一种基于离散事件模型的柔性装配系统容错控制策略  

A Discrete Event Model of Automatic Error Recovery Control Strategy in Flexible Assembly System (FAS)

作　　者：张伟军[1] 杨化书[2] 杨汝清[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200030 [2]黄河水利职业技术学院,开封475001

出　　处：《上海交通大学学报》2004年第8期1337-1341,共5页Journal of Shanghai Jiaotong University

摘　　要：深入研究了柔性装配系统中错误检测和自恢复的同步Petri网模型.通过将系统中的传感信息和状态持续时限建模为事件集,讨论了通过过程监控生成错误恢复子网的系统容错设计方法,并对具体的错误恢复子网实施的外部条件进行了讨论.试验表明,该方法有助于提高柔性装配系统的可靠性,并为柔性装配系统布置提供了相应的设计依据.In a robotic assembly, uncertainties and unexpected events are the key factors which prevent assembly from succeeding, while controlling the assembly systems, real time data is collected through sensors and fed back to the controller for the purpose of monitoring that system. Fault detection and error recovery were researched by analyzing the data collected from flexible assembly system, and the control strategy was modeled by synchronized Petri net in which the events set can be represented by sensor data and time duration of the state. The concept of error recovery subnets, which will be generated in real time according to the events set, was presented for error recovery. Furthermore, the required external conditions were discussed. The discrete event modeling and error recovery strategy make the flexible assembly system (FAS) or flexible manufacturing system (FMS) more reliable.

关 键 词：柔性装配系统 容错控制 同步Petri网 装配规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]