部分可控Petri网的最优监控器设计

Optimal Supervisor Design for Partially Controllable Petri Nets

研究了部分可控Petri网的码垛机器人零件加工系统最优监控器设计的问题。为了保证广义互斥约束满足静态规范和行为规范,提出了部分可控Petri网的最优监控器的方法,探寻出以线性不等式的形式表示的初步约束集,通过可达性分析和初步约束集建立可达树得出合法标识集和有界非法标识集,对分离出的标识建立混合整数线性规划模型,运用分支边界法得到最大允许度且最少数量的广义互斥约束集作为最优监控器。以含不可控变迁的码垛机器人零件加工系统为例,建立了部分可控Petri网模型,结合零件加工过程中机器人的占用和释放环节,对应用Petri网在机器加工系统的最优设计进行了研究,应用监控器生成算法设计的监控器拥有更严格的约束和更简化的模型,验证了该算法的有效性。

This paper investigates the design of optimal supervisors of partial controllable Petri nets. In order to enforce the static specifications and the behavioral specifications, this paper presents the method of designing partially controllable Petri net, explores the preliminary constrains in the form of linear inequalities, gains the legal marking set and boundary illegal marking sets by the reachability analysis and builds the mixed integer linear programming to obtain generalized mutual exclusion constraints with maximal permissibility and minimal number using the branch boundary method. The system model of the part processing system for the motion of the stacking robot is built with Petri net. Based on the occupation and release of the robot in the machining process, research is made on applications in the robot processing system. The optimal supervisor generated from the algorithm shows stricter constrains and more simplified model which proves the effectiveness of this method.