基于对象Petri网的AUV水面监控系统建模  

Modeling of Surface Monitoring System for AUV Based on Object Petri Net

作　　者：程相勤[1] 严浙平[1] 徐健[1] 边信黔[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《计算机仿真》2009年第3期108-111,135,共5页Computer Simulation

摘　　要：针对通常的模型不能同时描述自主式水下航行器(AUV)水面监控系统的静态结构和动态过程,而且在层次化、可扩充性等方面也不能满足建模需求的问题,采用对象Petri网建立了AUV水面监控系统模型。首先对AUV水面监控系统进行了分析,划分了系统对象;然后建立了适用于各个对象的不同工作模式的Petri网模型;最后给出了AUV水面监控系统的对象Petri网模型,并进行了仿真分析,仿真结果与实际过程相符合。仿真结果表明,基于Petri网建立的AUV水面监控系统具有实时性和可靠性,提高了AUV系统的自主能力和可视化能力,以及航行的可靠性和安全性。To solve the difficult depiction about the AUV surface monitoring system＇ s static structure and dynamic process by traditional model at the same time, and to meet the requirements of modeling for layering and extension, a model based on Object Petri Net （OPN） was proposed. The AUV surface monitoring system was analyzed and divided into several objects;and the object models were set ,which were adapted to different work modes of these objects ;The OPN model of AUV surface monitoring system was constructed and analyzed,and its simulation result was consistent with the practical process. The simulation shows that AUV surface monitoring system model ed by Petri net is real - time and reliable, the autonomy and visualization capabilities of the AUV are improved, as well as the reliability and safety of navigation.

关 键 词：对象派粹网 离散事件 自主式水下航行器 监控系统 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]