自动小车存取系统中轨道导引小车环路死锁控制的研究  

Cycle-deadlock control of RGVs in autonomous vehicle storage and retrieval systems

作　　者：吴长庆[1] 何善君[1] 罗键[1] 

机构地区：[1]厦门大学信息科学与技术学院,福建厦门361005

出　　处：《计算机集成制造系统》2008年第9期1766-1773,共8页Computer Integrated Manufacturing Systems

摘　　要：为防止自动小车存取系统中轨道导引小车环路死锁现象,提出了一种基于Petri网和有向图的死锁控制方法。该方法首先应用有色赋时Petri网建立了自动小车存取系统的动态模型,并结合有向图工具,阐述了导致环路死锁的原因。在此基础上,针对单一轨道双向运行的轨道导引系统,探讨了其环路死锁的主要表现形式,给出了轨道导引小车无死锁运行的充要条件,并提出了包含临界状态在内的死锁避免控制策略。最后,结合实例说明了环路死锁控制的有效性。To avoid the cycle-deadlock of the Rail-Guided Vehicles （RGVs） systems in Autonomous Vehicle Storage and Retrieval Systems （AVS/RS）, a deadlock control modeling method based on Petri nets and directed graph was proposed. The dynamic model of AVS/RS was constructed by using Colored Timed Petri Nets （CTPN）. And by u- sing directed graph tools, the cycle-deadlock was described. To deal with RGVs systems with single rail and two directions, forms of cycle-deadlock were also discussed. Moreover, the necessary and sufficient conditions for RGVs deadlock-free were presented, and the deadlock-free control policies including critical state were also proposed. Finally, a case study was given to validate the effectiveness of the proposed policy.

关 键 词：自动小车存取系统 轨道导引小车系统 有色赋时Petri网 有向图 环路死锁 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]