基于规则嵌入赋色Petri网模型的柔性装配系统仿真

Simulation of Flexible Assembly System Based on Rule Embedded Colored Petri Net

针对柔性装配系统复杂的并行作业特点,提出了规则嵌入赋色Petri(RCP)网模型.给出RCP的定义,利用面向对象的语言实现了网的静态描述以及动态运行,在此基础上得到了相关的系统参数,柔性仿真系统以模块化结构实现.以上海科技馆的机器人柔性装配系统为例,给出了它的RCP仿真模型,求出了某作业初始序列下的系统参数,并得到了该作业的最短完成时间的优化序列.

For the simulation of flexible assembly system (FAS), which has complicated concurrent operations, the rule embedded colored Petri net was proposed. The definition of rule embedded colored Petri net was given. The static description and dynamic performance of the net was implemented with object-oriented program language and parameters of system can be obtained. Then the paper presented the simulation system, which is built in modular structure. For the robot assembly system of Shanghai Science and Technology Museum, the simulation model with rule embedded colored Petri net was described. For a certain job we got the system parameters and the optimal sequency which has the minimum operation time.