基于Petri网分解的自动化物流系统控制系统研究
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摘要
本文以我校学科群实验中心的自动化物流系统为研究平台,针对该物流系统的任务规划提出了一种新的Petri网分解方法,对所建的物流系统的Petri网模型∑进行分解,分析判断出此物流系统的任务规划合理有效可避免死锁。在此结论的基础上,完成了我校自动化物流系统的控制系统开发,实现了出库和移库功能。
论文介绍并分析了我校学科群实验中心自动化物流系统的硬件组成。在了解了各核心部分结构和参数的基础上采用Petri网理论对该物流系统建立Petri网模型∑,并对该模型各要素给出了定义。
针对自动化物流系统的任务规划,提出一种新的Petri网分解方法——基于变迁指标和库所指标融合的Petri网分解方法。推导出了最小子网和原Petri网之间的可重复性和有界性之间的关系,提出并证明一些相应的推论。对所建立的Petri网模型∑先进行基于变迁指标的分解得出物理含义明确的子网,再采用基于库所指标的分解得到融合了T网和S网特性的最小子网。通过分析该最小子网,得出Petri网模型的活性和有界性,据此推断出物流系统的任务规划合理有效。该方法大大减少了直接分析子网或原Petri网模型的计算量,可避免全局或局部死锁,为系统良好运行提供了依据。
以物流系统Petri网模型的分析结果为依据,通过设计数据库、设计操作界面、根据所建立的Petri网模型∑开发出库移库功能的软件完成了该物流系统的控制系统开发。经过多次现场调试及实验证明本文所开发的自动化物流系统的控制系统能够正常有效的运行。堆垛机能够准确的执行出库和移库指令(入库功能在07级研究生秦国柱的论文中完成)。
The research platform of this thesis is the automatic logistics system in Subjects Experimental Center of XUST (Xi'an University of Science and Technology). Aiming at this automated logistics system task planning, a new decomposition method of Petri net is given in this paper. Through decomposing the Petri net model of the logistics system by the new decomposition method, a conclusion is drawn:this logistics system's task planning is reasonable and without globally or local deadlocks. Based on this conclusion,the development of this automatic logistics system's control system is completed, and functions of warehouse discharge and moving are accomplished.
The hardware of the automatic logistics system in Subjects Experimental Center of XUST is introduce and analysed. Based on understanding each core part's structure and parameters, a model based on Petri nets theory of Automated Logistics System is presented and defined.
Aiming at the automated logistics system task planning, a new decomposition method of Petri net based on the index of transition and index of places fusion is given in this paper. The relationship of repeatability and boundedness between minimum subnets and the original Petri net model is deduced, and some corresponding reasonings are proposed and proved. Through decomposing the Petri net model of the logistics system by decomposition method of Petri net based on the index of transition subnets which physical meaning is clear are gotten. Then through decomposing these subnets by decomposition method of Petri net based on index of places minimum subnets which fuse characteristics of T-net and S-net are gotten. According to the analysis of the minimum subnet the activity and boundedness of this Automated Logistics System is inferred. Then, according to the result of the analysis a conclusion is drawn:this logistics system's task planning is reasonable. Using his method greatly reduced the calculation of analyzing the subnets or original Petri nets model directly, without globally or local deadlocks which provides a basis of good working for this system.
On the basis of that conclusion, through designing database, designing interface, developing functions of warehouse discharge and moving based on the established Petri nets model E this automatic logistics system's control system is completed. After many commissioning and experiments, it is proved that this control system of the automatic logistics system can work very well. The stacker can executive instructions of warehouse discharge and moving accurately (Warehouse entry function is accomplished in the paper of graduate student Qin GuoZhu).
论文介绍并分析了我校学科群实验中心自动化物流系统的硬件组成。在了解了各核心部分结构和参数的基础上采用Petri网理论对该物流系统建立Petri网模型∑,并对该模型各要素给出了定义。
针对自动化物流系统的任务规划,提出一种新的Petri网分解方法——基于变迁指标和库所指标融合的Petri网分解方法。推导出了最小子网和原Petri网之间的可重复性和有界性之间的关系,提出并证明一些相应的推论。对所建立的Petri网模型∑先进行基于变迁指标的分解得出物理含义明确的子网,再采用基于库所指标的分解得到融合了T网和S网特性的最小子网。通过分析该最小子网,得出Petri网模型的活性和有界性,据此推断出物流系统的任务规划合理有效。该方法大大减少了直接分析子网或原Petri网模型的计算量,可避免全局或局部死锁,为系统良好运行提供了依据。
以物流系统Petri网模型的分析结果为依据,通过设计数据库、设计操作界面、根据所建立的Petri网模型∑开发出库移库功能的软件完成了该物流系统的控制系统开发。经过多次现场调试及实验证明本文所开发的自动化物流系统的控制系统能够正常有效的运行。堆垛机能够准确的执行出库和移库指令(入库功能在07级研究生秦国柱的论文中完成)。
The research platform of this thesis is the automatic logistics system in Subjects Experimental Center of XUST (Xi'an University of Science and Technology). Aiming at this automated logistics system task planning, a new decomposition method of Petri net is given in this paper. Through decomposing the Petri net model of the logistics system by the new decomposition method, a conclusion is drawn:this logistics system's task planning is reasonable and without globally or local deadlocks. Based on this conclusion,the development of this automatic logistics system's control system is completed, and functions of warehouse discharge and moving are accomplished.
The hardware of the automatic logistics system in Subjects Experimental Center of XUST is introduce and analysed. Based on understanding each core part's structure and parameters, a model based on Petri nets theory of Automated Logistics System is presented and defined.
Aiming at the automated logistics system task planning, a new decomposition method of Petri net based on the index of transition and index of places fusion is given in this paper. The relationship of repeatability and boundedness between minimum subnets and the original Petri net model is deduced, and some corresponding reasonings are proposed and proved. Through decomposing the Petri net model of the logistics system by decomposition method of Petri net based on the index of transition subnets which physical meaning is clear are gotten. Then through decomposing these subnets by decomposition method of Petri net based on index of places minimum subnets which fuse characteristics of T-net and S-net are gotten. According to the analysis of the minimum subnet the activity and boundedness of this Automated Logistics System is inferred. Then, according to the result of the analysis a conclusion is drawn:this logistics system's task planning is reasonable. Using his method greatly reduced the calculation of analyzing the subnets or original Petri nets model directly, without globally or local deadlocks which provides a basis of good working for this system.
On the basis of that conclusion, through designing database, designing interface, developing functions of warehouse discharge and moving based on the established Petri nets model E this automatic logistics system's control system is completed. After many commissioning and experiments, it is proved that this control system of the automatic logistics system can work very well. The stacker can executive instructions of warehouse discharge and moving accurately (Warehouse entry function is accomplished in the paper of graduate student Qin GuoZhu).
引文
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[2].张欣.堆垛机智能控制系统的研究[D].机械科学研究院硕士学位论文,2005
[3].江志斌Petri网及其在制造系统建模与控制中的应用[M].机械工业出版社,2004.05：1-63
[4].易继锴,侯媛彬.智能控制技术[M].北京工业大学出版社(第二版),2007.09：23-29
[5].袁崇义Petri网原理及应用[M].电子工业出版社,2005.03：27-61,210-234
[6].侯媛彬,李倩.基于Peitri网分解技术的自动化物流系统建模分析[J].计算机应用研,2010,27(11)：4133-4135
[7].李志武,周孟初.自动制造系统建模、分析与死锁控制[M].科学出版社,2009
[8].F. Basile, C. Carbone, P. Chiacchio. Modeling of AS/RS via Coloured Petri Nets[A].2001 IEEE/ASME International Conference on Advanced intelligent Mechatronics Proceedings.Como,Italy,2001
[9].Sunderesh S. Heragu, Xiao Cai, Ananth Krishnamurthy, Charles J. Malmborg. Analysis of Autonomous Vehicle Storage and Retrieval System by Open Queueing Network[J].5th Annual IEEE Conference on Automation Science and Engineering 2009,22-25
[10].Riccardo Manzini, Mauro Gamberi, Alberto Regattieri. Design and control of an AS/RS[J].Int J Adv Manuf Technol 2006,(28):766-774
[11].Zhang Xinmin, Kong Xiangzhuo, Han Xiaoguang. Modeling and Optimizing Fixed Shelf Order-Picking for AS/RS Based on Least Time[J].IEEE.International Conference on Automation and Logistics,2008.09
[12].Chengxin Yu, Li Zhao, Na Xu, Shaolin Li. Study of Computer Vision and Robot Control Technolog in AS/RS[J].IEEEInternational Conference on Automation and Logistics,2007.08
[13].Meijuan Li. Optimal Scheduling Approach of Storage/Retrieval Equipments Based on Genetic Algorithm[J].Proceedings of the 6th World Congress on Intelligent Controland Automation,2006.06
[14].Shunji Tanakal.A hybrid algorithm for the input/output scheduling problem of multi-shuttle AS/RSs[J].SICE Annual Conference.2007
[15].田宝,祝中华.基于着色赋时Petri网的自动化立体仓库系统建模[J].工业自动化, 2008,37(2)：34-38,63
[16].谢海鲸,程国全,王转.立体库作业系统的Petri网建模与性能分析[J].物流技术2007,09
[17].刘波,罗军舟,宋爱波.基于颜色Petri网的多agent动态调度建模与分析[J].系统仿真学报,2007,8
[18].唐素勤,刘洪翼.基于Petri网分解的系统范例分析[J].广西师范大学学报,2006.6
[19].雷斌.基于无线局域网的自动化仓库管理系统设计[J].起重运输机械,2009.6
[20].赵波.自动化立体仓库堆垛机运行系统的研究[D].吉林大学硕士学位论文,2007
[21].乔玉晶,吕宁.立体仓库巷道堆垛机控制系统设计[J].自动化技术与应用,2006,11
[22].段其昌,王玮.自动化立体仓库库位螺旋优化方法[J].工业工程与管理,2009,02
[23].冯汝坤.玉溪红塔集团101自动化物流系统研究改进及实现[D].重庆大学工程硕士学位论文,2003
[24].Lu Qiuqin, Huang Guangqiu, Zhu Huaping. Fuzzy Analysis of Accidents Diagnosis Based on Fuzzy PetriNet[J].International Journal of Systems and Control,2007.27
[25].栾好利.巷道式堆垛机自控系统设计中的几个问题的探讨[J].辽宁工学院学报,2007.5
[26].Song Weigang, Zhan Xin, Wang Cong, Tong Ling. Research on Development and Simulation of Input/Output of AS/RS Decision System[J].Journal of Wuhan University,2006.7
[27].Li Li, Li Wenfang, Liao Xiaoping, Su Wengui, Lin Yizhong. A Communication Protocol and Monitoring Policy for Input/Output Vehicles in an Automatic Storage and Retrieval System[j].Journal of Wuhan University,2006.5
[28].Ma Shuhua, Hao Yanzhu. Research on the Order Picking Optimization Problem of the Automated Warehouse [J].Chinese Control and Decision Conference,2009
[29]. Jiang-Liang Hou. An Optimization Model for Command Cycle assignment of AS/RS Orders[J].Journal of the Chinese Institute of Engineers,2004,173-186
[30].Su Yongding, Qiu Jing, Liu Guanjun. Modeling of Testability Requirement Based on Generalized Stochastic Petri Nets [J]. Journal of China Ordnance,2009,01:60-64
[31].焦莉,陆维明.关于ESAC网活性和有界性的一个多项式算法[J].软件学报,2002,13(7)：1257-1263
[32].曾庆田.基于变迁指标的Petri网分解方法研究[J].计算机科学,2006,3(1)：144-146
[33].Zeng Qingtian. Nalysis of Liveness and Fairness of Petri Net Decomposed on the Index of Places[J].Mini-Micro Systems,2005,26(2):226-229
[34].祝军,曾庆田.基于库所指标分解的Petri网结构性质分析[J].计算机科学与探索,2009,3(1)：91-97
[35].宋益众Microsoft Windows 2000数据库管理系统性能研究[J].电脑知识技术,2005,18：69-71
[36].De La Cruz. Prognotics in the control of logistics system[C].2006 IEEE Inernational Conference on Service Operations and Logistics and Informatics.SOLI,2006
[37].胡金柱,焦金丹,胡燕,鲁志兵.基于Petri网的电子政务工作流模型研究[J].计算机工程与应用,2007,43(2)：199-201,213
[38].刘斌,张建东,李杜娟,杨启明.基于Petri网理论的FC-AE-ASM建模与性能分析[J].计算机应用研究,2011,28(3)：1092-1094
[39].赵阳,易先清,罗雪山.一种基于Petri网的工作流模型研究[J].计算机应用研究,2008,(11)：3335-3339
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