A Theoretical Approach of the Generalized Hybrid Model Based Control of Repetitive Processes

• Main Authors: Minca, Eugenia, Filipescu, Adrian, Voda, Alina
• Other Authors: Dep. of Automation, Computer Science and Elec. Eng, Valahia University of Targoviste Roumanie (UVT), Department of Automation and Industrial Informatics, Dunărea de Jos University of Galați Romania, GIPSA - Systèmes linéaires et robustesse (GIPSA-SLR), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)
• Format: Conference Object
• Language: English
• Published: HAL CCSD 2013
• Subjects: [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering; DML
• Online Access: https://hal.archives-ouvertes.fr/hal-00939452

International audience A generalized Synchronized Hybrid Petri Nets (SHPN) model based control of a hybrid repetitive processes is presented in this paper. The whole process has two components: one discrete and one continuous. Its evolution can be described by a set of repetitive tasks. The generalized SHPN model is associated to this hybrid system with N repetitive tasks. The generalized SHPN model is customized to an assembly/disassembly mechatronics line (A/DML), served by a wheeled mobile robot (WMR) equipped with robotic manipulator (RM). The behavior as a hybrid system appears during disassembly, when WMR with RM is used to transport the work parts from the disassembly locations to the storage location in order to be reused in assembly. The assembly can be modeled as discrete system events (DES). This hybrid system takes into consideration the distribution of the necessary tasks to perform the hybrid disassembly of the work parts, by synchronization between WMR equipped with RM and A/DML. An optimization approach of the cycle time, associated to the control of repetitive processes is also presented.