A new real time control model based on the fundamental Petri net theory is built for a complete close loop welding robot system with time delay. The new Petri net model synchronizes with devices at the primary level b...A new real time control model based on the fundamental Petri net theory is built for a complete close loop welding robot system with time delay. The new Petri net model synchronizes with devices at the primary level by introducing into the basic Petri net expression new parameters which contain the responding real time information. In addition, time delay is taken into account by adding some necessary time related parameters. Usually, in a system without time delay, if the condition is enabled, the transition must be fired, but in a system with time delay, this property is only a necessary but not a sufficient condition.展开更多
文摘A new real time control model based on the fundamental Petri net theory is built for a complete close loop welding robot system with time delay. The new Petri net model synchronizes with devices at the primary level by introducing into the basic Petri net expression new parameters which contain the responding real time information. In addition, time delay is taken into account by adding some necessary time related parameters. Usually, in a system without time delay, if the condition is enabled, the transition must be fired, but in a system with time delay, this property is only a necessary but not a sufficient condition.
