WO2016141963A1 - Procédé de commande de machine et dispositif permettant la mise en œuvre dudit procédé - Google Patents

Procédé de commande de machine et dispositif permettant la mise en œuvre dudit procédé Download PDF

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Publication number
WO2016141963A1
WO2016141963A1 PCT/EP2015/054816 EP2015054816W WO2016141963A1 WO 2016141963 A1 WO2016141963 A1 WO 2016141963A1 EP 2015054816 W EP2015054816 W EP 2015054816W WO 2016141963 A1 WO2016141963 A1 WO 2016141963A1
Authority
WO
WIPO (PCT)
Prior art keywords
state
machine
functional element
operator
vector
Prior art date
Application number
PCT/EP2015/054816
Other languages
German (de)
English (en)
Inventor
Rene Graf
Jochen MERHOF
Original Assignee
Siemens Aktiengesellschaft
Friedrich-Alexander-Universität Erlangen-Nürnberg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft, Friedrich-Alexander-Universität Erlangen-Nürnberg filed Critical Siemens Aktiengesellschaft
Priority to PCT/EP2015/054816 priority Critical patent/WO2016141963A1/fr
Publication of WO2016141963A1 publication Critical patent/WO2016141963A1/fr

Links

Classifications

    • 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
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/056—Programming the PLC
    • 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
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0426—Programming the control sequence
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/10—Plc systems
    • G05B2219/13—Plc programming
    • G05B2219/13009—State machine instructions
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23289—State logic control, finite state, tasks, machine, fsm
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25244—State matrix connected to controller

Definitions

  • FA factory automation
  • a gripper which can take only the position "on” or “to” or a track, which stops at a defined number of predetermined positions, at least so between two end positions is movable.
  • a capping station is used in the further course of the description, that is to say a plant which provides a container with a lid.
  • the method is applicable to any FA equipment, this example is not intended to be limiting.
  • To program a new function of an automation system is currently proceeding as follows. After the formal description of a step sequence of the individual steps in the sequence of the function in such an automation system, it is programmed in an automation system, wherein the programmers of the automation system each
  • Step by step so that his diligence in the implementation of the quality of the resulting software decides.
  • the object of the invention to provide a method which makes it possible to describe a function in an automation system, in particular a factory automation, such that the programming of the system and in particular the adaptation of the programming of the system to a changed requirement for the programmer much easier.
  • the inventive method for controlling a machine or a part of a machine wherein the machine or the part of the machine turn of at least one functional
  • Element consists of using a state value for each functional element that describes the current state of the element.
  • the state value is dependent on the type of functional element, it may be, for example, a certain position, a setting of a value, or other. Furthermore, it is not restricted to the state values 0 and 1; further values can be defined if several states exist, for example position
  • a state vector can be formed for the current state of the machine or of the part of the machine.
  • a state transition can be represented by means of a mathematical operator by adding a second state.
  • State vector which corresponds to the state of the machine or the part of the machine after the state transition is calculated.
  • a state matrix may also be formed, consisting of state vectors, representing the sequence of steps for performing a task of the machine or part of the machine.
  • a first state vector describes the start state and each further state vector describes the state after exactly one state transition.
  • the program sequence of the machine or of the part of the machine can be represented by a sequence of operators, which in turn can be mapped in an operator matrix.
  • At least one initialization operation for a functional element which can be used to put the functional element after the application in a defined initial state. If the arm is supposed to be "left" at the beginning of the operation, the arm is initially pushed to the left by surgery, and if the arm is already in the "left” position, the operation will have no further effect here , In the other case, the arm is on the right, or somewhere in between, it is driven by the operation to the desired position. To ensure the defined initial state of the at least one functional element, the associated initialization operation is dependent on the number of possible States of the functional element at least number less executed once.
  • the basic idea for the method according to the invention lies in the use of quantum mechanical notations and calculation methods for describing sequencers in an automation system.
  • Quantum mechanics was developed because classical mechanics was unable to describe the processes in the smallest systems with individual particles (atoms, electrons, ). A detailed description can be found for example on Wikipedia: htt: // de. wikipedia. org / wiki / quantum mechanics.
  • quantum mechanics two essential models have evolved independently: the matrix mechanics from Heisenberg and the shaft mechanics from Schrödinger. The latter later showed the mathematical equivalence of both approaches.
  • the commonality of both notations is the description of the quantum world by means of state vectors, which represent a superposition of all possible individual states of the system. Operators describe the transition from one state to another. The big difference between the two notations is the treatment of time. For Schrödinger, the state vectors are time-dependent and the operators are generally not (special cases such as time-dependent potential are not considered), while in Heisenberg the state vectors are time-independent and the operators describe the time course of a state change.
  • the state vector of the system represents a superposition of all eigenstates of the subsystems.
  • the state vector is written either as a real vector or as a Dirac notation as
  • the operators are matrices that can be mathematically multiplied by the vectors.
  • the result is a new vector that describes a new state.
  • the eigenvectors are n> of the individual components orthonormal.
  • the matrix representation of the operator is diagonal with respect to this basis of eigenvectors.
  • a decisive advantage of the method described is that the possible states of the subsystems and thus of the entire system can be derived automatically and directly from the CAD model. Likewise, mechanical boundary conditions can be considered, such.
  • B. The X-axis may only move when the Z-axis is in the up position.
  • the associated automation program can be created automatically. In this case, no conditions have to be programmed in the sense of "if-then" since the mechanical boundary conditions result directly from the derived matrices.
  • the automation program is thus completely machine-generated and correct in terms of compliance with all boundary conditions. A manual intervention is not necessary.
  • the modified vectors and matrices can be recreated and saved in the program.
  • Another significant advantage of the method according to the invention is the possibility of directly deriving the mathematical calculations from the state model of the plant.
  • the claimed method advantageously shows a special robustness of a state against incorrect operator application. Furthermore, the invention is explained by the figures. It shows
  • Figure la an exemplary system of a so-called
  • FIG. 1b shows the system rotatory gripping unit from FIG. 1a from the side view
  • FIG. 2 shows the representation of the process "concealed” of the system rotary gripping unit
  • FIG. 3 shows the representation of a second process "hood-in" of the system
  • FIG. 4 shows the distribution of the control solution along the kinematic chain of the components of the system
  • Figure 5 shows the distribution of the overall process according to the components
  • FIG. 6 shows the description of the process carried out in the preceding figures in the notation according to the invention.
  • a sequencer in an automation system is a sequence of different state transitions, starting from an initial state
  • the individual components of the exemplary system are shown schematically in FIGS. 1A and 1B. Identical elements are also marked with the same reference numerals.
  • the exemplary system here a Verdeckelungsstation consists of an anchor 100 at the first movement unit with a direction of movement along an axis X is sideways possible.
  • the "0" and the “1” here symbolize the two possible outer positions that movement unit can assume, and at the same time indicate that no further positions of the movement unit in the direction of the X axis are possible in the selected example for the selected functionality or necessary.
  • FIGS. 1 a and 1 b Another direction of movement of the system in the example of FIGS. 1 a and 1 b, in addition to the Z axis, is also an axis of rotation of the rotary gripper unit, R axis.
  • the gripper unit in turn consists of a jaw gripper B 130 and a vacuum gripper V 110.
  • the individual components of the exemplary system can therefore be described as operators X, Z, R, B and V, which can be subdivided again to illustrate individual movement sequences.
  • an operator X "describes • the movement to the lower end position of the x-axis and the operator X + the movement to the upper end position.
  • the x-axis can be moved between the positions x 0 and Xi.
  • ⁇ ⁇ > can thus use the eigenvectors
  • Xi> X + (t)
  • FIG. 6 shows a step sequence with the actions "cover catching up” and “topping up” as well as the return of the system to the initial state on the basis of the example installation described in FIGS. 1a and 1b.
  • FIG. 6 shows this sequence on the basis of the kinematic chain.
  • Each vector describes the condition of the plant after the
  • the first five vectors of Figure 6 describe the inclusion of a lid by the gripper, the other 8 vectors the delivery of the lid, so the application of a lid on the container and close it.
  • Concurrent operators can be combined in a single matrix so that, for example, the x and z axes of a system can be moved not only one after the other but also simultaneously. Only after reaching the resulting intermediate state of the next operator, z. B. on one of the gripper applied.
  • the component x-axis has two endpoints x 0 and Xi, which also represent the possible states of this subsystem.
  • the state vector of this component in vector representation results in:
  • state vectors and operator matrices can be created for the other components.
  • the rotatory gripper unit 11 consists of 3 components, the jaw gripper 131, the vacuum gripper 121 and the rotation axis 111, which are all coordinated , 21, 22, 23.
  • the gripper units 131 and 121 must grip or release the lid, the rotation axis ensures with a rotation of x ° that the lid can be screwed onto the container.
  • FIG. 2b shows the same process as a Gantt chart, whereby the state of the rotary unit is indicated in degrees 112 above, in the center 132 the state of the jaw gripper is plotted and the lower line 122 is the state of the vacuum gripper.
  • Figures 3a and 3b show the representation of an analogous process, with another component, the z-axis
  • Gripping unit, 12, which consists of the rotary gripper unit 11 of Figure 2 and an additional axis, 13.
  • this is by a additional line z shown, which takes on a further movement of the system along the z-axis at the beginning (bottom) and at the end (above) with.
  • the processes of the lower 3 units 112, 132, 122 remain unchanged.
  • the z-axis is also the parent unit of the Gantt chart integrated into this process and displayed in the known manner.
  • FIG. 4 describes the changes of the state vectors of the individual components as well as of the entire state for various actions.
  • the manipulation unit 19 receives the command "top off ()” as a functional call, the x-axis x first executes the command “retrieve cover ()", so move over the cover to position "1.” The Z axis imitates a movement down from, position "1"., then move up, position "2".
  • the rotatory gripping unit ROT which has the suction gripper 129 and the jaw gripper 139, now has to perform the actions “switch on vacuum” and “close gripper”, after which the lid can be brought to the desired position by rotation. Not shown here is the course from this point in time, the gripper opens and returns to the starting position.
  • FIG. 5 clarifies the example again from the aspect of the sub-processes, which are subdivided into the "gripping" and the “topping-in".

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

L'idée sur laquelle repose la présente invention consiste à utiliser des notations de mécanique quantique et des procédés de calcul pour décrire des chaînes d'étapes dans une installation d'automatisation.
PCT/EP2015/054816 2015-03-09 2015-03-09 Procédé de commande de machine et dispositif permettant la mise en œuvre dudit procédé WO2016141963A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2015/054816 WO2016141963A1 (fr) 2015-03-09 2015-03-09 Procédé de commande de machine et dispositif permettant la mise en œuvre dudit procédé

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2015/054816 WO2016141963A1 (fr) 2015-03-09 2015-03-09 Procédé de commande de machine et dispositif permettant la mise en œuvre dudit procédé

Publications (1)

Publication Number Publication Date
WO2016141963A1 true WO2016141963A1 (fr) 2016-09-15

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5301100A (en) * 1991-04-29 1994-04-05 Wagner Ferdinand H Method of and apparatus for constructing a control system and control system created thereby
WO2004092854A1 (fr) * 2003-04-17 2004-10-28 Sew-Eurodrive Gmbh & Co. Kg Unite non centrale, installation et procede correspondant pour son exploitation

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5301100A (en) * 1991-04-29 1994-04-05 Wagner Ferdinand H Method of and apparatus for constructing a control system and control system created thereby
WO2004092854A1 (fr) * 2003-04-17 2004-10-28 Sew-Eurodrive Gmbh & Co. Kg Unite non centrale, installation et procede correspondant pour son exploitation

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