| 爬行机器人的分层可控混成Petri网建模研究 |
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| 引用本文： | 高庆吉,武晓霞,刘芳,李万民.爬行机器人的分层可控混成Petri网建模研究[J].控制工程,2011,18(3):470-473,478. |
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| 作者姓名： | 高庆吉 武晓霞 刘芳 李万民 |
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| 作者单位： | 1. 中国民航大学,机器人研究所,天津,300300
2. 东北电力大学,自动化学院,吉林,吉林,132012 |
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| 基金项目： | 国家自然科学基金资助项目(60776811) |
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| 摘 要： | 飞机表面爬行机器人是一个复杂的离散事件和连续动态事件相结合的混成运动系统,为描述系统的静态特性和动态行为,提出一种分层可控混成Petri网模型.依据爬行运动机构定义了Petri网模型组成元素,建立了爬行机器人单轴和双轴分层可控混成Petri网,该模型可接收上层运动轨迹指令并输出爬行动作序列.实验表明,基于该模型实施的飞...
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| 关 键 词： | 混成系统 可控混成Petri网模型 高层控制 可靠运动 |
Motion Modeling of Crawling Robot Based on Layer Controlled Hybrid Petri Net |
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| GAO Qing-ji,WU Xiao-xia,LIU Fang,LI Wan-min.Motion Modeling of Crawling Robot Based on Layer Controlled Hybrid Petri Net[J].Control Engineering of China,2011,18(3):470-473,478. |
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| Authors: | GAO Qing-ji WU Xiao-xia LIU Fang LI Wan-min |
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| Affiliation: | GAO Qing-ji1,WU Xiao-xia1,LIU Fang2,LI Wan-min2(1.Robotics Institute,Civil Aviation University of China,Tianjin 300300,China,2.Automation department,Northeast Dian li University,Jilin 132012,China) |
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| Abstract: | In order to describe static characteristics and dynamic behavior of the crawling robot on the aircraft surface which is a complex hybrid motor system as a combination of discrete event and continuous events,the layer controlled hybrid Petri nets is proposed.The definition of constituent elements of the Petri net is given based on the crawling robot movement mechanism and then established single axis layer controlled hybrid Petri net and dual axis layer controlled hybrid Petri net of crawling robot,the model... |
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| Keywords: | hybrid system layer controlled hybrid Petri net upper-level control reliable motion |
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