Distributed controller design method of flexible manufacturing system with consideration of communication delay
A flexible manufacturing system, distributed controller technology, applied in general control systems, control/regulation systems, program control, etc., can solve the problems of communication delay, unstable communication lines, affecting distributed controllers, and complex overall system characteristics, etc. problems, to achieve high stability and easy maintenance, flexible structure, simple control logic effect
Active Publication Date: 2019-11-15
西安博展电力技术有限公司
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[0004] The local controller in the distributed control structure is also called a distributed controller, and its design needs to solve two problems: one is the design of the distributed controller, that is, to obtain a control strategy that meets the requirements of a given index; the other is the communication problem, For example, problems such as communication delays and unstable communication lines will directly affect whether the designed distributed controller can make correct control decisions.
[0006] However, the description of the communication process in the existing research usually uses methods such as mapping and communication queues, the calculation of the overall system characteristics is relatively complicated, and most of them only propose the existence conditions of local controllers such as joint observability and cooperative observability
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[0027] The present invention will now be further described in conjunction with the embodiments and drawings:
[0028] reference figure 1 , The design method of the distributed controller of the flexible manufacturing system with communication delay according to the present invention includes the following steps:
[0029] 1) Given a flexible manufacturing system composed of n components, construct the automaton model of each component, namely the component model G k =(Q k ,Σ k ,δ k ,q k,0 ,Q k,m ), where k∈{1,…,n}, Q k Is the state set of the discrete event system, Σ k Is the set of all events in the discrete event system, δ k Is the state transition relationship of the discrete event system, q k,0 Is the initial state of the discrete event system, Q k,m Is a set of identification states of the discrete event system;
[0030] The state transition relationship in this step can be represented by a state list State_list, which includes three columns: the first column stores the source s...
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The invention relates to a distributed controller design method of a flexible manufacturing system with consideration of communication delay. Automaton models and communication models of all assemblies in a flexible manufacturing system are constructed and overall characteristics of the system are calculated; all assembly models and communication models are included; and one system characteristicmeeting the collaborative observability and controllability is calculated according to an event set that can be observed by each assembly. On the basis of a controller localization algorithm, a localcontroller, that is, a distributed controller is calculated for each assembly; and each controller generates a corresponding control strategy according to received event occurrence information. According to the invention, a top-down design method for a distributed supervised controller of a discrete event system in the presence of communication delay is provided. During the design process, the design of all distributed controllers can be realized by computer algorithms and thus a solution is provided for the automatic design of the distributed controller.
Description
Technical field [0001] The invention belongs to the control system design field of a flexible manufacturing system, relates to a flexible manufacturing system distributed controller design method considering communication delay, and relates to a distributed controller design method of a discrete event system. Background technique [0002] With the vigorous development of the social economy, the manufacturing industry is constantly developing towards automation and intelligence. The typical actual industrial system is flexible manufacturing systems. The design of its controller has become one of the key technologies for constructing flexible manufacturing systems. One. Flexible manufacturing system is a typical discrete event system (DES), which can be modeled and controlled by the supervisory control theory of discrete event system based on automaton model and formal language. [0003] In recent years, the rapid development of communication networks and embedded technology has mad...
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IPC IPC(8): G05B19/418
CPCG05B19/41865G05B2219/32252Y02P90/02
Inventor张仁远唐炜
Owner西安博展电力技术有限公司