可重构制造系统的可重构控制器

可重构控制器是可重构制造系统的重要组成部分之一。该文提出了可重构控制器的体系结构。分析了实现可重构制造系统的可重构控制的方法。仿真研究表明可重构控制是实现可重构制造系统控制系统可重构的有效方法。     

可重构制造系统监督控制器的自动重构

提出了基于改进的网重写系统(Improved net rewriting system, INRS)的可重构制造系统(Reconfigurable manufacturing systems, RMS) Petri网监督控制器的自动重构方法, 以快速适应由市场需求变化所引起的制造系统构形的频繁变化. INRS解决了网重写系统存在的问题, 可动态调整给定Petri网模型的结构而不改变其行为属性. 以集合和图的组合形式定义了RMS的构形, 并提出了基于INRS的一类模块化、可重构的Petri网控制器的设计方法. 针对这类Petri网控制器, 提出了基于INRS的自动重构方法. 方法可将RMS构形的变化转变为INRS的图重写规则, 并作用于当前Petri网控制器, 使其快速、自动地重构为所求的新控制器. 所提出的Petri网控制器的设计与重构方法, 均从理论上保证了结果的正确性, 免校验. 仿真研究验证了方法的有效性.     

可重构嵌入式数控系统的研究

提出了一种可重构的嵌入式数控系统，通过与安装有网格中间件和网格支持工具的上位机相连，可以很方便地作为制造网格的一个可重构节点。在硬件设计上，主控系统、插补和补偿模块以及伺服模块通过CAN总线互连，实现嵌入式数控系统硬件的可重构性。在软件设计上，采用软件芯片的思想，同时设计数控软件自动生成系统，实现了软件的可重构性。     

嵌入式虚拟仪器软件可重构设计技术研究

嵌入式虚拟仪器(EVI)软件可重构是指框架和功能的重构;结合面向对象技术和组件技术,系统地阐述了软件可重构模块化设计的原理、软件可重构算法、可重构软件结构框架设计和可重构软件开发方法;通过分析可重构软件的设计原理和设计思路,提出了一套比较详细的可重构软件的开发方法;经工程实践应用,设计方法合理可行,有效提高了嵌入式虚拟仪器软件的开发效率,达到软件复用及重构的目的。     

模块化可重构机器人动力学研究进展

模块化可重构机器人由于其构型多变,运动形式丰富等特点,可以在非结构化环境或未知环境中执行任务,在最近几年迅速成为机器人研究领域的前沿和热点. 模块化可重构机器人在军事、医疗、教育等众多工程领域具有广泛的应用前景,其典型代表包括仿生多足模块化机器人、模块化可重构机械臂、晶格式模块化机器人等. 模块化可重构机器人丰富的构型设计、多样的连接特征、不断拓展的应用范围,给动力学建模与控制带来了很多挑战和机遇. 本文首先阐述了模块化可重构机器人的研究背景和意义,并概述了其构型分类与设计、构型描述与运动学建模方法.随后,本文系统回顾了模块化可重构机器人动力学研究中相关问题的最新进展,包括：(1)系统整体动力学建模;(2)结合面以及对接机构动力学建模;(3)基于动力学模型的控制方法. 本文最后提出了模块化可重构机器人动力学研究中若干值得关注的问题.     

基于RMC的可重构制造系统设备布局优化研究*

为实现多品种变批量生产制造系统阵列式布局的动态重构,提出一种新的设备布局优化方法.建立了可重构制造系统(RMS)设备优化选择数学模型,设计了基于蚁群优化和阶序聚类算法的可重构制造单元(RMC)动态重构算法.以交货期内最小成本为目标,引入系统复杂度和系统响应度从系统能力角度完善了实现RMS重构的约束条件,最终完成了可重构制造系统设备布局优化.最后通过布局实例仿真验证该方法的可行性和有效性.     

FPGA的可重构测控系统应用设计

可重构器件技术的发展和测控系统结构模式的通用化是实现可重构测控系统的前提。通过对常规计算机测控系统存在的问题、结构模式和多任务特征以及可重构器件技术发展的分析,提出基于FPGA器件设计可重构测控系统平台的设想,对可重构测控系统设计原则、硬件结构单元设计和软件重构方法进行了分析,并给出应用于雷达信号实时侦测的基于CPCI总线的可重构测控系统硬件设计的实例。     

可重构计算系统的研究与应用

可重构计算系统既具有在制造后的可编程性．又能提供较高的计算性能和计算密度。对可重构计算系统的基本概念以及系统构成概要介绍的基础上,通过一个实例给出了可重构计算系统的一种快速实现方法,与具有相同功能的其他系统相比．这种系统更灵活和高效。     

一种基于FPGA的可重构计算系统设计

介绍可重构计算的概念和基于SRAM工艺的FPGA器件的特点。设计了一种基于FPGA器件的可重构计算系统,着重讲述了该系统的在线重配置电路的总体结构,FIFO、FPGA配置逻辑模块、控制寄存器和控制逻辑等功能模块及系统的工作流程。最后探讨了可重构计算相关研究面临的问题和发展方向。     

计算机辅助可重构制造系统设计

可重构制造系统是为了快速而准确地提供响应新的高层需求所需的生产能力和生产同一零件族内的新零件所需的制造功能，从一开始就设计成可面向系统级和生产资源级快速而又以有竞争力的成本重构的制造系统，文中分析了可重构制造系统的设计方法及其特征，提出了计算机辅助可重构制造系统设计这一新的研究方向，说明了包括动态适应学习识别机制，建模分析与性能优化，专家系统、集成设计等模块的设计机辅助可重建制造系统设计的流程，实现了可重构制造系统的集成设计。     

统计分析软件驱动的可重构SPC系统

全面集成化的制造企业信息系统需要多样化、敏捷化的统计过程控制（Statistical Process Control,SPC）系统,以实现基于数据的产品质量管理决策。基于领域分析构造了SPC领域模型,设计了基于通用统计分析软件平台的可重构SPC系统框架,以具有扩展点的组件化可重构架构满足制造企业应用模式和配置模式的可重构需求。然后采用SPSS（Statistical Package for the Social Science,社会科学统计软件包）实现了可重构SPC系统,通过引入SPSS组件,执行SPSS Syntax命令,实现对SPC的可视化统计分析。最后以加工误差分析实例说明系统的有效性,为全面质量控制提供了一种数字化应用。     

一种可重构以太网数据包解析器中可重构单元的设计

不停变化的网络协议标准和用户定制化网络业务需求要求交换机硬件具有更高的灵活性。在此背景下,提出了一种能够通过软件编程定义协议解析规则的以太网交换机芯片数据包解析器基本处理单元,具有高性能且高灵活性的优点,通过灵活配置硬件解析逻辑和查找表内容,定义对数据包包头内容的提取、查找、匹配、动作等解析过程,从而支持对不同种类的协议解析任务,其由2类基本结构的串联或并联组合而成,这样可以根据需要进行硬件资源裁剪。基于该可重构基本处理单元,可以构成可重构报文解析器,支持自定义协议及未知协议的解析。主要介绍了该可重构基本处理单元的结构,并介绍了基于该基本处理单元的解析器架构的实现方法。采用40 nm工艺综合后的评估结果显示,该基本单元电路最高工作时钟频率可以达到240 MHz,基于该基本处理单元结构实现的支持4层常用以太网协议解析的解析器每秒可处理2.4亿个数据包。该可重构基本处理单元所用存储资源共计87.98 Kb,设计规模约147万门。     

RMS中的基于时间的设备选择方法研究

根据生产需求快速确定制造资源是可重组制造系统高效快速响应市场变化的关键功能之一。文中提出了以系统整体加工时间消耗最少为目标的时间虚负荷矩阵算法,这种算法通过矩阵进行运算,计算简单直观,在计算过程中同时实现设备优化选择和工序分配,这种算法还可应用于车间作业调度。     

基于构件的可重构软件开发平台技术研究

研究了可重构软件开发平台技术。提出了单一建模数据源技术,并基于这一技术设计了同时支持C／S和B／S两种软件体系结构的可重构软件开发平台及其关键业务构件。分析了基于构件化软件开发平台应用软件系统的构造过程。     

可重构路由单元软件体系结构的研究与实现*

对可重构路由单元中软件体系结构进行了初步探讨,提出了支持多网融合环境下的可重构软件架构的模型、实现方案并对关键技术进行了研究。该技术方案可保证在现有的多网融合的运行环境中实现标准化的功能扩展,使得路由单元的服务支持可重构特性。     

Modeling of reconfigurable manufacturing systems based on colored timed object-oriented Petri nets

To cope with the rapid change in manufacturing market requirements, reconfigurable manufacturing systems (RMSs) with the feature of reconfigurability, have to be developed. A model that describes the reconfiguring process of a manufacturing system is developed by applying colored timed object-oriented Petri nets. Based on the main difference between configurations of RMSs and flexible manufacturing systems (FMSs), a modular hierarchical structure of RMS is developed. By the object-oriented method, all the object classes in the RMS model are identified. A macro-place is used to model the aggregation of many processes and a macro-transition is used to link all the related macro-places. Macro-places and macro-transitions are connected with arcs to form a Petri net named a macro-level Petri net so that the control logic of RMS is represented. The macro-level Petri net is refined by hierarchical steps, each step describing these macro-places by more detailed sub macro-places until all the macro-places cannot be divided. Then the characteristics of material flow and time constraints in RMS are modeled by applying colored tokens and associated time-delay attributes. This model integrates object-oriented methods, stepwise refinement ideas and Petri nets together. The RMS activities can be encapsulated and modularized by the proposed method, so that RMS can be easily constructed and investigated by the system developers.     

Decentralized adaptive fuzzy sliding mode control for reconfigurable modular manipulators

A stable decentralized adaptive fuzzy sliding mode control scheme is proposed for reconfigurable modular manipulators to satisfy the concept of modular software. For the development of the decentralized control, the dynamics of reconfigurable modular manipulators is represented as a set of interconnected subsystems. A first‐order Takagi–Sugeno fuzzy logic system is introduced to approximate the unknown dynamics of subsystem by using adaptive algorithm. The effect of interconnection term and fuzzy approximation error is removed by employing an adaptive sliding mode controller. All adaptive algorithms in the subsystem controller are derived from the sense of Lyapunov stability analysis, so that resulting closed‐loop system is stable and the trajectory tracking performance is guaranteed. The simulation results are presented to show the effectiveness of the proposed decentralized control scheme. Copyright © 2009 John Wiley & Sons, Ltd.     

Industry 4.0 smart reconfigurable manufacturing machines

This paper provides a fundamental research review of Reconfigurable Manufacturing Systems (RMS), which uniquely explores the state-of-the-art in distributed and decentralized machine control and machine intelligence. The aim of this review is to draw objective answers to two proposed research questions, relating to: (1) reconfigurable design and industry adoption; and (2) enabling present and future state technology. Key areas reviewed include: (a) RMS – fundamentals, design rational, economic benefits, needs and challenges; (b) Machine Control – modern operational technology, vertical and horizontal system integration, advanced distributed and decentralized control; (c) Machine Intelligence – distributed and decentralized paradigms, technology landscape, smart machine modelling, simulation, and smart reconfigurable synergy. Uniquely, this paper establishes a vision for next-generation Industry 4.0 manufacturing machines, which will exhibit extraordinary Smart and Reconfigurable (SR*) capabilities.     

A distributed architecture for reconfigurable control of continuous process operations

This paper considers a new distributed approach to reconfigurable control of continuous process operations such as in chemical plants. The research is set on a premise that emerging business pressures of product customization and industrial globalization will lead to increased need for reconfigurability in process plants. The ability of processes to support dynamic and smooth reorganization of process schemes in tandem with the changing requirements of supply chains will become important in future. Conventional control approaches based on hierarchical architectures are limited in dealing with such emerging requirements due to their inflexible structures and operating rules. Instead, more distributed approaches are required which can support increased level of reconfigurability in control systems, especially at the lower levels in hierarchy where the visibility to disturbances remains high. In this paper, one such distributed approach is considered based on the concepts of holonic manufacturing and supply chain management. The proposed approach distributes the functionality of process control into several reconfigurable process elements. These elements, while having a stand-alone capability for making their own control decisions, are also able to reconfigure themselves into alternative process schemes which evolve with the changing requirements of production. An analogy between process plants and so-called dynamic supply networks or virtual enterprises is used in this paper to define the composition of reconfigurable process elements and their operations. The proposed approach is shown to offer improved process control system reconfigurability and a control architecture which is compatible with the supply chain management needs at the next higher level. The purpose of this paper is qualitative and motivational. It is aimed to propose a new research direction in the field of reconfigurable process control.