复杂智能制造系统死锁控制

Contents Chapter 1Introduction1 1.1Deadlock solutions2 1.2Deadlock prevention review4 1.3Deadlock avoidance review7 1.4Thesis organization9 References12 Chapter 2Preliminaries of Petri Nets20 2.1Preliminaries20 2.2Structural invariants23 2.3Siphons and traps24 2.4Main structures modeled with Petri net24 References26 Chapter 3A Petri Net-based Distributed Control of Assembly Systems27 3.1Petri net-based models with assembly operations29 3.2F-AMG models30 3.3Distributed control of F-AMGs32 3.3.1Critical places in F-AMGs33 3.3.2Distributed controllers in F-AMG35 3.4Illustrative example43 References50 Chapter 4Distributed Approach to Systems with Complex Structures using Petri Nets51 4.1Construction of AEMG52 4.2Distributed control of AEMG56 4.2.1Critical places in AEMGs56 4.2.2Distributed controllers in AEMGs59 4.3Illustrative example64 References65 Chapter 5Distributed Control for Forward Conflict Free Structures using Petri Nets67 5.1PN modeling of AMSs68 5.2Distributed control of FCFN71 5.2.1Local control for FCFN-block71 5.2.2Global control for FCFN75 5.3Illustrative example80 References81 Chapter 6Distributed Control for Systems with Complex Routes and Operations82 6.1PN modeling of AMSs83 6.2Distributed control of WAFNs88 6.2.1Critical places in WAFNs89 6.2.2Distributed controllers in WAFNs94 6.3Illustrative example105 6.4Comparison and discussion 112 References119 Chapter 7Deadlock Characterization and Control of Layered or Hybrid Assembly Systems120 7.1Problem statements120 7.2Distributed control algorithm development over undirected topology124 7.3Deadlock avoidance policy132 7.3.1Avoidance for R-deadlock circuits132 7.3.2Avoidance for R&P-deadlock circuits136 7.3.3Improvement for algorithm147 7.4Illustrative example151 References153 Chapter 8Robust Deadlock Avoidance and Control of AMSs with Assembly Operations154 8.1FAMG154 8.2Problem statement158 8.3Robust supervisory control of AMSs159 8.3.1Failure-oriented resource constraint160 8.3.2Design of robust supervisory control policy167 8.4Illustrative example174 8.5Comparison and discussion175 References178 Chapter 9Robust Control of AMSs with Assembly Operations Embedded in Flexible Routes180 9.1AESM nets180 9.2Deadlock avoidance policy in AESMs183 9.3Robust control of AESMs187 9.3.1Shared resource constraint187 9.3.2Robust supervisory control policy192 9.3.3Illustrative example196 9.4Comparative studies198 References202