Design method of distributed controller for flexible manufacturing system considering communication delay
A flexible manufacturing system, distributed controller technology, applied in general control systems, control/regulation systems, program control, etc. problems, to achieve the effect of high ease of maintenance, high stability and flexible structure
Active Publication Date: 2022-03-15
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] Further, the drawings are now further described with reference to the present invention:
[0028] refer to figure 1 The distributed controller design method of the presence of the presence communication delay in the present invention includes the following steps:
[0029] 1) Give a flexible manufacturing system consisting of n components, and construct the automatic machine model of each component is a component model. k = (Q k , Σ k ,δ k Q k，0 Q k，m ), Where k∈ {1, ..., n}, q k The status collection of discrete event systems, σ k Collection of all events in the discrete event system, δ k The status transfer relationship of the discrete event system, Q k，0 Initial state of the discrete event system, Q k，m The identity set of the discrete event system;
[0030]The status shift relationship in this step is available in status list state_list, which includes three columns: the first column storage source status, the second column storage event, and the third column store the t...
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The invention relates to a design method for distributed controllers of flexible manufacturing systems considering communication delay, constructing automaton models and communication models of each component in the flexible manufacturing system, calculating the overall characteristics of the system, including all component models and communication models, and according to The set of events that each component can observe computes a system property that satisfies cooperative observability and controllability. Using the controller localization algorithm, a local controller (distributed controller) is calculated for each component, and each controller generates a corresponding control strategy according to the event occurrence information it receives. The present invention provides a top-down design method for the distributed supervisory controller of the discrete event system under the condition of communication delay; in the design process, the design of all distributed controllers can be realized by computer algorithms, Provides a solution for the automatic design of distributed controllers.
Description
Technical field [0001] The present invention belongs to the field of control system design of the flexible manufacturing system, involving a distributed controller design method for considering communication delays, involving distributed controller design methods for discrete event systems. Background technique [0002] With the booming of social economy, manufacturing is continuously developed from automation, intelligent direction, and typical actual industrial systems are flexible manufacturing systems, and their controller is designed to build a function of flexible manufacturing systems. one. Flexible manufacturing systems are typical discrete event systems (DES) that model and control with Supervisory Control Theory based on automatic machine models and form languages. [0003] In recent years, the rapid development of communication networks and embedded technologies has enabled multi-component systems that rely on communication to collaborate throughout the engineering are...
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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