费斯托气伺服仓库混杂系统建模与分析  

Model Establishing and Analyzing of FESTO Pneumatic Storage

作　　者：苏永清[1] 董超[1] 岳继光[1] 

机构地区：[1]同济大学电子与信息工程学院,上海201804

出　　处：《系统仿真技术》2009年第4期267-271,共5页System Simulation Technology

基　　金："十一五"国家科技支撑计划资助项目(2007BAF10B00)

摘　　要：费斯托公司气伺服仓库的工件供给与提取具有离散事件状态转移的系统特征,另一方面三维气伺服手臂和传送带具有连续系统运动特征,表明费斯托气伺服仓库是一个典型的混杂系统。基于此,采用了瑞士联邦理工大学混杂系统研究中心开发的混杂系统建模架构及其描述语言和基于滚动优化算法的混杂系统控制器为费斯托气伺服仓库建立混杂系统模型,并在MATLAB/Simulink Hybrid Toolbox环境下进行仿真,对气伺服仓库工件的存数数量,气臂的动作与行程,进出货时间的调度进行优化控制。Depending on system behaviors of the pneumatic storage,just as the issues of discrete event system state transition which driving by supplying and delivering goods,or continuous moving of the three dimensions pneumatic arms and conveyor belt-which belong to the continuous system category.According to the above,this paper raises the question of establishing the hybrid model for the pneumatic storage,which based on the hybrid model structure,model description language and Receding Horizon controller,all developed by Hybrid Systems group of Polytechnic School in Zurich.The pneumatic storage hybrid model is built in the MATLAB/Simulink Hybrid Toolbox environment and we will focus on controlling and observing of the amounts of goods,behaviors of 3D pneumatic arm and so on.

关 键 词：混杂系统模型 气伺服仓库 系统控制与仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]