爬行机器人的分层可控混成Petri网建模研究

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...     

基于増广Petri网生成受控日志

为减少冗余日志,降低事件约束不可控对算法评估及验证的影响,提出基于可达状态的随机选择生成受控日志的方法.利用増广Petri网为系统建立模型,依据模型中库所与变迁的结构关系及标识分布构建输入矩阵;基于Petri网可达状态分析方法,随机选择触发可发生变迁,记录变迁序列;对记录进行受控分析,拼装生成多重集事件日志和XES标准...     

基于有限容量库所的离散事件系统的Petri网控制器综合——第1部分

针对由Petri网建模的离散事件系统, 提出了一种新的控制器设计方法. 控制器是基于有限容量库所的概念构造而成的, 并使被控对象在给定的一组线性不等式约束下运行, 而给定的线性不等式约束是定义在库所标识上的. 控制器的综合利用了有限容量库所Petri网转换为 (普通 )无限容量库所Petri网的技术. 针对约束的不同情况, 给出了相应的Petri网的控制器的设计方法.     

含不可控变迁的Petri网监控器设计

在基于Petri网建模的含不可控事件的离散事件系统监控器设计中,当给定的控制目标为Parikh矢量约束时,提出通过转换矩阵R将不可控变迁导致的非法不等式约束变换为允许约束,并求得相应监控器.构造矩阵方程求解R,通过矩阵方程的相容性判断R的存在性,并给出利用广义逆矩阵求解R的算法,得到对应的允许约束和监控器.同时提出代价函数,用于寻找控制观测代价最小的监控器.最后通过实例验证了该算法的正确性和有效性.     

k-选择网和Pi演算的表达能力

文中定义了Petri网的一子类系列:k-选择网,它形成一个后类包含前类的Petri网子类的无穷序列,证明了此无穷序列的并集等于Petri网类,自由选择网是k=1的k-选择网,即1-选择网.在证明自由选择网系统可以用Pi演算表达的基础上,文中进一步证明了所有2-选择网系统可以用Pi演算表达.     

基于概率Petri网的故障诊断模型研究

为解决不确定条件下的故障诊断问题,在传统Petri网基础上,引入概率理论,提出了概率Petri网的概念;概率Petri网将事件发生的概率及其逻辑推理过程引入Petri网的设计及矩阵运算中,以反映事件转换过程中发生的可能性。针对概率Petri网特点,故障诊断模型的设计建立在根据简化样本集获取的诊断规则基础上,以避免复杂系统建模时出现的组合爆炸问题,诊断规则的获取可以有效推广故障诊断范围,使其不仅仅局限于样本集;同时,针对诊断规则的形式,定义并提出将诊断规则转换为标准基本规则序列,便于模型的程序化设计。通过旋转机械故障诊断的示例证明了这种方法的可行性与有效性。     

改进的部分可观Petri网系统在线故障诊断器设计

本文研究部分可观Petri网建模的离散事件系统的故障检测问题.针对现有的部分可观Petri网系统的在线故障诊断器存在故障诊断率较低的缺陷,本文提出了整数线性规划与广义互斥约束集成的部分可观Petri网系统在线故障诊断改进算法.假定部分可观Petri网系统的结构与初始标识为已知,故障被建模为不可观变迁.首先,算法需要观测接收事件序列,求解部分可观Petri网的整数线性规划问题,算法对系统的故障进行初步诊断.初步诊断为不确定诊断的情形,采用广义互斥约束的方法进行诊断.最后,通过离散事件系统实例分析,采用本文的算法,故障诊断率显著提高,验证了算法的有效性.     

应用Petri网求解事故树最小割集的方法研究

为简化事故树分析过程中最小割集求解算法的步骤,在构建事故树Petri网模型的基础上,探讨了事故树Petri网模型的性质,给出了事故树的逻辑表达式与事故树Petri网模型的可达死标识之间的关系,进而提出了利用Petri网可达图求解事故树最小割集的算法,以及在给定基本事件发生时,中间事件和顶事件发生与否的判断方法。结合实例,借助开源的Petri网工具PIPE实现了事故树最小割集的求解,表明了该算法的有效性和可行性。     

基于规则获取的Petri网诊断模型设计

通过旋转机械故障诊断规则的获取分析,讨论了利用诊断规则设计Petri网诊断模型的方法.该模型的设计建立在简化的样本集基础上,可有效降低Petri网的复杂程度,避免Petri网在复杂系统建模时出现的组合爆炸问题;针对诊断规则的形式,定义并提出将诊断规则转换为标准基本规则序列,便于模型的程序化设计;同时诊断规则的获取可以有效推广故障诊断范围,使其不仅仅局限于样本集,并能消除样本集中存在的不一致问题带来的影响.通过示例证明了这种方法的可行性与有效性,并给出了相关算法.     

基于GMEC转换算法的Petri网结构控制器综合方法

针对含不可控变迁Petri网系统禁止状态控制器设计问题,提出了一种基于矩阵变换和整数线性规划的结构控制器综合方法。该方法的关键是对代表系统合法状态的广义互斥约束(generalized mutual exclusion constraint, GMEC)进行转换。首先,根据Petri网系统的关联矩阵,将库所集分为无关库所集、不可控库所集和补足库所集。其次,通过对非允许GMEC中补足库所的权值和不可控库所的权值进行处理,并运用整数线性规划将非允许GMEC转换为允许GMEC。在允许GMEC的基础上,根据库所不变量原理设计出Petri网系统的结构控制器。最后,以某零件加工系统为例验证了所提方法的泛用性和高效性,为实际智能制造系统的监督控制器设计提供有效参考方案。     

Supervisor synthesis for discrete event systems under partial observation and arbitrary forbidden state specifications

In this paper, we consider the forbidden state problem in discrete event systems modeled by partially observed and partially controlled Petri nets. Assuming that the reverse net of the uncontrollable subnet of the Petri net is structurally bounded, we compute a set of weakly forbidden markings from which forbidden markings can be reached by firing a sequence of uncontrollable/unobservable transitions. We then use reduced consistent markings to represent the set of consistent markings for Petri nets with structurally bounded unobservable subnets. We determine the control policy by checking if the firing of a certain controllable transition will lead to a subsequent reduced consistent marking that belongs to the set of weakly forbidden markings; if so, we disable the corresponding controllable transition. This approach is shown to be minimally restrictive in the sense that it only disables behavior that can potentially lead to a forbidden marking. The setting in this paper generalizes previous work by studying supervisory control for partially observed and partially controlled Petri nets with a general labeling function and a finite number of arbitrary forbidden states. In contrast, most previous work focuses on either labeling functions that assign a unique label to each observable transition or forbidden states that are represented using linear inequalities. More importantly, we demonstrate that, in general, the separation between observation and control (as considered in previous work) may not hold in our setting.     

Some decision problems related to the reachability problem for Petri nets

In this paper, we show that (1) the question to decide whether a given Petri net is consistent, M_o-reversible or live is reduced to the reachability problem in a unified manner, (2) the reachability problem for Petri nets is equivalent to the equality problem and the inclusion problem for the sets of all firing sequences of two Petri nets, (3) the equality problem for the sets of firing sequences of two Petri nets with only two unbounded places under homomorphism is undecidable, (4) the coverability and reachability problems are undecidable for generalized Petri nets in which a distinguished transition has priority over the other transitions, and (5) the reachability problem is undecidable for generalized Petri nets in which some transitions can reset a certain place to zero marking.     

Constrained controllability of discrete-time systems†

The constrained controllability of the discrete-time system x_k+1=A(k)x_k+B(k)u,_k is considered where the control uk is termed admissible if it satisfies specified magnitude constraints. Constrained controllability is concerned with the existence of an admissible control which steers the state x to a given target set from a specified initial state

Conditions for checking constrained controllability to a given target set from a specified initial state are presented. These conditions involve solving finite-dimensional optimization problems and can be checked via numerical computation. In addition, conditions for checking global constrained controllability to a given target set are presented. A system is globally constrained controllable if for every initial state, there exists an admissible control that steers the system to the target.

If a given discrete-time system is constrained controllable, it may be desirable to obtain an admissible control that steers the system to the target from a specified initial state. Such a control is called a steering control. Results for computing steering controls are also presented

This paper is concluded with a numerical example. In this example, it is shown that the constrained controllability of a continuous-time system which has been discretized is dependent on the discretization time. The set of states which can be steered to the target changes as the discretization time changes. Furthermore, the example shows that a discrete-time steering control cannot always be obtained by discretizing a continuous-time steering control; the steering control for the discrete-time system must be obtained directly from the discrete-time model.     

A control synthesis approach for time discrete event systems

In this paper, we introduce a control synthesis method for discrete event systems whose behavior is dependent on explicit values of time. Our goal is to control the occurrence dates of the controllable events so that the functioning of the system respects given specifications. The system to be controlled is modeled by a time Petri net. In a previous work we proposed a systematic method to build the timed automaton which models the exact behavior of a time Petri net. Furthermore, the forbidden behaviors of the system are modeled by forbidden timed automaton locations. This paper focuses on the control synthesis method, which consists in computing new firing conditions for the timed automaton transitions so that the forbidden locations are no longer reachable.     

Petri网的状态转换图

给出Petri网的状态转换图模型,并作为分析工具,分析Petri网重复引发序列在状态转换图中的表现特点,给出标注路径(回路)与引发序列(重复引发序列)的关系及其判定条件,并给出求基本重复引发序列的计算方法;定义了可重复序列之间的依赖性和依赖度,准确地给出了可重复序列之间依赖关系的形式描述;分析了Petri网语言的结构特点,证明了任意一个Petri网语言都是一个正规语言表达式与该网的可重复引发序列α闭包的同步.     

An equivalence theorem for labeled marked graphs

Petri nets and their languages are a useful model of systems exhibiting concurrent behavior. The sequential language associated with a given Petri net S consists of all possible firing sequences of S, where each element of a firing sequence is a single transition. The concurrent language associated with S consists of all possible concurrent firing sequences of S, where each element of a concurrent firing sequence is a set of transitions. The sequential language and the concurrent language associated with S are denoted by (L)(S) and (π)(S), respectively. In this paper, we consider an important special ease of Petri nets, called labeled marked graphs. The main result derived in this paper states that if Γ₁ and Γ₂ are two structurally deterministic labeled marked graphs, then (L)(Γ₁)=L(Γ₂)&rlhar2;π(Γ ₁)=π(Γ₂)     

Supervisory control of timed event graphs with partial specifications

This paper studies realizable firing time sequences under supervisory control in the max-algebra model of timed event graphs. A specification is assumed to be defined on firing times of a specified subset of transitions. Such a specification is called a partial specification. A necessary and sufficient condition for a partial specification to be realizable is presented under the assumption that all controllable transitions are in the specified subset. For a not realizable partial specification, the extremal realizable sequences are obtained as its approximations.     

Scheduling and control of real-time systems based on a token player approach

Petri nets are a powerful formalism for the specification and verification of concurrent systems, such as sequential systems and manufacturing systems. To deal with real-time systems whose time issues become essential, different extensions of Petri nets with time have been proposed in the literature. In this paper, a new scheduling and control technique for real-time systems modeled by ordinary P-time Petri nets is proposed. Its goal is to provide a scheduling for a particular firing sequence, without any violation of timing constraints ensuring that no deadline is missed. It is based on the firing instant notion and it consists in determining an inequality system generated for a possible evolution (in terms of a feasible firing sequence for the untimed underlying Petri net) of the model. This system can be used to check reachability problems as well as evaluating the performances of the model considered and determining the associated control for a definite functioning mode and it introduces partial order on the execution of particular events.     

Suboptimal time management of discrete event systems with uncontrollable events modeled by Petri nets

Preventing systems from entering to forbidden states is a crucial issue in discrete event systems control. Adding supervisors to the system is a common method to avoid entering to forbidden states. In discrete event systems modeled by Petri net adding a supervisor could be done by means of control places. Since, the time is not considered in designing this supervisor, in presence of uncontrollable transitions adding control places can lead to increase the operation time of the system modeled by timed Petri net. Because, the firing of some transitions is prevented when it is not necessary. So, to design a more efficient controller, we will be required to use time information of the system component. Therefore, in this paper, a method for optimizing the time behavior of a supervised timed Petri net will be proposed. To obtain an efficient operation, some timed places as timer will be added to the net. The time of this timer places is calculated to permit firing of some controllable transitions in order to enter into some weakly forbidden states while entering to forbidden states is prevented. This concept leads to increase the speed of system as well as obtain an acceptable operation. This method can be applied for all systems modeled by Petri nets. The efficiency of proposed approach will be discussed and validated with a case study.     

时间Petri网的随机模拟

模拟是Peri网进行系统分析的常用方法之一。由于时间Petri网采用时间区间来描述变迁实施的时间范围,因此变迁的实施时间点在区间内是不确定的。提出了时间Petri网的随机模拟方法。该方法在变迁开始使能时,根据某种随机分布确定实施区间内的实施时间点;然后基于模拟仿真的实验数据,运用统计分析方法及算法,构造时间Petri网状态类树,计算变迁实施区间及实施概率,为时间Petri网的系统模拟提供了一种新的探索途径。