition all detect complete, obtain making the transition collection of system deadlock free operation
Close TDF；
2) strong algorithms is steadily and surely added:
2.1) initialize, makeWherein, TRBIt it is the transition set making the clog-free operation of automated manufacturing system；2.2)
Gather current state M, including each storehouse contained torr agree number；
2.3) T is selectedDFIn any one transitionAnd judge whether the Tuo Ken of correspondence uses unreliable resource；
2.4) when corresponding Tuo Ken does not uses unreliable resource, it is judged that its in machining path in the future the need of
Unreliable resource；
2.5) work as transitionUnreliable resource is need not, then in machining path in the future
2.6) work as transitionUnreliable resource is needed, it is judged that transition in machining path in the futureWhether it is positioned at assembling
In the marking pattern module of operation；
2.7) work as transitionBeing positioned in the marking pattern module of assembly manipulation, module launches element
2.8) transition are worked asIt is not positioned in the marking pattern module of assembly manipulation, launches transitionIf current resource be enough to
Support that relevant torr agree arrive the sane crucial storehouse institute of the nearest overall situation, and when relevant Tuo Ken enters into this key storehouse institute,
Remaining resource be enough to support that other processes being not necessarily required to unreliable resource are successfully processed, theni
=i+1, carries out step 2.3), otherwise,I=i+1, carries out step 2.3), i is for adding rear assignment operator；
2.9) T is selectedDFIn any one transitionAnd the torr of correspondence agree need to use unreliable resource；
2.10) if this unreliable resource does not has fault, then step is analogous to corresponding Tuo Ken and does not use unreliable resource；
2.11) if this unreliable resource is in malfunction, thenI=i+1, carries out step 2.3)；
2.12) under state M, T is worked asDFIn all of transition all detect complete, obtain making the transition collection of system sound and stable operation
Close TRB；
3) concurrency innovatory algorithm is carried out:
3.1) initialize, makeWherein, TMCIt it is the transition set making automated manufacturing system concurrency improve；
3.2) transition set T is givenRBIn torr corresponding to each transition agree add label xi；
3.3) useRepresent xthiIndividual torr agree the step number advanced；
3.4) object function is soughtFind out the most backward Tuo Ken, then the transition of its correspondence just belong to
Transition set is improved, i.e. in concurrency
3.5) concurrency is selected to improve transition set TMCIn any one transition launch；Then return to step 1.2).
Described step 1.5) detailed process be:
1.5.1) if current resource can support transitionCorresponding Tuo Ken enters into nearest deadlock freedom key storehouse
Institute, and in representing other all parallel routes of marking pattern module of assembly manipulation, be respectively present Tuo Ken and can arrive respectively
Deadlock freedom key storehouse institute nearest in path, i.e. corresponding on concurrent path torr agree to enter into crucial storehouse, deadlock freedom local
Institute.SoI=i+1, carries out step 1.4；
1.5.2) if current resource can not support transitionCorresponding Tuo Ken enters into nearest deadlock freedom key storehouse
Institute, or current resource can support transitionCorresponding Tuo Ken enters into nearest deadlock freedom key storehouse institute, but
Represent in other all parallel routes of marking pattern module of assembly manipulation, there is not torr and agree to arrive in respective path recently
Deadlock freedom key storehouse institute, then,I=i+1, carries out step 1.4).
Described step 2.6) detailed process be:
2.6.1) if current resource can support transitionCorresponding Tuo Ken enters into nearest sane crucial storehouse
Institute, and in representing other all parallel routes of marking pattern module of assembly manipulation, be respectively present Tuo Ken and can arrive respectively
Sane crucial storehouse institute nearest in path, i.e. corresponding on concurrent path torr agree to enter into the crucial storehouse institute in sane local；With
Time, when the Tuo Ken in each process enters into the crucial storehouse institute in this local, remaining resource be enough to support that other are not necessarily required to not
The process of assured resources is successfully processed, thenI=i+1, carries out step 2.3)；
2.6.2) if current resource can not support transitionCorresponding Tuo Ken enters into nearest sane crucial storehouse
Institute, or current resource can support transitionCorresponding Tuo Ken enters into nearest sane crucial storehouse institute, but at table
Show in other all parallel routes of marking pattern module of assembly manipulation, do not exist torr agree can arrive in respective path nearest
Deadlock freedom key storehouse institute, then,I=i+1, carries out step 2.3).
Compared with prior art, the present invention has beneficial effect: the present invention is concerned with having unreliable resource
The synthesis of the sane monitoring controller of automated manufacturing system, it is proposed that a kind of distributed control method, the method can not only avoid by
The Deadlock caused is limited to, moreover it is possible to solve the obstructing problem caused due to faulty resource in resource.By detecting money online
The quantity in source and the fine or not situation of resource, determine the advance whether safety of correlated parts.Carry out with Petri network for mathematical tool
Modeling, is analyzed the Petri network system set up and controls.First pass through operation deadlock avoidance algorithm, from enabling transition
Set TENIn filter out a series of deadlock freedom transition ten∈TDF, in them, any one transition is launched dead all without causing system
Lock；Then, steadily and surely add strong algorithms by running, filter out a series of sane transition t ∈ TDF, in them, any one transition is sent out
Penetrate all without obstructing problem occurs；Finally, improve algorithm by running concurrency, filter out a series of concurrency of improving and change t
∈TRB, in them, the transmitting of any one transition all can maximize the concurrency of system.From improving concurrency transition set TMCIn
Select any one to change and launch, arriving a new state, running these three algorithm the most successively, then produce one new
Transition set, so moves in circles, generates a series of transition sequence.Occur according to this sequence, one torr agree can successfully from
The initial position of system arrives final position, and does not have Deadlock and occur.When system occurs faulty resource, those
Need not the process of failed resource and may proceed to processing, will not since it is desired that the stopping of failed resource process and block.Meanwhile, system
Concurrency be greatly improved.Advantages of the present invention is embodied in the following aspects:
1. the method for the present invention is to propose for a kind of system with flexible path and assembly manipulation, with original only
Method only for the system with flexible path or assembly manipulation is compared, and the method has more generality.
2. the method that the present invention proposes is distributed AC servo system, compares with original centralization control method, and the method is not
Need to detect global information, it is only necessary to pay close attention to the current local message running process, considerably reduce observer and process it
Between the traffic, thus calculate and storage complexity be greatly simplified.
3. the real-time online that the present invention uses limit prediction, limit to control runs policy, it is not necessary to designed in advance controller.Once
Being in an emergency, such as faulty resource, the method applied in the present invention dynamic predicts this state, and feeds back in time
To controller.Appropriate control decision made by controller, controls the reasonable distribution of resource, thus avoids owing to faulty resource causes
The appearance of obstructing problem.
4. the method for the present invention can significantly improve the concurrency of system.
The present invention is described in detail below in conjunction with the accompanying drawings.
Accompanying drawing explanation
Fig. 1 is the marking pattern module diagram of embodiment of the present invention assembly manipulation；
Fig. 2 is embodiment of the present invention state machine module schematic diagram；
Fig. 3 is the state machine module schematic diagram of embodiment of the present invention extension；
Fig. 4 is the Petri network model schematic that the embodiment of the present invention has flexible path and assembly manipulation.
Detailed description of the invention
The present invention is to carry out robust control based on Petri network for the automated manufacturing system with flexible path and assembly manipulation
System, the method for application distribution, carry out online, dynamic and real-time control.
Being embedded into by assembly manipulation in flexible path in the present invention, design Petri network model, named AESM, such as accompanying drawing 4
Shown in.For realizing the robust control policy of the present invention, it would be desirable to introduce paper " Distributed Supervisor
Synthesis for Automated Manufacturing Systems Using Petri Nets " in crucial storehouse
Definition.The path in this paper, crucial storehouse definition performed just for order.
But, the present invention embeds assembly manipulation in the path that order performs, and considers the insecure situation of resource.Cause
This, the present invention is to paper " Distributed Supervisor Synthesis for Automated Manufacturing
Systems Using Petri Nets " in crucial storehouse definition further extended, be suitable for designed Petri network
Model AESM.By judge storehouse in AESM requirement to resource, crucial storehouse will be divided into 3 classes.The first kind is to use resource
Minimum storehouse institute；Equations of The Second Kind is the storehouse institute using resource most；3rd class is to use the storehouse institute of unreliable resource.If a torr
It enters into this class libraries institute to agree there are enough resource supports, and whole system will successfully be processed, and does not haves deadlock and obstruction
Problem.
Definition 1: the module between disassembling section and assembly manipulation is referred to as marking pattern module, is abbreviated as B (ts, te).Its
Middle tsRepresent the transition of disassembling section, teRepresent the transition of assembly manipulation.B(ts, te) meet: 1) | t* s| >=2,2)|*te|≥2。
As a example by Fig. 1, t11Represent disassembling section, t16Represent assembly manipulation, t11And t16Between be two parallel processes,
It is respectively < t11, p11, t12, p13, t14, p15, t16>and<t11, p12,t13,p14,t15,p16, t16>。
Define 2: one state machine module, be abbreviated as B(ps, pe), this module meets: 1) | p* s| >=1,2)|*te|≥1。
As a example by Fig. 2, ps=p11, pe=p16.One torr is agree at p11Place can select any one paths to process, such as road
Footpath < p11, t11, p12, t13, p14, t15, p16>or<p11, t12, p13, t14, p15, t16, p16>, finally can reach home.
The state machine module defining 3: one extensions comes from the replacement state machine module path of marking pattern module iteration
In a part.
As a example by Fig. 3, state machine module B(p11, p16T in)11And t16Between part with a marking pattern module B (t11,
t16) replace.
Defining 4: one AESM is a strong ties and pure Petri network N=(P, T, F, W).Wherein, N represents
Petri network system model, P represents all of storehouse institute in this model, and T represents all of transition in this model, and F represents storehouse institute and becomes
Annexation between moving, W represent storehouse and transition between the weights connected on arc.
1) P=PB∪PE∪PA∪PR: a) PB, PE, PA, PRIt is called beginning storehouse institute, terminates storehouse institute, operation storehouse institute and resource
Storehouse institute；B)With Wherein NK=1,2 ..., and K}, represent
The number of process.For any i ∈ NK,AndI ≠ j,D) PR={ri, i ∈
NL, wherein NL=1,2 ..., and L}, represent the number of resource；
2)Wherein, for any one i ∈ NK,AndI ≠ j,
3) for any one i ∈ NK, subnetIt is one to connect by force
The state machine module of the extension connect；
4)Wherein,Represent the set of assured resources,Represent unreliable resource
Set.
Definition 5: a given AESM,It is a simple sequence path, brief note
For SSP, this sequence meetsI represents i-th process, and j represents jth storehouse institute in j-th strip process.
Definition 6: a given marking pattern module B (ts, te), at tsAnd teBetween be made up of series of parallel SSP
's.Definition 7 a: given AESM, p are any one storehouse institutes therein, and the resources requirement corresponding to storehouse institute p can be expressed as
One vectorial ap=[ap(r1), ap(r2) ..., ap(rL)]T, wherein L represents the species number of resource, ap(ri) library representation institute p is to money
Source riDemand.
Definition 8: a given marking pattern module B (ts, te), change intermodule and there is the process that n bar is concurrent, n ∈ N+,Represent
I-th process in concurrent process, i ∈ Nn, then the crucial storehouse of son can be defined as
1)
2)And px＜ p ＜ py.Meanwhile,There is ap＞ ap′}；
3)And px＜ p ＜ py.Meanwhile,There is ap＞ ap′}；
4)And px＜ p ＜ py.P represents use
The storehouse institute of unreliable resource }.
Wherein, px＜ p ＜ pyRepresent in same process, storehouse institute pxBefore being positioned at storehouse institute p, storehouse institute p is positioned at storehouse institute pyIt
Before；px, pyRepresent the crucial storehouse institute of two sons in same process.
According to definition 8, the crucial storehouse of son can be divided into four classes: first kind sub-key does not use any money represented by storehouse
The storehouse institute in source；In same process represented by Equations of The Second Kind key storehouse, two crucial storehouse institute p of sonxWith pyBetween, there is a storehouse institute,
It is at pxWith pyBetween to the maximum storehouse institute of resources requirement, then this storehouse be exactly sub-key storehouse institute；3rd class is crucial
In same process represented by storehouse, two crucial storehouse institute p of sonxWith pyBetween, there is a storehouse institute, it to the demand of resource than it
Arrive the crucial storehouse institute p of son afterwardsyIn any one storehouse the demand of all resources the biggest, then this storehouse is known as the crucial storehouse of son
Institute；In same process represented by 4th class sub-key storehouse, there is a storehouse institute, it use unreliable resource, then this storehouse institute
It is known as the crucial storehouse institute of son.First kind sub-key storehouse implys that enough resources support that corresponding torr agree arrive such crucial storehouse
Institute.Equations of The Second Kind and the 3rd class sub-key storehouse can be attributed to a class, imply that as hypocarp agree enter into such crucial storehouse institute, the most not
Need more resource again.Because under current state, such crucial storehouse has occupied most resources.4th class closes
Key storehouse is implied that the resource that this storehouse is used is likely to occur fault.
As a example by Fig. 4, at marking pattern module B (t2,t10In),
Owing to having assembly manipulation in system, each the parallel process in assembly manipulation module concurrently to be carried out, thus
We define the crucial storehouse institute in local.
Definition 9: a given marking pattern module B (ts,te) and one group of sub-key storehouse gathered
So crucial storehouse, local be may be defined as
1)
2)
3)
Wherein,Represent same marking pattern module B (ts,teOne group of concurrent process in).By
Definition 9 can be seen that, crucial storehouse, local in the crucial storehouse of son belonging to same class.As a example by Fig. 2, at marking pattern module B (t2,
t10In),
Owing to system existing marking pattern module, so a process is not linked in sequence.In order to define overall situation pass
Key storehouse institute, by an imaginary storehouse institute p used by crucial for each local storehouse in the present inventionficReplace, this imaginary storehouse institute pficResource
Use equal to all storehouse institutes resources use comprehensive in the institute of key storehouse, corresponding local.Two adjacent imaginary storehouse institutes interleave
Enter and fabricate transition, thus the process that there is marking pattern module is regarded as a process being linked in sequence.As a example by Fig. 4, at mark
Module B (t2,t10In), the crucial storehouse institute in localAn imaginary storehouse institute can be regarded asIts money
Source demandFabricate storehouse and do not represent the operation of reality, be used merely to judge that torr agree whether
Advance.Once torr agree enter into marking pattern module, and concrete operation needs the crucial storehouse of son to realize.
Definition 10 a: process in given AESM,Represent all storehouses in same marking pattern module set,
PficRepresent fabricate storehouse set.Its crucial storehouse of the overall situation can be defined as
1)
2)And px＜ p
＜ py.Meanwhile,px＜ p ' ＜ py, have αp＞ αp′}；
3)And px＜ p
＜ py.Meanwhile,P ＜ p ' ＜ py, have ap＞ ap′}；
4)
And px＜ p ＜
pyοp
Represent the storehouse institute using unreliable resource }.
As a example by a process on Fig. 4 left side, the crucial storehouse institute of the overall situation
Sane deadlock freedom control method in the present invention for convenience of explanation, in definition 8 1)-3) it is referred to as deadlock freedom
Crucial storehouse institute, 4) it is referred to as the crucial storehouse institute of sane son.In definition 9 1)-2) it is referred to as the crucial storehouse institute in deadlock freedom local, 3) it is referred to as sane office
Key storehouse, portion institute.In definition 10 1)-3) it is referred to as deadlock freedom overall situation key storehouse institute, 4) it is referred to as the crucial storehouse institute of the sane overall situation.
The robustness control method of a kind of automated manufacturing system based on Petri network, including master controller and local controlled
Device processed, master controller electrically connects with local control, it is characterized in that: master controller at least comprises the following steps:
1) deadlock avoidance algorithm is carried out:
1.1) initialize, makeWherein, TENIt is to enable transition set, TDFIt is to make automated manufacturing system
The transition set of deadlock free operation；
1.2) gather reachable state M, including each storehouse contained torr agree number；
1.3) enable rule according to transition, under current state M, obtain all of enable and change set, even tiIt is to make
Can, then TEN:=TEN∪{ti, wherein tiIt is any one transition under state M；
1.4) T is selectedENIn any one transitionAnd judge whether these transition are in the marking pattern module of assembly manipulation
In；
1.5) transition are worked asBeing positioned in the marking pattern module of assembly manipulation, module launches element
1.6) transition are worked asIt is not positioned in the marking pattern module of assembly manipulation, launches transitionIf current resource foot
To support that corresponding torr agree arrive nearest overall deadlock freedom key storehouse institute, thenI=i+1, enters
Row step 1.4), otherwise,I=i+1, carries out step 1.4)；I is for adding rear assignment operator；
1.7) under state M, T is worked asENIn all of transition all detect complete, obtain making the transition collection of system deadlock free operation
Close TDF。
2) strong algorithms is steadily and surely added:
2.1) initialize, makeWherein, TRBIt it is the transition set making the clog-free operation of automated manufacturing system；
2.2) gather current state M, including each storehouse contained torr agree number；
2.3) T is selectedDFIn any one transitionAnd judge whether the Tuo Ken of correspondence uses unreliable resource；
2.4) when corresponding Tuo Ken does not uses unreliable resource, it is judged that its in machining path in the future the need of
Unreliable resource；
2.5) transition are worked asUnreliable resource is need not, then in machining path in the future
2.6) work as transitionUnreliable resource is needed, it is judged that transition in machining path in the futureWhether it is positioned at assembling
In the marking pattern module of operation；
2.7) transition are worked asBeing positioned in the marking pattern module of assembly manipulation, module launches element
2.8) transition are worked asIt is not positioned in the marking pattern module of assembly manipulation, launches transitionIf current resource be enough to
Support that relevant torr agree arrive the sane crucial storehouse institute of the nearest overall situation, and when relevant Tuo Ken enters into this key storehouse institute, surplus
Remaining resource be enough to support that other processes being not necessarily required to unreliable resource are successfully processed, theni
=i+1, carries out step 2.3), otherwise,I=i+1, carries out step 2.3)；
2.9) T is selectedDFIn any one transitionAnd the torr of correspondence agree need to use unreliable resource；
2.10) if this unreliable resource does not has fault, then step is analogous to corresponding Tuo Ken and does not use unreliable resource；
2.11) if this unreliable resource is in malfunction, thenI=i+1, carries out step 2.3)；
2.12) under state M, T is worked asDFIn all of transition all detect complete, obtain making the transition collection of system sound and stable operation
Close TRB。
3) concurrency innovatory algorithm is carried out:
3.1) initialize, makeWherein, TMCIt it is the transition set making automated manufacturing system concurrency improve；
3.2) transition set T is givenRBIn torr corresponding to each transition agree add label xi；
3.3) useRepresent xthiIndividual torr agree the step number advanced；
3.4) object function is soughtFind out the most backward Tuo Ken, then the transition of its correspondence just belong to
Transition set is improved, i.e. in concurrency
3.5) concurrency is selected to improve transition set TMCIn any one transition launch；Then return to step 1.2).
Step 1.5) detailed process be:
1.5.1) if current resource can support transitionCorresponding Tuo Ken enters into nearest deadlock freedom key storehouse
Institute, and in representing other all parallel routes of marking pattern module of assembly manipulation, be respectively present Tuo Ken and can arrive respectively
Deadlock freedom key storehouse institute nearest in path, i.e. corresponding on concurrent path torr agree to enter into crucial storehouse, deadlock freedom local
Institute.SoI=i+1, carries out step 1.4)；
1.5.2) if current resource can not support transitionCorresponding Tuo Ken enters into nearest deadlock freedom key storehouse
Institute, or current resource can support transitionCorresponding Tuo Ken enters into nearest deadlock freedom key storehouse institute, but
Represent in other all parallel routes of marking pattern module of assembly manipulation, there is not torr and agree to arrive in respective path recently
Deadlock freedom key storehouse institute, then,I=i+1, carries out step 1.4).
Step 2.6) detailed process be:
2.6.1) if current resource can support transitionCorresponding Tuo Ken enters into nearest sane crucial storehouse
Institute, and in representing other all parallel routes of marking pattern module of assembly manipulation, be respectively present Tuo Ken and can arrive respectively
Sane crucial storehouse institute nearest in path, i.e. corresponding on concurrent path torr agree to enter into the crucial storehouse institute in sane local.With
Time, when the Tuo Ken in each process enters into the crucial storehouse institute in this local, remaining resource be enough to support that other are not necessarily required to not
The process of assured resources is successfully processed, thenI=i+1, carries out step 2.3)；
2.6.2) if current resource can not support transitionCorresponding Tuo Ken enters into nearest sane crucial storehouse
Institute, or current resource can support transitionCorresponding Tuo Ken enters into nearest sane crucial storehouse institute, but at table
Show in other all parallel routes of marking pattern module of assembly manipulation, do not exist torr agree can arrive in respective path nearest
Deadlock freedom key storehouse institute, then,I=i+1, carries out step 2.3).
As a example by AESM in Fig. 4.Find out a reachable state, i.e. M=4 p in the figure1+p2+p5+p6+p10+p12+
7·p13+p16+2·r1+r3+2·r4+2·r5+r6.According to deadlock avoidance algorithm, one group of deadlock freedom transition set can be obtained,
I.e. TDF={t2, t3, t6, t7, t12, t13, t16, wherein the transmitting of any one transition will not result in system deadlock.
According to steadily and surely adding strong algorithms, t12, t13And t16Belong to TRB, because processes corresponding to these transition need not any not
Assured resources.t3And t6Belong to TRB, because the Tuo Ken having enough resource supports corresponding enters into sane crucial storehouse institute.When can not
By resource r6The state being in, t7Belong to TRB, because the process after these transition need not any unreliable resource.t2Do not belong to
In TRB, because needing to use unreliable resource after these transition, but do not have enough resource supports hold in the palm accordingly agree to enter into right
The sane crucial storehouse institute answered.Therefore, T can be obtainedRB={t3, t6, t7, t12, t13, t16}。
Algorithm is improved according to concurrency, it is understood that transition t3, t6, t7, t12, t13And t16Corresponding torr is agree respectively in storehouse institute
It is p2, p5, p6, p12, p13And p16.It is 1,2,3,5,0 and 3 respectively that these torr agree the step number of corresponding storehouse institute, and the step number of maximum is poor
It is 5.According to object functionLaunching transition makes maximum step number subtractive little, therefore can obtain TMC
={ t13, the transmitting of these transition can realize higher concurrency.
Symbol description in the present invention:
TENTENEnable transition set
TDFTDFDeadlock freedom transition set
TRBTRBRobustness transition set
TMCTMCImprove concurrency transition set
Empty set
Mono-status indicator of M
∪ ∪ is also
∩ ∩ hands over
It is not belonging to
∈ ∈ belongs to
T changes
P storehouse institute
R resource
N Petri network system model
P is gathered in storehouse
T changes set
F storehouse and transition between annexation
W storehouse and transition between the weights connected on arc
PBPBStart storehouse to be gathered
PEPETerminate storehouse to be gathered
PAPAOperation storehouse is gathered
PRPRResources bank is gathered
Assured resources storehouse is gathered
Unreliable resources bank is gathered
NKNKThe total quantity of process
B(tsts, tete) marking pattern module
B(psps, pepe) state machine module
apapStorehouse institute p resources requirement
The species number of L resource
N+N+ positive integer
lsublsubThe crucial storehouse of son is gathered
lLOClLOCCrucial storehouse, local is gathered
lRBlRBThe crucial storehouse of the overall situation is gathered
PficPficFabricate storehouse to be gathered
Initialism synopsis
Initialism English full name Chinese compares
SM State Machine state machine
The state machine of AESM Augmented Extended State Machine amplification
SSP Simple Sequential Path。
Claims (3)
1. a robustness control method for automated manufacturing system based on Petri network, including master controller and Partial controll
Device, master controller electrically connects with local control, it is characterized in that: master controller at least comprises the following steps:
1) deadlock avoidance algorithm is carried out:
1.1) initialize, makeWherein, TENIt is to enable transition set, TDFIt is to make automated manufacturing system without extremely
The transition set that lock runs；
1.2) gather reachable state M, including each storehouse contained torr agree number；
1.3) enable rule according to transition, under current state M, obtain all of enable and change set, even tiIt is to enable,
Then TEN:=TEN∪{ti, wherein tiIt is any one transition under state M；
1.4) T is selectedENIn any one transitionAnd judge whether these transition are in the marking pattern module of assembly manipulation；
1.5) transition are worked asBeing positioned in the marking pattern module of assembly manipulation, module launches element
1.6) transition are worked asIt is not positioned in the marking pattern module of assembly manipulation, launches transitionIf current resource be enough to support
Corresponding torr agree arrive nearest overall deadlock freedom key storehouse institute, thenI=i+1, carries out step
1.4, otherwise,I=i+1, carries out step 1.4；
1.7) under state M, T is worked asENIn all of transition all detect complete, obtain making the transition set of system deadlock free operation
TDE；
2) strong algorithms is steadily and surely added:
2.1) initialize, makeWherein, TRBIt it is the transition set making the clog-free operation of automated manufacturing system；2.2) gather
Current state M, including each storehouse contained torr agree number；
2.3) T is selectedDFIn any one transitionAnd judge whether the Tuo Ken of correspondence uses unreliable resource；
2.4) when corresponding Tuo Ken does not uses unreliable resource, it is judged that its in machining path in the future the need of can not
By resource；
2.5) transition are worked asUnreliable resource is need not, then in machining path in the future
2.6) transition are worked asUnreliable resource is needed, it is judged that transition in machining path in the futureWhether it is positioned at assembly manipulation
Marking pattern module in；
2.7) transition are worked asBeing positioned in the marking pattern module of assembly manipulation, module launches element
2.8) transition are worked asIt is not positioned in the marking pattern module of assembly manipulation, launches transitionIf current resource be enough to prop up
Hold relevant torr to agree arrive the sane crucial storehouse institute of the nearest overall situation, and when relevant Tuo Ken enters into this key storehouse institute, surplus
Remaining resource be enough to support that other processes being not necessarily required to unreliable resource are successfully processed, theni
=i+1, carries out step 2.3), otherwise,I=i+1, carries out step 2.3)；
2.9) T is selectedDFIn any one transitionAnd the torr of correspondence agree need to use unreliable resource；
2.10) if this unreliable resource does not has fault, then step is analogous to corresponding Tuo Ken and does not use unreliable resource；2.11)
If this unreliable resource is in malfunction, thenI=i+1, carries out step 2.3)；
2.12) under state M, T is worked asDFIn all of transition all detect complete, obtain making the transition set T of system sound and stable operationRB；
3) concurrency innovatory algorithm is carried out:
3.1) initialize, makeWherein, TMCIt it is the transition set making automated manufacturing system concurrency improve；
3.2) transition set T is givenRBIn torr corresponding to each transition agree add label xi；
3.3) useRepresent xthiIndividual torr agree the step number advanced；
3.4) object function is soughtFind out the most backward Tuo Ken, then the transition of its correspondence just belong to also
The property sent out improves transition set, i.e.
3.5) concurrency is selected to improve transition set TMCIn any one transition launch；Then return to step 1.2).
2. according to the robustness control method of a kind of based on Petri network the automated manufacturing system described in claims 1, described
Step 1.5) detailed process be:
1.5.1) if current resource can support transitionCorresponding Tuo Ken enters into nearest deadlock freedom key storehouse institute,
And in representing other all parallel routes of marking pattern module of assembly manipulation, it is respectively present Tuo Ken and can arrive respective road
Deadlock freedom key storehouse institute nearest in footpath, i.e. corresponding on concurrent path torr agree to enter into the crucial storehouse institute in deadlock freedom local.That
?I=i+1, carries out step 1.4)；
1.5.2) if current resource can not support transitionCorresponding Tuo Ken enters into nearest deadlock freedom key storehouse institute,
Or current resource can support transitionCorresponding Tuo Ken enters into nearest deadlock freedom key storehouse institute, but at table
Show in other all parallel routes of marking pattern module of assembly manipulation, do not exist torr agree can arrive in respective path nearest
Deadlock freedom key storehouse institute, then,I=i+1, carries out step 1.4).
3. according to the robustness control method of a kind of based on Petri network the automated manufacturing system described in claims 1, described
Step 2.6) detailed process be:
2.6.1) if current resource can support transitionCorresponding Tuo Ken enters into nearest sane crucial storehouse institute, and
And in representing other all parallel routes of marking pattern module of assembly manipulation, be respectively present Tuo Ken and can arrive respective path
In nearest sane crucial storehouse institute, i.e. corresponding on concurrent path torr agree to enter into the crucial storehouse institute in sane local.Meanwhile, when respectively
When Tuo Ken in individual process enters into the crucial storehouse institute in this local, remaining resource be enough to support that other are not necessarily required to unreliable resource
Process successfully process, thenI=i+1, carries out step 2.3)；
2.6.2) if current resource can not support transitionCorresponding Tuo Ken enters into nearest sane crucial storehouse institute, or
The current resource of person can support transitionCorresponding Tuo Ken enters into nearest sane crucial storehouse institute, but is representing dress
In other all parallel routes of the marking pattern module joining operation, there is not torr and agree to arrive nothing nearest in respective path extremely
The crucial storehouse institute of lock, then,I=i+1, carries out step 2.3).
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