CN106200575B - A kind of robustness control method of the automated manufacturing system based on Petri network - Google Patents
A kind of robustness control method of the automated manufacturing system based on Petri network Download PDFInfo
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- CN106200575B CN106200575B CN201610532730.5A CN201610532730A CN106200575B CN 106200575 B CN106200575 B CN 106200575B CN 201610532730 A CN201610532730 A CN 201610532730A CN 106200575 B CN106200575 B CN 106200575B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- 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], 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], computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The present invention relates to a kind of robustness control methods of the automated manufacturing system based on Petri network.It passes through first, detect all enabled transition under a reachable state M, then the transition set of guarantee system deadlock freedom is detected in all enabled transition, the steady transition of guarantee system are detected in all deadlock freedom transition again, finally detect that maximum concurrency allows to change in all steady transition.One transition transmitting of selection in maximum concurrency allows transition to gather.Often emit a transition, a new state will be obtained, under new state, continue to execute above-mentioned step.Repeatedly, the transition sequence for finally obtaining the steady deadlock free operation of guarantee system not only ensures system deadlock freedom, but also can guarantee that system is clog-free according to the sequence transmission.Present invention application Petri network models automated manufacturing system as mathematical tool, to realize that system can continue smooth processing.
Description
Technical field
The invention belongs to automated manufacturing system technical field, it is related to a kind of the steady of the automated manufacturing system based on Petri network
Strong property control method.
Background technology
Manufacturing automation is a Main way of manufacturing technology development.Appearance in response to fierce market competition and elder generation
Into the application of automatic technology, automated manufacturing system has gone through the development of great-jump-forward.Its target is to reduce manufacturing cost, change
Kind product quality improves productivity and ensures production safety.However, it is contemplated that the scale of system and the cost of resource, resource is not
It can unconfined offer.Therefore, resource-sharing is an ideal solution.Due to the process concurrently executed can compete it is shared
Resource, system deadlock problem will catch someone on the wrong foot.Once there is deadlock, otherwise one is stagnated or entered to whole system extremely
Cycle.Although researcher has done a large amount of research in the calculating of Deadlock and control aspect, most of researcher is total
Assume that the resource of distribution will not failure.In fact, any manufacture researcher both knows about, the mechanical breakdown of system is easy to send out
It is raw, and from various reason, including the wear of work, faulty sensor, part missing and component faults etc..One
Simple faulty resource can lead to the paralysis of whole system.
In past many decades, researchers have studied a series of method for supervision and control.These methods can be with
It is divided into central control method and distributed control method.Wherein representative central control method be by Ramadge and
The supervision control method and beacon deadlock solution that Wonham is proposed.The supervision control method that Ramadge and Wonham is proposed
It is controlled with master controller, and is carried out using specific target of formal language pair under static mode
Control.Bad state is avoided by checking all states in advance.However, actual manufacture system be by it is relatively small,
Interaction and event driven subsystem composition, scale are comparable huge.Status number can be described as an astronomical figure.Letter
Mark deadlock solution is to be to realize so that the beacon in anti-locking system is not emptied by the new control places of introducing
System deadlock freedom.But the introducing of new control places will continue to form new beacon.With the increase of system scale, iteration time
Number can become imagine.Once a unreliable faulty resource, entire controller must redesign.It will be apparent that centralization
Control method in calculate and storage complexity be a big problem.Therefore, attention is turned to distributed AC servo system by researchers
Method.Using distributed control method, the completed task of master controller can be completed by many local controls.Each
Local control makes Partial controll, is greatly lowered calculating and storage complexity in this way according to received information.
Although distributed control method has been obtained for being widely applied, there are some during promoting the use of
Defect is embodied in：1, for the system with assembly manipulation, the progress that all processes are concurrent is needed, is added in each process
Work the stage and meets certain condition to the end, and assembly manipulation could be completed.It is obvious that the controller of control assembly manipulation becomes
Complicated difficult is to design.Compared with flexible path, assembly manipulation imparts more rich structural information and researching value.2, most of
Distributed method it is impracticable be because they are the designs based on coordinator between specific system structure or Partial controll
One huge challenge.3, most of distributed method is the resource based on distribution can never design on the basis of failure
's.In fact, once there is faulty resource, whole system stagnation may result in.
Invention content
To solve problems of the prior art, the purpose of the present invention is to provide one kind having flexible path and assembly
The robustness control method of the automated manufacturing system based on Petri network of operation, the process not need faulty resource can be held
Continuous processing.
To achieve 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 be electrically connected with local control, special
Sign is：Master controller at least includes the following steps：
1) deadlock avoidance algorithm is carried out：
1.1) it initializes, makesWherein, TENIt is enabled transition set, TDFIt is to make automated manufacturing system
The transition set of deadlock free operation；
1.2) acquire a reachable state M, including each library contained Tokken number；
1.3) according to the enabled rule of transition, at current state M, all enabled transition set, even t are found outiIt 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 the transition are in the mark module of assembly manipulation
In；
1.5) work as transitionIn the mark module of assembly manipulation, module emits element
1.6) work as transitionIt is not located in the mark module of assembly manipulation, transmitting transitionIf current resource foot
To support corresponding Tokken to reach nearest global deadlock freedom key library institute, then
Step 1.4) is carried out, otherwise, Step 1.4) is carried out, i is assignment operator after adding；
1.7) at state M, work as TENIn all change detection of moving the capital to another place finish, obtain the transition collection for making system deadlock free operation
Close TDF；
2) steady reinforcement algorithm is carried out：
2.1) it initializes, makesWherein, TRBIt is the transition set for making the clog-free operation of automated manufacturing system；
2.2) acquire current state M, including each library contained Tokken number；
2.3) T is selectedDFIn any one transitionAnd judge whether corresponding Tokken uses unreliable resource；
2.4) when corresponding Tokken does not use unreliable resource, judge whether it needs in the machining path in future
Unreliable resource；
2.5) work as transitionUnreliable resource is not needed in the machining path in future, then
2.6) work as transitionUnreliable resource is needed in the machining path in future, judges to changeWhether assembly is located at
In the mark module of operation；
2.7) work as transitionIn the mark module of assembly manipulation, module emits element
2.8) work as transitionIt is not located in the mark module of assembly manipulation, transmitting transitionIf current resource is enough to prop up
It holds relevant Tokken and reaches the steady crucial library institute of the nearest overall situation, and when relevant Tokken enters the key library institute, remaining money
The process that source is enough to support other that unreliable resource is not necessarily required successfully is processed, then
Step 2.3) is carried out, otherwise,Step 2.3) is carried out, i is assignment operator after adding；
2.9) T is selectedDFIn any one transitionAnd corresponding Tokken needs to use unreliable resource；
If 2.10) the unreliable resource does not have failure, step to be analogous to corresponding Tokken and do not use unreliable resource；
If 2.11) the unreliable resource is in malfunction, Carry out step 2.3)；
2.12) at state M, work as TDFIn all change detection of moving the capital to another place finish, obtain the transition collection for making system sound and stable operation
Close TRB；
3) concurrency innovatory algorithm is carried out：
3.1) it initializes, makesWherein, TMCIt is the transition set for making automated manufacturing system concurrency improve；
3.2) transition set T is givenRBIn each change corresponding Tokken addition label xi；
3.3) it usesIndicate xthiThe step number that a Tokken advances；
3.4) object function is soughtMost backward Tokken is found out, then category is yielded in its corresponding change
Improve transition set in concurrency, i.e.,
3.5) selection concurrency improves transition set TMCIn any one transition transmitting；Then return to step 1.2).
The detailed process of the step 1.5) is：
1.5.1) if current resource can be supported to changeCorresponding Tokken enters nearest deadlock freedom key library
Institute, and in indicating other all parallel routes of mark module of assembly manipulation, being respectively present Tokken can reach respectively
The nearest deadlock freedom key library institute from path, i.e., corresponding Tokken can enter the crucial library in deadlock freedom part on concurrent path
Institute.SoCarry out step 1.4；
1.5.2) if current resource cannot be supported to changeCorresponding Tokken enters nearest deadlock freedom key library
Institute or current resource can be supported to changeCorresponding Tokken enters nearest deadlock freedom key library institute, but
In other all parallel routes for indicating the mark module of assembly manipulation, there is no Tokkens can reach in respective path recently
Deadlock freedom key library institute, then,Carry out step 1.4).
The detailed process of the step 2.6) is：
2.6.1) if current resource can be supported to changeCorresponding Tokken enters nearest steady crucial library
Institute, and in indicating other all parallel routes of mark module of assembly manipulation, being respectively present Tokken can reach respectively
The nearest steady crucial library institute from path, i.e., corresponding Tokken can enter the crucial library institute in steady part on concurrent path；Together
When, when the Tokken in each process enters part key library institute, remaining resource is enough that other is supported to be not necessarily required not
The process of assured resources is successfully processed, thenCarry out step 2.3)；
2.6.2) if current resource cannot be supported to changeCorresponding Tokken enters nearest steady crucial library
Institute or current resource can be supported to changeCorresponding Tokken enters nearest steady crucial library institute, but in table
Show in other all parallel routes of the mark module of assembly manipulation, there is no Tokken can reach in respective path it is nearest
Deadlock freedom key library institute, then,Carry out step 2.3).
Compared with prior art, the present invention has beneficial effect：The present invention is concerned with unreliable resource
The synthesis of the steady monitoring controller of automated manufacturing system, it is proposed that a kind of distributed control method, this method be not only avoided that by
The Deadlock caused by resource is limited to, moreover it is possible to solve the obstructing problem caused by faulty resource.By detecting money online
The quantity in source and the fine or not situation of resource determine whether the advance of correlated parts is safe.It is carried out by mathematical tool of Petri network
Modeling, is analyzed and is controlled to the Petri network system established.First by running deadlock avoidance algorithm, from enabled transition
Set TENIn filter out a series of deadlock freedoms transition ten∈TDF, any one transition, which emits, in them all will not cause system dead
Lock；Then, by running steady reinforcement algorithm, a series of steady transition t ∈ T are filtered outDF, any one transition hair in them
Penetrate all is not in obstructing problem；Finally, improve algorithm by running concurrency, filter out a series of improvement concurrency transition t
∈TRB, the transmitting that any one in them changes can all maximize the concurrency of system.From improvement concurrency transition set TMCIn
Select any one to change and emit, reach a new state, run these three algorithms successively again, then generate one it is new
Transition set, so moves in circles, generates a series of transition sequences.Occur according to the sequence, Tokken can successfully from
The initial position of system reaches final position, and does not have Deadlock appearance.When occurring faulty resource in system, those
The process for not needing failed resource will continue to process, 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 proposed for a kind of system with flexible path and assembly manipulation, with it is original only
It is compared only for the method with flexible path or the system of assembly manipulation, this method is with more generality.
It is compared with original centralization control method 2. method proposed by the present invention is distributed AC servo system, this method is not
Need to detect global information, it is only necessary to the local message of the current operation process of concern, considerably reduce observer and process it
Between the traffic, to calculate and storage complexity be greatly simplified.
3. the present invention runs policy using the real-time online controlled in prediction, designed in advance controller is not needed.Once
It is in an emergency, such as faulty resource, the method applied in the present invention dynamic predicts the state, and feeds back in time
To controller.Controller makes appropriate control decision, controls the reasonable distribution of resource, to avoid causing due to faulty resource
Obstructing problem appearance.
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.
Description of the drawings
Fig. 1 is the marking pattern module diagram of assembly manipulation of the embodiment of the present invention；
Fig. 2 is state machine module schematic diagram of the embodiment of the present invention；
Fig. 3 is the state machine module schematic diagram of extension of the embodiment of the present invention；
Fig. 4 is the Petri net model schematic diagram that the embodiment of the present invention has flexible path and assembly manipulation.
Specific implementation mode
The present invention is to be directed to the automated manufacturing system with flexible path and assembly manipulation based on Petri network to carry out robust control
System, the method for application distribution formula carry out online, dynamic and control in real time.
Assembly manipulation is embedded into flexible path in the present invention, Petri net model is designed, AESM is named as, such as attached drawing 4
It is shown.Robust control policy to realize the present invention, it would be desirable to introduce paper《Distributed Supervisor
Synthesis for Automated Manufacturing Systems Using Petri Nets》In to crucial library
Definition.In this paper for crucial library definition just for sequence execute path.
However, the present invention embedded assembly manipulation in the path that sequence executes, and consider the insecure situation of resource.Cause
This, the present invention is to paper《Distributed Supervisor Synthesis for Automated Manufacturing
Systems Using Petri Nets》It is middle key library definition it is further extended, to be applicable in designed Petri network
Model AESM.By judge library in AESM requirement to resource, crucial library will be divided into 3 classes.The first kind is to use resource
Minimum library institute；Second class is using the most library institute of resource；Third class is the library institute using unreliable resource.As long as a support
Agree there are enough resources that it is supported to enter the class libraries institute, whole system will be processed successfully, be not in deadlock and obstruction
Problem.
Define 1：Module between disassembling section and assembly manipulation is referred to as mark module, is abbreviated as B (ts, te).Its
Middle tsIndicate the transition of disassembling section, teIndicate the transition of assembly manipulation.B(ts, te) meet：1)|t* s| >=2,2)|*te|≥2。
By taking Fig. 1 as an example, t11Represent disassembling section, t16Represent assembly manipulation, t11And t16Between be two parallel processes,
Respectively<t11, p11, t12, p13, t14, p15, t16>With<t11, p12, t13, p14, t15, p16, t16>。
Define 2：One state machine module, is abbreviated as B (ps, pe), which meets：1)|p* s| >=1,2)|*te|≥1。
By taking Fig. 2 as an example, ps=p11, pe=p16.One Tokken is in p11Place can select any one paths to process, such as road
Diameter<p11, t11, p12, t13, p14, t15, p16>Or<p11, t12, p13, t14, p15, t16, p16>, can finally reach home.
Define 3：The state machine module of one extension comes from the replacement state machine module path with mark module iteration
In a part.
By taking Fig. 3 as an example, state machine module B (p11, p16) in t11And t16Between part with a mark module B (t11,
t16) replace.
Define 4：One AESM is a strong ties and pure Petri network N=(P, T, F, W).Wherein, N is represented
Petri network system model, P represent library institute all in the model, and T represents transition all in the model, and F represents library institute and becomes
Connection relation between moving, W represent library transition between connection arc on weights.
1) P=PB∪PE∪PA∪PR：a)PB, PE, PA, PRIt is referred to as and starts library institute, terminates library institute, operation library institute and money
Source library institute；b)Withc)Wherein NK={ 1,2 ..., K }, table
Show the number of process.For arbitrary i ∈ NK,And d)PR={ ri,
i∈NL, wherein NL={ 1,2 ..., L }, indicates the number of resource；
2)Wherein, for any one i ∈ NK,And
3) for any one i ∈ NK, subnetIt is one to connect by force
The state machine module of the extension connect；
4)Wherein,Indicate the set of assured resources,Indicate unreliable resource
Set.
Define 5：An AESM is given,It is a simple sequence path, brief note
For SSP, which meetsI indicates that i-th process, j indicate j-th of library institute in j-th strip process.
Define 6：A given mark module B (ts, te), in tsAnd teBetween be to be made of series of parallel SSP
's.Define 7：An AESM is given, p is any one library institute therein, and the resources requirement corresponding to library institute p can be expressed as
One vector αp=[αp(r1), αp(r2) ..., αp(rL)]T, the species number of wherein L expression resources, αp(ri) p pairs of library representation institute
Resource riDemand.
Define 8：A given mark module B (ts, te), changing intermodule, there are the concurrent process of n items, n ∈ N+,Indicate concurrent
I-th process in process, i ∈ Nn, then son key library can be defined as
1)
2)
3)
4)
Wherein, px＜ p ＜ pyIt indicates in same process, library institute pxBefore library institute p, library institute p is located at library institute pyIt
Before；px, pyIndicate the crucial library institute of two sons in same process.
According to definition 8 it is found that son key library can be divided into four classes：The crucial library of first kind is represented not to use any money
The library institute in source；In same process represented by the crucial library of second class, two sub- key library institute pxWith pyBetween, there are a library institute,
It is in pxWith pyBetween to resources requirement maximum library institute, then this library is exactly sub crucial library institute；Third class is crucial
In same process represented by library, two sub- key library institute pxWith pyBetween, there are a library institutes, it is to the demand of resource than it
Sub- key library institute p is arrived lateryIn any one library all resources demand it is all big, then this library is known as sub crucial library
Institute；In same process represented by the crucial library of 4th class, there are a library institutes, it has used unreliable resource, then this library institute
It is known as sub crucial library institute.The crucial library of first kind implys that enough resources support corresponding Tokken to reach such crucial library
Institute.Second class and the crucial library of third class can be attributed to one kind, imply that if Tokken enters such crucial library institute, just not
More resources are needed again.Because under current state, such crucial library has occupied most resources.4th class closes
Key library implys that resource used in the library is likely to occur failure.
By taking Fig. 4 as an example, in mark module B (t2, t10) in,
Due to having assembly manipulation, assembly manipulation mould each parallel process in the block concurrently to carry out in system, thus
We define the crucial library institute in part.
Define 9：A given mark module B (ts, te) and the crucial set of library conjunction of one group of son
So crucial library in part may be defined as
1)
2)
3)
Wherein,Indicate the same mark module B (ts, te) in one group of concurrent process.By
Define and 9 can be seen that, part key library in the crucial library of son belonging to same class.By taking Fig. 2 as an example, in mark module B (t2,
t10) in,
Due to there is mark module in system, so a process is not just linked in sequence.In order to define global pass
Key library institute, by an imaginary library institute p used in each crucial library in part in the present inventionficInstead of this fabricates library institute pficResource
Using equal to the corresponding crucial library in part in the synthesis that uses of all library institutes resource.Two adjacent imaginary library institutes interleave
Enter imaginary transition, to which there will be the processes of mark module to regard a process being linked in sequence as.By taking Fig. 4 as an example, indicating
Module B (t2, t10) in, part key library instituteAn imaginary library institute can be regarded asIts
Resources requirementIt fabricates library and does not represent actual operation, be used merely to whether judge Tokken
It can advance.Once Tokken enters mark module, specific operation needs the crucial library of son to realize.
Define 10：A process in given AESM,Indicate it is same mark module in all libraries set,
pficIndicate fabricate library set.Its crucial library of the overall situation can be defined as
1)
2)
3)
4)
By taking a process on the left sides Fig. 4 as an example, global key library institute
Steady deadlock freedom control method in the present invention for convenience of explanation, in defining 8 1) -3) it is known as deadlock freedom
Crucial library institute, 4) it is known as the crucial library institute of steady son.1) -2 in defining 9) it is known as the crucial library institute in deadlock freedom part, 3) it is known as steady office
Portion key library institute.1) -3 in defining 10) it is known as the global crucial library institute of deadlock freedom, 4) it is known as steady global crucial library institute.
A kind of robustness control method of the automated manufacturing system based on Petri network, including master controller and local controlled
Device processed, master controller are electrically connected with local control, it is characterized in that：Master controller at least includes the following steps：
1) deadlock avoidance algorithm is carried out：
1.1) initialization, makeWherein, TENIt is enabled transition set, TDFIt is to make automated manufacturing system
The transition set of deadlock free operation；
1.2) acquire a reachable state M, including each library contained Tokken number；
1.3) according to the enabled rule of transition, at current state M, all enabled transition set, even t are found outiIt 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 the transition are in the mark module of assembly manipulation
In；
1.5) work as transitionIn the mark module of assembly manipulation, module emits element
1.6) work as transitionIt is not located in the mark module of assembly manipulation, transmitting transitionIf current resource foot
To support corresponding Tokken to reach nearest global deadlock freedom key library institute, then
Step 1.4) is carried out, otherwise, Carry out step 1.4)；I is assignment operator after adding；
1.7) at state M, work as TENIn all change detection of moving the capital to another place finish, obtain the transition collection for making system deadlock free operation
Close TDF。
2) steady reinforcement algorithm is carried out：
2.1) it initializes, makesWherein, TRBIt is the transition set for making the clog-free operation of automated manufacturing system；
2.2) acquire current state M, including each library contained Tokken number；
2.3) T is selectedDFIn any one transitionAnd judge whether corresponding Tokken uses unreliable resource；
2.4) when corresponding Tokken does not use unreliable resource, judge whether it needs in the machining path in future
Unreliable resource；
2.5) work as transitionUnreliable resource is not needed in the machining path in future, then
2.6) work as transitionUnreliable resource is needed in the machining path in future, judges to changeWhether assembly is located at
In the mark module of operation；
2.7) work as transitionIn the mark module of assembly manipulation, module emits element
2.8) work as transitionIt is not located in the mark module of assembly manipulation, transmitting transitionIf current resource foot
To support relevant Tokken to reach the steady crucial library institute of the nearest overall situation, and when relevant Tokken enters the key library institute
When, the process that remaining resource is enough to support other that unreliable resource is not necessarily required successfully is processed, thenStep 2.3) is carried out, otherwise,Carry out step 2.3)；
2.9) T is selectedDFIn any one transitionAnd corresponding Tokken needs to use unreliable resource；
If 2.10) the unreliable resource does not have failure, step to be analogous to corresponding Tokken and do not use unreliable resource；
If 2.11) the unreliable resource is in malfunction,Carry out step 2.3)；
2.12) at state M, work as TDFIn all change detection of moving the capital to another place finish, obtain the transition collection for making system sound and stable operation
Close TRB。
3) concurrency innovatory algorithm is carried out：
3.1) it initializes, makesWherein, TMCIt is the transition set for making automated manufacturing system concurrency improve；
3.2) transition set T is givenRBIn each change corresponding Tokken addition label xi；
3.3) it usesIndicate xthiThe step number that a Tokken advances；
3.4) object function is soughtMost backward Tokken is found out, then category is yielded in its corresponding change
Improve transition set in concurrency, i.e.,
3.5) selection concurrency improves transition set TMCIn any one transition transmitting；Then return to step 1.2).
The detailed process of step 1.5) is：
1.5.1) if current resource can be supported to changeCorresponding Tokken enters nearest deadlock freedom key library
Institute, and in indicating other all parallel routes of mark module of assembly manipulation, being respectively present Tokken can reach respectively
The nearest deadlock freedom key library institute from path, i.e., corresponding Tokken can enter the crucial library in deadlock freedom part on concurrent path
Institute.SoCarry out step 1.4)；
1.5.2) if current resource cannot be supported to changeCorresponding Tokken enters nearest deadlock freedom key library
Institute or current resource can be supported to changeCorresponding Tokken enters nearest deadlock freedom key library institute, but
In other all parallel routes for indicating the mark module of assembly manipulation, there is no Tokkens can reach in respective path recently
Deadlock freedom key library institute, then,Carry out step 1.4).
The detailed process of step 2.6) is：
2.6.1) if current resource can be supported to changeCorresponding Tokken enters nearest steady crucial library
Institute, and in indicating other all parallel routes of mark module of assembly manipulation, being respectively present Tokken can reach respectively
The nearest steady crucial library institute from path, i.e., corresponding Tokken can enter the crucial library institute in steady part on concurrent path.Together
When, when the Tokken in each process enters part key library institute, remaining resource is enough that other is supported to be not necessarily required not
The process of assured resources is successfully processed, thenCarry out step 2.3)；
2.6.2) if current resource cannot be supported to changeCorresponding Tokken enters nearest steady crucial library
Institute or current resource can be supported to changeCorresponding Tokken enters nearest steady crucial library institute, but in table
Show in other all parallel routes of the mark module of assembly manipulation, there is no Tokken can reach in respective path it is nearest
Deadlock freedom key library institute, then,Carry out step 2.3).
By taking the AESM in Fig. 4 as an example.A reachable state, i.e. M=4p are found out 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,
That is TDF={ t2, t3, t6, t7, t12, t13, t16, the transmitting of wherein any one transition will not result in system deadlock.
Reinforce algorithm, t according to steady12, t13And t16Belong to TRB, because these change corresponding processes do not need it is any not
Assured resources.t3And t6Belong to TRB, because there is enough resources that corresponding Tokken is supported to enter steady crucial library institute.When can not
By resource r6In good state, t7Belong to TRB, because the process after the transition does not need any unreliable resource.t2Do not belong to
In TRB, because needing to use unreliable resource after the transition, but support that corresponding Tokken enters pair without enough resources
The steady crucial library institute answered.Therefore, T can be obtainedRB={ t3, t6, t7, t12, t13, t16}。
Improve algorithm according to concurrency, it is understood that transition t3, t6, t7, t12, t13And t16Corresponding Tokken is respectively in library institute
It is p2, p5, p6, p12, p13And p16.The corresponding library of these Tokkens step number be 1,2,3,5,0 and 3 respectively, maximum step number is poor
It is 5.According to object functionOne transition of transmitting are so that maximum step number subtractive is small, therefore can obtain TMC
={ t13, the transmitting of the transition can realize higher concurrency.
Symbol description in the present invention：
TENEnabled transition set
TDFDeadlock freedom transition set
TRBRobustness transition set
TMCImprove concurrency transition set
Empty set
Mono- status indicator of M
∪ is simultaneously
∩ is handed over
It is not belonging to
∈ belongs to
T is changed
The libraries p institute
R resources
N Petri network system models
P set of library is closed
T transition set
The libraries F transition between connection relation
The libraries W transition between connection arc on weights
PBStart set of library to close
PETerminate set of library to close
PASet of library is operated to close
PRResources bank is gathered
Assured resources set of library is closed
Unreliable resources bank is gathered
NKThe total quantity of process
B(ts, te) mark module
B(ps, pe) state machine module
apLibrary institute p resources requirements
The species number of L resources
N+Positive integer
lsubSub- key set of library is closed
lLOCPart key set of library is closed
lRBGlobal key set of library is closed
PficSet of library is fabricated to close
The initialism table of comparisons
Claims (3)
1. a kind of robustness control method of the automated manufacturing system based on Petri network, including master controller and Partial controll
Device, master controller are electrically connected with local control, it is characterized in that：Master controller at least includes the following steps：
1) deadlock avoidance algorithm is carried out：
1.1) it initializes, makesWherein, TENIt is enabled transition set, TDFIt is to make automated manufacturing system without dead
Lock the transition set of operation；
1.2) acquire a reachable state M, including each library contained Tokken number；
1.3) according to the enabled rule of transition, at current state M, all enabled transition set, even t are found outiBe it is enabled,
Then TEN：=TEN∪{ti, wherein tiIt is any one transition under state M；
1.4) T is selectedENIn any one transitionAnd judge whether the transition are in the mark module of assembly manipulation；
1.5) work as transitionIn the mark module of assembly manipulation, module emits element
1.6) work as transitionIt is not located in the mark module of assembly manipulation, transmitting transitionIf current resource is enough to prop up
It holds corresponding Tokken and reaches nearest global deadlock freedom key library institute, thenI=i+1 is walked
Rapid 1.4, otherwise,I=i+1 carries out step 1.4；
1.7) at state M, work as TENIn all change detection of moving the capital to another place finish, obtain the transition set for making system deadlock free operation
TDF；
2) steady reinforcement algorithm is carried out：
2.1) it initializes, makesWherein, TRBIt is the transition set for making the clog-free operation of automated manufacturing system；
2.2) acquire current state M, including each library contained Tokken number；
2.3) T is selectedDFIn any one transitionAnd judge whether corresponding Tokken uses unreliable resource；
2.4) when corresponding Tokken does not use unreliable resource, judging whether it needs in the machining path in future can not
By resource；
2.5) work as transitionUnreliable resource is not needed in the machining path in future, then
2.6) work as transitionUnreliable resource is needed in the machining path in future, judges to changeWhether assembly manipulation is located at
Mark module in；
2.7) work as transitionIn the mark module of assembly manipulation, module emits element
2.8) work as transitionIt is not located in the mark module of assembly manipulation, transmitting transitionIf current resource is enough to prop up
It holds relevant Tokken and reaches the steady crucial library institute of the nearest overall situation, and when relevant Tokken enters the key library institute, remain
The process that remaining resource is enough to support other that unreliable resource is not necessarily required successfully is 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 corresponding Tokken needs to use unreliable resource；
If 2.10) the unreliable resource does not have failure, step to be analogous to corresponding Tokken and do not use unreliable resource；2.11)
If the unreliable resource is in malfunction,I=i+1 carries out step 2.3)；
2.12) at state M, work as TDFIn all change detection of moving the capital to another place finish, obtain the transition set T for making system sound and stable operationRB；
3) concurrency innovatory algorithm is carried out：
3.1) it initializes, makesWherein, TMCIt is the transition set for making automated manufacturing system concurrency improve；
3.2) transition set T is givenRBIn each change corresponding Tokken addition label xi；
3.3) it usesIndicate xthiThe step number that a Tokken advances；
3.4) object function is soughtMost backward Tokken is found out, then its corresponding change, which is yielded to, belongs to simultaneously
Hair property improves transition set, i.e.,
3.5) selection concurrency improves transition set TMCIn any one transition transmitting；Then return to step 1.2).
2. a kind of robustness control method of automated manufacturing system based on Petri network according to claim 1, the step
Rapid detailed process 1.5) is：
1.5.1) if current resource can be supported to changeCorresponding Tokken enters nearest deadlock freedom key library institute,
And in indicating other all parallel routes of mark module of assembly manipulation, respective road can be reached by being respectively present Tokken
Nearest deadlock freedom key library institute in diameter, i.e., corresponding Tokken can enter the crucial library institute in deadlock freedom part on concurrent path；That
I=i+1 carries out step 1.4)；
1.5.2) if current resource cannot be supported to changeCorresponding Tokken enters nearest deadlock freedom key library institute,
Or current resource can be supported to changeCorresponding Tokken enters nearest deadlock freedom key library institute, but in table
Show in other all parallel routes of the mark module of assembly manipulation, there is no Tokken can reach in respective path it is nearest
Deadlock freedom key library institute, then,I=i+1 carries out step 1.4).
3. a kind of robustness control method of automated manufacturing system based on Petri network according to claim 1, the step
Rapid detailed process 2.6) is：
2.6.1) if current resource can be supported to changeCorresponding Tokken enters nearest steady crucial library institute, and
And in indicating other all parallel routes of mark module of assembly manipulation, respective path can be reached by being respectively present Tokken
In nearest steady crucial library institute, i.e., corresponding Tokken can enter the crucial library institute in steady part on concurrent path；Meanwhile when each
When Tokken in a process enters part key library institute, remaining resource is enough to support other that unreliable resource is not necessarily required
Process successfully process, thenI=i+1 carries out step 2.3)；
2.6.2) if current resource cannot be supported to changeCorresponding Tokken enters nearest steady crucial library institute, or
The current resource of person can be supported to changeCorresponding Tokken enters nearest steady crucial library institute, but is indicating to fill
In other all parallel routes of mark module with operation, there is no Tokken can reach it is nearest without dead in respective path
The crucial library institute of lock, then,I=i+1 carries out step 2.3).
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| CN115903508B (en) * | 2022-12-02 | 2023-09-19 | 南通大学 | Robust deadlock detection method of flexible manufacturing system based on Petri network |
| CN116069514B (en) * | 2023-01-10 | 2023-08-22 | 南通大学 | Deadlock avoidance method for flexible manufacturing system containing unreliable resources |
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