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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。
The design of the optimal monitor for the part machining system of palletizing robots partially controlled Petri nets is studied. In order to ensure that the generalized mutex constraints satisfy the static norms and norms of behavior, a method of optimal monitor of partially controlled Petri nets is proposed and a preliminary constraint set expressed in the form of linear inequality is explored. Through the reachability analysis and preliminary constraint set Establish a reachable tree to obtain a legal identifier set and a bounded illegal identifier set, establish a mixed integer linear programming model for the separated labels, and use the branch boundary method to obtain a maximum allowable degree and a minimum number of generalized mutual exclusion constraint sets as the optimal monitor . Taking part processing system of palletizing robots with uncontrollable changes as an example, a partially controllable Petri net model is established. Combined with the occupation and release of robots in the process of machining parts, the optimal design of the machining system based on Petri nets Research and application of monitor generation algorithm designed monitor has more strict constraints and a more simplified model to verify the effectiveness of the algorithm.