基于时间Petri网的断路器虚拟装配系统研究
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摘要
提出了一种基于时间Petri网模型的断路器自动化虚拟装配系统,采用时间约束的嵌套式Petri网模型对装配系统行为逻辑进行描述。将建立的Petri网模型中的库所、变迁与Unity 3D软件的虚拟场景中的实体对象相对应,采用时序驱动的方法在Unity 3D中对断路器自动化装配实体进行了虚拟重现。开发了基于C#函数库的虚拟装配系统数据交换引擎,可通过Wi-Fi、工业串口与外部实体实现数据交换。采用包围盒法对虚拟装配单元和零部件进行碰撞检测设计,进而实现了断路器自动化装配系统的虚拟现实仿真,并验证了该系统的可行性和有效性。
An automatic virtual assembly system of circuit breakers was proposed based on time Petri net model herein.The behavior logic of assembly systems was described by the time-constrained nested Petri net model.To incorporate the Petri model into virtual simulation,the repositories and transition in the established Petri net model were related to the entity objects in the Unity 3Dvirtual scene.The method of time series drive was used to reconstruct the automatic assembly entity systems of circuit breakers in Unity 3D.The data exchange engines of virtual assembly systems were developed based on C#function library.Wi-Fi and industrial serial port might be used to exchange data with external entities.To implement the collision detection in the simulation,the bounding box detection method was used in the virtual assembly units and the spare parts.The virtual simulation was realized with Unity 3Dand the feasibility and effectiveness of the systems were verified by simulations and demonstrations.
An automatic virtual assembly system of circuit breakers was proposed based on time Petri net model herein.The behavior logic of assembly systems was described by the time-constrained nested Petri net model.To incorporate the Petri model into virtual simulation,the repositories and transition in the established Petri net model were related to the entity objects in the Unity 3Dvirtual scene.The method of time series drive was used to reconstruct the automatic assembly entity systems of circuit breakers in Unity 3D.The data exchange engines of virtual assembly systems were developed based on C#function library.Wi-Fi and industrial serial port might be used to exchange data with external entities.To implement the collision detection in the simulation,the bounding box detection method was used in the virtual assembly units and the spare parts.The virtual simulation was realized with Unity 3Dand the feasibility and effectiveness of the systems were verified by simulations and demonstrations.
引文
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[17]WANG Hongjun,DONG Ting,ZHANG Jing,et al.Simulation and Optimization of the Camshaft Production Line Based on Petri Net[J].Advanced Materials Research,2010,1037(139):1506-1509.
[18]凌正阳,曹恒,王瑜,等.900t级架桥机多软件协同仿真平台试验研究[J].振动、测试与诊断,2009,29(3):295-298.LING Zhengyang,CAO Heng,WANG Yu,et al.Test of a Simulation Platform of Multi-Software for 900ton Brigde-Erecting Machine[J].Journal of Vibration,Measurement&Diagnosis,2009,29(3):295-298.
[19]马登武,叶文,李瑛.基于包围盒的碰撞检测算法综述[J].系统仿真学报,2006,18(4):1058-1061.MA Dengwu,YE Wen,LI Ying.Survey of Boxbased Algorithms for Collision Detection[J].Journal of System Simulation,2006,18(4):1058-1061.
[20]ZHANG Mengyang,TIAN Guohui,LI Cici,et al.Construction of 3DSence with Cloud Robot Platform Based on Intelligent Space[C]//IEEE International Conference on Information and Automation.Ningbo,2016:1526-1531.
[2]陈文华,张文,潘骏,等.小型断路器操作机构的动作可靠性分析[J].中国机械工程,2015,26(21):2918-2922.CHENG Wenhua,ZHANG Wen,PAN Jun,et al.Action Reliability Analysis of Operating Mechanism in Miniature Circuit Breaker.[J].China Mechanical Engineering,2015,26(21):2918-2922.
[3]徐宗昌,周健,刘义乐.基于Petri网的时线分析新方法[J].中国机械工程,2006,17(5):464-466.XU Zongchang,ZHOU Jian,LIU Yile.A New Petri Net-based Method for Time-line Analysis[J].China Mechanical Engineering,2006,17(5):464-466.
[4]傅作为,乐晓波,王慧英.加权的时间Petri网工作流模型研究[J].计算机工程与应用,2014,50(15):55-58.FU Zuowei,YUE Xiaobo,WANG Huiying.Workflow Model Based on Extended Weighted and Timed Petri Net[J].Computer Engineering and Applications,2014,50(15):55-58.
[5]张新旭,张万良.基于赋时Petri网和GA的柔性制造系统调度[J].系统工程,2010,28(11):86-94.ZHANG Xinxu,ZHANG Wanliang.Timed Petri Net Based Modeling and GA Based Scheduling of Flexible Manufacturing System[J].Systems Engineering,2010,28(11):86-94.
[6]WONGWIWAT A,BOHEZ E L J,PISUCHPENR.Production Scheduling for Injection Molding Manufacture Using Petri Net Model[J].Assembly Automation,2013,33(3):282-293.
[7]DEMONGODIN I,TERZI L.Batches Petri Nets with Controllable Batch Speed for Transportation Systems[J].IFAC Proceedings Volumes,2009,42(4):930-935.
[8]刘晓娟,温冠华.基于Petri网的交通控制系统建模与评估[J].计算机工程,2008,34(S1):8-10.LIU Xiaojuan,WEN Guanhua.Modeling and Analysis of Traffic Control System Based on Petri Net[J].Computer Engineering,2008,34(S1):8-10.
[9]郎文辉,黄胜,骆德汉.卷接机组故障诊断的模糊行为Petri网研究[J].振动、测试与诊断,1999,19(4):58-62.LANG Wenhui,HUANG Sheng,LUO Dehan.Research on Fault Diagnosis for Cigarette Machine Using Fuzzy Behavioral Petri Nets[J].Journal of Vibration,Measurement&Diagnosis,1999,19(4):58-62.
[10]方志梅,叶飞帆,李院生.柔性供应链的Petri网建模与分析[J].中国机械工程,2006,17(21):2238-2242.FANG Zhimei,YE Feifan,LI Yuansheng.A Petri-net Modeling and Analysis of Flexible Supply Chain[J].China Mechanical Engineering,2006,17(21):2238-2242.
[11]曹政才,乔菲.基于有色赋时Petri网的半导体生产线建模技术研究[J].系统仿真学报,2007,19(S1):210-213.CAO Zhengcai,QIAO Fei.Research on Colored Timed Petri Net Based Modeling Technology of Semiconductor Wafer Fabrication[J].Journal of System Simulation,2007,19(S1):210-213.
[12]徐彪,尹项根,汪旸,等.基于模糊时间Petri网的电网故障诊断方法[J].电力系统自动化,2018,42(2):70-76.XU Biao,YIN Xianggen,WANG Yang,et al.Fault Diagnosis Method of Power System Based on Fuzzy Time Petri Net[J].Automation of Electric Power Systems,2018,42(2):70-76.
[13]张伟军,贾传圣,杨汝清.基于时延Petri网模型的机器人装配任务规划[J].中国机械工程,2002,13(14):55-58.ZHANG Weijun,JIA Chuansheng,YANG Ruqing.Robotic Assembly Task Planning Based on Timed Petri Nets[J].China Mechanical Engineering,2002,13(14):55-58.
[14]ULLAH H,BOHEZ E J.A Petri Net Model for Sequence Optimization and Perform Analysis of Flexible Assembly Systems[J].Journal of Manufacturing Technology Management,2008,19(18):985-1003.
[15]潘春荣,黎良.印刷包装生产线的建模与仿真分析[J].系统仿真学报,2014,26(12):2996-3002.PAN Chunrong,LI Liang.Modeling and Simulation Analysis of Production Line for Printing and Packaging[J].Journal of System Simulation,2014,26(12):2996-3002.
[16]梅江平,曹家鑫,张新,等.基于Petri网的高速机器人果奶包装生产线设计方法[J].天津大学学报(自然科学与工程技术版),2014,47(2):138-142.MEI Jiangping,CAO Jiaxin,ZHANG Xin,et al.Design Method of High-speed Robot Fruit-milk Packaging Line Based on Petri Net[J].Journal of Tianjin University(Science and Technology),2014,47(2):138-142.
[17]WANG Hongjun,DONG Ting,ZHANG Jing,et al.Simulation and Optimization of the Camshaft Production Line Based on Petri Net[J].Advanced Materials Research,2010,1037(139):1506-1509.
[18]凌正阳,曹恒,王瑜,等.900t级架桥机多软件协同仿真平台试验研究[J].振动、测试与诊断,2009,29(3):295-298.LING Zhengyang,CAO Heng,WANG Yu,et al.Test of a Simulation Platform of Multi-Software for 900ton Brigde-Erecting Machine[J].Journal of Vibration,Measurement&Diagnosis,2009,29(3):295-298.
[19]马登武,叶文,李瑛.基于包围盒的碰撞检测算法综述[J].系统仿真学报,2006,18(4):1058-1061.MA Dengwu,YE Wen,LI Ying.Survey of Boxbased Algorithms for Collision Detection[J].Journal of System Simulation,2006,18(4):1058-1061.
[20]ZHANG Mengyang,TIAN Guohui,LI Cici,et al.Construction of 3DSence with Cloud Robot Platform Based on Intelligent Space[C]//IEEE International Conference on Information and Automation.Ningbo,2016:1526-1531.