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CONTENTS
APPLICATION 1
P1
P1
T1
T1
P3
T3
P2
T2
P3
T6
P5
T3
P4
P2
T2
T6
P5
T4
P4
T4
P6
P6
T5
T5
P7
P7
(a)
(b)
The marking
Another category used in the study of PN is the marking. Each
place contains a whole number (positive or null) of symbols (points)
which are called markings or tokens [9]. In figure 2.1.a is represented a
marked PN, and in figure 2.1.b an unmarked PN.
To each place, function of existence / inexistence of the point (of
the symbol in general), can be associated a marking. The marking of a
place Pi is noted with M(Pi) or mi. The proper markings for the places of
the net from figure 2.1.b. are: m2 = m4 = m5 = m7 = 0, m1 = m3 = 1, m6 =
2.The marking of the net is noted with M. For a PN with n places, this is
defined through vector M = (m1, m2, ..., mi, ..., mI). The marking of the net
from figure 2.1.b. is M = (1, 0, 1, 0, 0, 2, 0).
Note:
If m i {0,1}, i = 1, n , PN is part of the binary Petri nets category [8].
The marking defines, at a certain point, the state of the system
modeled with the help of the PN.
13
P4
P2
T1
T2
T5
P3
T6
P4
T3
T4
P6
P5
Application 2
(a) The Petri nets from figure 1.3 are taken in consideration.
Which are the executable transitions as well as the markings
which result after their execution?
The nets must be designed in the Visula Object Net++
environment.
P1
P2
T1
P6
P5
P8
T3
T2
P3
P7
P4
P9
(b) The net from figure 1.4 is taken in consideration. Arc P2T4 is an
inhibitor arc.
Which is the available markings graph ?
P1
T1
P2
T4
T3
T2
P3
Application 3
In the manufacturing system from figure 1.5 two types of pieces
are processed: p1 and p2.
Input pieces
pieces
Machine 1
Machine 2
Stock 1
Exit
Stock 2
EntryIntrare
p1 p1
1 in 1
p1 in pstock
T1
P1
stocul 1
Loading p1
Incarcare p 1
onto
pe
masina
machine
1 1
Prelucrarea
pieselor
de pieces
tip p 2
Processing
type p
T6
P5
P6
P9
T2
T7
p1 onp1 pe
masina
machine
11
P2
P 10
Descarcare
p1
Unloading p1
de
pe
masina
off machine 11
T3
1 in 1
p1 in pstock
P3
p1 onp1 pe
masina
machine
12
Evacuation
Evacuare p 1
p1
p 2 in
in stock 1
p2
stocul 1
Loading p2
Incarcare p 2
onto
pe masina 1
machine 1
p 2 pe
p2 on
masina 1
machine 1
stocul 2
Loading p1
onto
Incarcare p 1
machine
22
pe masina
Intrare
p2
Entry p2
T8
Descarcare p 2
Unloading
de pe masina 1
p2 off
machine 1
P7
P8
P 11
T4
T9
P4
P 12
p 2 in
stocul
p2 in 2stock 1
Loading
Incarcarep2
p2
onto
pe masina 2
machine 2
p 2 pe
masina
p2 on 2
machine 2
T5
T10
Evacuare p 2
Evacuation
p2
Fig. 1.6. Model with PN of the manufacturing system from figure 1.5
17
the elements and from the real system which they model;
18
APPLICATIONS 2 AND 3
2. 2. Theoretical background
Tempo (Pi) = di
(2.1)
(2.2)
(2.3)
21
M1
Stock 2
M1
Stoc 2
TP 1time
= 20 units
unit. timp
TP1=20
M2
M2
TP 2 = 30time
unit. units
timp
TP2=30
PI / D
L/UP
T1
Incarcare M1)
M1)
T1( (Loading
P2
d2 = 20
(Unprocessed
(Piesa
neprelucrata
piece
pe
M1) on M1)
T2 (Processing on
M1)
T2 (Prelucrare pe M1)
P4
P3
(Piesa
prelucrata
(Processed
piece
pe
M1)
on M1)
T3
T3(Descarcare
(UnloadingM1;
M1;
incarcare
loading
M2)M2)
P5
d3 = 30
P6
(Limitarea
Limiting
incarcarii
the M1
M1)
loading)
(Piesa
neprelucrata
(Unprocessed
piece on M2)
pe M2)
T4T4
( Prelucrare
pe M2)
(Processing
on M2)
(Piesa prelucrata
(Processed
piece on M2)
pe M2)
T5 (Unloading M2;
T5 ( Descarcare M2;
evacuation, introduction)
evacuare; introducere)
24
CP-20-UO
(3.1)
DL
(3.1)
SUBSISTEM DE
MANIPULATION
MANIPULARE
I
SUBSISTEM
PROCESSING
DE
SUBSYSTEM
PRELUCRARE
CNC600
(3.2)
SUBSISTEM DE
INSTRUCTION
COMANDA
SUBSYSTEM
(CONTROLER
(CONTROLLER
CELL)
CELULA)
PC
(3.4 )
SUBSYSTEM I
3
1
CP
(2.3 )
RV-M1
(2.1)
2
EC
(2.2 )
SUBSISTEM
TRANSFER
DE
SUBSYSTEM
TRANSFER
AID-V5-EN
(5.1)
SUBSISTEM
STORAGE
DE
SUBSYSTEM
DEPOZITARE
EC
(4.2 )
7
4
5
PC
(4.3 )
DTR
(4.1)
CNC
(4.2 )
SUBSISTEM DE
MANIPULATION
MANIPULARE
II
PC
(4.3 )
SUBSYSTEM II
computers,
the
instruction
equipment
of
the
the proper location from the transfer device TRD. The connection of the
robots controller (2.2) to the LAN net is performed through the PC
computer (2.3).
Control) robot (5.2) and the PC computer (5.3) which ensures the
interface with the cell controller.
Piece 1
A
Piece 5
Piece 2
A
Piece 6
B
Piece 7
Piece 3
A
Piece 8
Piece 4
Fig. 2.5. Model with Petri net of the CFF-2R-2002 flexible manufacturing
cell
Table 21. The meanings of the pivotal points of the Petri net which
models CFF-2R-2002
SERIAL
SYMBOL
TYPE
P1
Place
P2
Place
T1
Transition
P3
Place
P4
Place
P5
Place
T2
Transition
P6
Place
P7
Place
NO.
MEANING
RV-M1 is free
Piece POZ(i)/A is placed to
robot RV-M1 for loading on
CP-20-UO
RV-M1 apprehends piece
POZ(i)/A
Piece POZ(i)/A is found in
the prehensile device of the
RV-M1 robot
Location POZ(i) in front of
robot RV-M1 is free
The WD of CP-20-UO is free
Piece POZ(i)/A is loaded on
the WD of CP-20-UO
Piece POZ(i)/A is fixed on
the WD of CP-20-UO
The DP of the RV-M1 robot
is free
FEATURS
m0(P1)=1
m0(P2)=0
d2=5 sec
m0(P3)=0
m0(P4)=0
m0(P5)=1
d2=10 sec
m0(P6)=0
m0(P7)=0
d3=TT1(P
10
T3
Transition
OZ(i))*60
[sec]
29
SERIAL
NO.
SYMBOL
TYPE
MEANING
FEATURS
i = 1,8
11
P8
Place
12
T4
Transition
13
P9
Place
14
T5
Transition
15
P10
Place
16
T6
Transition
17
P11
Place
18
P12
Place
20
T7
Transition
21
P13
Place
22
P14
Place
23
T8
Transition
24
P15
Place
25
T9
Transition
26
P16
Place
27
T10
Transition
m0(P8)=0
d4=5 sec
m0(P9)=0
d5=11 sec
m0(P10)=0
d6=6 sec
m0(P11)=0
m0(P12)=1
d7=5 sec
m0(P13)=0
m0(P14)=0
d8=13 sec
m0(P15)=0
d9=5 sec
m0(P16)=0
d10=18 sec
SERIAL
SYMBOL
TYPE
28
P17
Place
29
P18
Place
30
T11
Transition
31
P19
Place
32
P20
Place
32
P21
Place
33
T12
Transition
34
P22
Place
35
P23
Place
NO.
MEANING
RV-M1 is free
Piece POZ(i)/B is placed to
robot RV-M1 for loading on
CP-20-UO
RV-M1 apprehends piece
POZ(i)/B
The WD of CP-20-UO is free
FEATURS
m0(P17)=0
m0(P18)=0
d11=5 sec
m0(P19)=0
m0(P20)=0
m0(P21)=0
d12=10 sec
m0(P19)=0
m0(P20)=0
d13=TT2(P
36
T13
Transition
OZ(i)) *60
[sec]
i = 1,8
37
P24
Place
38
T14
Transition
39
P25
Place
40
T15
Transition
m0(P24)=0
d14=5 sec
m0(P25)=0
d15=11 sec
SERIAL
NO.
SYMBOL
TYPE
41
P26
Place
42
T16
Transition
43
P27
Place
44
P28
Place
45
T17
Place
46
P29
Place
47
T18
Transition
48
P30
Place
49
P31
Place
50
P32
Place
MEANING
51
T19
Transition
52
T20
Transition
32
FEATURS
m0(P26)=0
d16=6 sec
m0(P27)=0
m0(P28)=1
d17=5 sec
m0(P29)=0
d18=13 sec
m0(P30)=0
m0(P31)=0
m0(P32)=0
d19 [sec]
(according
to the rates
resulted
from the
Gannt
graphic
theorizing
program)
d20
Piece
T3
252
150
90
420
270
T13
174
114
150
90
T19
15
15
15
Transition
33
180
462
90
180
120
90
402
21
21
21
21
APPLICATION 4
4. 1. The purpose
4. 2. Theoretical background
issues
synchronization.
related
These
to:
parallelism,
issues
explicitly
resources
define
the
allocation,
flexible
manufacturing systems.
In general, in a Petri net, the information is carried by the places.
The presence of a marking (token) in a place can model, for example, a
free, available machine tool. The absence of the marking means the fact
that the machine tool is engaged.
More markings in a place can represent a stock of identical pieces. If the
diversity, the richness of the information associated with a place from a
PN is expected, a method must be adopted with the help of which
35
p1,p2,p1,p2,....
WM
ML1 1
Stock
ST
Stoc ST2 2
WM2
ML2
PI/ D
L/UP
Fig.4.1. Flexible manufacturing system
Places ST1, ME1, ST2 and ME2 model the physical states of the
system.
37
Places ME1 and ME2 describe the fact that machine 1 and machine
2 are unique resources, each of them, in terms of piece 1, respectively
piece 2, these being split in more pieces.
In the model presented the succession function is also
encountered, defined like this:
Succ (C1) = C2
(4.1)
Succ (C2) = C1
(4.2)
(4.3)
meaning that in the input stock of machine ME1 there are no n1 pieces
and n2 pieces p2. As well as:
Mo (ME1) = Mo (ME2)=C1
(4.4)
the meaning of the relation is the one that each of the two machines are
waiting for a type p1 piece.
(4.5)
-colset is the key word from Modeling Language with the help of
which the colors are declared. In the previous line a set of colors is
declared formed of two elements C1 and C2.
The arcs are the elements which connect a transition to a place.
The rate of arcs is defined as being the type of color which is carried:
No. i:color;
(4.6)
(4.7)
(4.8)
40
Fig. 4.6. FMS model designed with complex colored Petri nets
In the design of the model the basic color (P1, M1) is used, which
defines piece p i (i={1,2}) is processed onto machine m j (j={1,2}). A
42
(4.9)
(4.10)
APLICATION 5
The input flow in the system represents the way or the entry rule
of the components in the system. This rule can be expressed through
the fluctuation of the period of time between the two consecutive
entries or through the fluctuation of the entry rate in the time unit
(for example in an hour).
It will be taken in consideration the fact that the queue systems
are with random entries, meaning that the period of time between the
two consecutive entries or the entry rate on the time unit are random
variables. To a random variable is associated a probability density
(probability function).
x
x!
; x = 0 ,1,2 ,...
where:
x the entry rate in the time unit (random variable);
46
(5.1)
These are the ones which satisfy the service required by the
customer (the processing piece). In the FMS case, the working stations
are the machine tools, and the service they perform is the processing of
the working objects.
When the processing period is a random variable, to it is
associated a probability density (probability function). In many cases,
the probability density of the service period (processing) is a negative
exponential function of type:
f ( t ) = e t
(5.2)
where:
t service period (random variable);
(5.3)
or
T=
(5.4)
Application 1
products;
Industrial robot IR;
Working machine WM;
SA
IA
Cv1
RI
IR
Cv2
IE
EI
50
content
name current average
throughput
input output
stay time
average
Source1
0.397
695
694
16.439
Accumulating Co
8.888
694
685
368.858
Robot3
0.670
1370
1369
14.089
Server4
0.238
685
685
10.000
Accumulating Co
0.166
684
684
7.000
Sink6
0.000
684
684
0.000
Product
0.000
0.000
Wednesday, 17:28:35
Thursday, 01:28:35
In figures 5.5, 5.6, 5.7 and 5.8, are presented graphs representing
information regarding the performance of the system elements,
performance highlighted through simulation.
Therefore, the working machine has had a loading degree of 24%
(Fig. 5.5).
From figure 5.6, regarding the industrial robot, the following data
results:
The industrial robot has moved loaded 19% of the respective
time;
The industrial robot has moved without a working object 9% of
the respective time;
The industrial robot has apprehended (has loaded) 24% of the
time;
The industrial robot has unloaded 24% of the time;
The industrial robot was free 24% of the time.
Due to the fact that the entry flow could not be undertaken by the
other system components, conveyor 1 has been blocked (loaded at
maximum capacity) 95% of the time (Fig. 5.7). Regarding the length of
the semi-product series from conveyor 1, this is 90% of the time of 9
pieces (Fig. 5.8).
Performance parameters of the machine
Conveyor 1
Application 2.
In the configuration resulted the system consists of two industrial
robots (IR1 and IR2) and two working machines (WM1 and WM2). The
layout of the system is presented in figure 5.9.
WM1
ML 1
OL
SA
IA
Cv1
RIIR
1
Cv2
IE
EI
RIIR
2
OL
ML 22
WM
Fig. 5.9. Manufacturing system with two working machines and two
industrial robots
APPLICATION 6
59
From the menu bar by enabling the Link button (Fig. 6.5.c).
(a)
(b)
(c)
61
62
(a)
(b)
(c)
For the case study, the park's clothing following steps define the
joint rod is slider of cylinder (Fig. 6.8):
1. In the Joint window the kinematic coupling type is selected: Slider
(translational joint)
2. Select the kinematic element rod, activating option Select Link,
Joint window.
3. To specify the orientation and origin, with the active region
Specify Orientation.
4. Select an item based kinematic (Base Link). In this case study, the
kinematic element is Corp_cilindru.
If the kinematic elements are not in proper position
(disassembled), we can assemble the Snap Links ticking box, then
selecting active regions as in the first link.
63
6. Creating a solution:
The Solution button is activated (or run right click and choose
New Solution motion_1 node )
64
65
66
APPLICATION 7
(7.1)
(7.2)
D. Defining the output size of the decisional process. The output size is
the washing time. The linguistic variable is associated with the output
quantity of washing time.
The linguistic terms associated to the output size are:
(7.3)
where: Tsf-Very Short, TS- Short, TMd- Medium, TL- Long, TFLVery Long.
E. Determination of membership functions associated with each
linguistic term corresponding to the output size
In the case of output variable size associated to Washing time, to
the linguistic terms are corresponding triangular type membership
functions (Fig.7.3).
strong values the input sizes, and output sizes respectively. The
connection is made by the MIN-MAX method, resulting 9 inference rules
of the form:
1. If (DD is s) and (TD is NG) then (WT is Vs)
2. If (DD is s) and (TD is Md) then (WT is s)
3. If (DD is s) and (TD is L) then (WT is Md)
4. If (DD is Md) and (TD is NG) then (WT is s)
5. If (DD is Md) and (TD is Md) then (WT is Md)
6. If (DD is Md) and (TD is L) then (WT is L)
7. If (DD is L) and (TD is NG) then (WT is Md)
8. If (DD is L) and (TD is Md) then (WT is L)
9. If (DD is L) and (TD is L) then (WT is VL)
The decisional system implemented in Matlab Fuzzy Logic Toolbox is
presented in figure 7.4.
73
BIBLIOGRAPHY
[1]
[2]
[3]
[4]
[5]
Blaga, F., Hule, V., Reele Petri colorate. Culori complexe. Funcii
predefinite, Analele Univ. Oradea 2001, Fascicola Mecanic,
Seciunea: TCM, pag. 23-28.
[6]
Blaga, F., .a., About Fuzzy Colored Petri Nets in Modeling Flexible
Manufacturing Systems, The microCAD 2003,International
Scientific Conference, University of MISKOLC, 6-7 March 2003,
HUNGARY
[7]
[8]
David, R., Alla, H., Du Grafcet aux rseaux de Petri, Ed. Herms,
Paris, 1992.
[20] Virtamo.,J.Queuing
theory/
Queuing
www.netlab.hut.fi/opetus/s38143/luennot/
networks
[21] Zhang,Y., .a., Generating Petri net driven graphical simulation tool
for automated systems, In proceedings of the American Nuclear
Association 2000 Annual Meeting, pag 140-147.
[22] *****
77