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作为虚拟生产平台建立的重要组成部分之一 ,生产系统的建模对于多机器人虚拟生产环境的作业控制至关重要。基于系统具有并发性、柔性和不确定性的特点 ,提出了一个生产系统分块式有效 Petri网建模方法 ,保证了所生成的整体生产系统模型的有效性 ,可直接用于系统作业的控制 ,并且具有错误恢复能力 ,建模方法的有效扩充性也为深入地细化研究系统的某个加工单元和系统的扩展提供了可能。采用 C/ C++语言 ,基于 GL 图形库实现了平台的建立并给出了实例
As one of the most important parts in the establishment of virtual production platform, the modeling of production system is very important for the job control of multi-robot virtual production environment. Based on the characteristics of system concurrency, flexibility and uncertainty, this paper proposes a block-efficient Petri net modeling method for production system to ensure the validity of the generated whole production system model, which can be directly used for the control of system operation , And has the ability of error recovery. The effective expansibility of the modeling method also makes it possible to further refine the expansion of a processing unit and system of a research system. Using C / C ++ language, based on GL graphics library to achieve the establishment of the platform and gives examples