可重构制造系统若干关键技术问题研究
文献类型：学位论文
| 作者 | 顾农 |
| 学位类别 | 工学博士 |
| 答辩日期 | 2003-05-01 |
| 授予单位 | 中国科学院研究生院 |
| 授予地点 | 中国科学院自动化研究所 |
| 导师 | 谭民 |
| 关键词 | 可重构制造系统 系统建模 布局设计 控制系统 模块化 RMS System Modeling Layout Design Control System Modular |
| 其他题名 | Research on Key Technology of Reconfigurable Manufacturing System |
| 学位专业 | 控制理论与控制工程 |
| 中文摘要 | 本文的研究是结合国家重大基础科学研究973计划项目“复杂生产制造过程 实时、智能控制与优化理论和方法研究”中的课题“复杂生产制造过程中系统 重构理论与方法体系的研究”开展的。可重构的复杂生产制造系统是一类包含 若干功能可重组的智能制造单元的复杂生产制造系统，它能够通过重构自身的 生产能力和功能，迅速的响应市场或不规则需求的突然变化。 论文回顾了制造模式的发展历程，详细讨论了可重构制造系统的定义，阐述 了可重构制造系统与其他制造模式之间的区别，分析了可重构制造系统的研究 内容与研究现状。本文的研究工作主要集中在可重构制造系统设计与集成、可 重构制造系统控制、产品与加工设备的模块化设计三个层面。 在可重构制造系统设计与集成方面，首先讨论可重构制造系统的建模问题。 本文利用Petri网方法给出了可重构制造系统建模方法，提出了利用一类谓词变 迁系统对系统可重构能力进行描述，同时针对Petri网应用于大规模系统时的模 型“组合爆炸问题”，提出了一种库所双模拟方法对制造系统模型进行简化。本 文还进行了系统和设备布局设计方面的研究，并针对制造系统布局重构这一任 务，利用一种改进的模拟退火算法给出了问题求解的框架与计算方法。 在可重构制造系统控制方面，以可重构制造系统中重要的加工设备一机器人 为背景，研究机器人的控制系统与控制算法。提出了一种具有多层次结构的跨 平台远程实时控制系统，以保证机器人具有复杂的面向任务的处理能力。在控制 器软件设计上，采用面向构件的技术，使控制系统具有良好的系统重构能力。 同时，针对因系统重构导致机器人动力学模型发生变化这一问题，研究了一种 双重反馈算法以实现可重构加工单元的正常工作。 在产品与加工设备的模块化设计方面，介绍了可重构加工设备模块化的特 征，论述了可重构加工设备的模块化研究内容，给出了可重构加工设备的模块 划分与综合方法。针对系统重构产生时滞微分现象，提出了一种基于两变量多 项式的检验方法分析其稳定性问题。借助多项式完全判别系统，给出了其全时 滞稳定性的充分必要的代数判据，同时得到其时滞界的计算方法。 |
| 英文摘要 | The work of this dissertation is supported by national 973 Plan "Study of System Reconfiguration Theory and Method Architecture in Complex Manufacturing Process". Reconfigurable Manufacturing System (RMS) is composed of several of intelligent manufacturing cells, which can be reconfigurabled to meet the needs of fast responsive of market. Firstly, the development process of manufacturing system is reviewed, and the several versions of definition for RMS are discussed in detail. Then the main difference between RMS and other manufacturing system is illustrated. After that, the study status and content of RMS are also discussed. In this dissertation, three areas such as system integration and design, control of RMS and modular product and optimization are studied in detail. In system integration and design, the modeling problem of RMS is first studied by using technology of Petri net. A class of predicate/transition system is introduced into RMS model to present the reconfigurability of the function cell in RMS. In addition, a model-simplifying algorithm based on place bisimulation is also provided to solve the problem of "composition explosion", which normally occurs on the application of Petri net. Beside this, an improved simulation annealing method is applied to solve the problem of layout reconfiguration of RMS. As for the control of RMS, a distributed hierarchical real-time control system is proposed and realized, which provide the basic cell of RMS the capability of task processing. In the software design of control system, component design technology is utilized to enable the fast update and reconfiguration of system software. Finally, a dual nonlinear feedback algorithm is presented and applied successfully to the dynamics control of manipulator with disturbance. For the modular design of product and equipment of RMS, the characteristic of module of equipment of RMS is introduced and discussed in detail. The decomposing and integrating method of reconfigurable machine equipment are also studied in this dissertation. At the last part of dissertation, the stability analysis is studied for the time-delay component occurred in RIMS. By the study of polynomial complete discrimination system, an algebra test is also provided to verify the unconditional stability and delay margin computing. |
| 语种 | 中文 |
| 其他标识符 | 722 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/5747]  |
| 专题 | 毕业生_博士学位论文 |
| 推荐引用方式 GB/T 7714 | 顾农. 可重构制造系统若干关键技术问题研究[D]. 中国科学院自动化研究所. 中国科学院研究生院. 2003. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。