Distributed control of industrial robot systems using Petri net based multitask processing
In this paper, the methods of the modeling of the discrete event robotic manufacturing systems using Petri nets are considered, and a methodology of decomposition and coordination is presented for hierarchical and distributed control, where the cooperation of each controller is implemented so that the behavior of the overall system is the same as the centralized control system and the task specification is completely satisfied. First, a task specification is defined as a Petri net model at the conceptual level, and then transformed to the detailed Petri net representation of the subtasks. Finally, the overall Petri net is decomposed and the constituent subnets are assigned to local Petri net based controllers. The controllers are coordinated so that the decomposed transitions fire at the same time by the coordinator. System coordination algorithm through communication between the coordinator and the controllers, is presented. By the proposed method, modeling, simulation and control of large and complex manufacturing systems can be performed consistently using Petri nets.
Petri-net based control of six legged spider robot
A legged robot inspired by spider is needed to access to survivor in search and rescue operations. This paper proposes to control system is based on petri net for six legged spider robot which is used for search and rescue operations. The robotic system is tested by using different walking algorithms. Control of the robot is provided by communication ports on computer. The performance of the robot is calculated entirely, as depending on the movement of six legs on rough terrain. Functional algorithms are created to be moved the robot flexible under difficult conditions such as rough terrain, pit. Also, these algorithms which provide moving of robot at various speeds according to structure of legs are presented. The robot controlled in the project is named as TKSPIDER1 and each leg of it has three servo motors.
Simulation and control of hybrid renewable energy system connected to the grid
This paper presents a control and simulation of hybrid renewable energy system connected to the grid. The studied system includes a photovoltaic panel, synchronous permanent magnet generator based wind turbine, and a battery for storage energy. The PV array and wind systems are connected to the common DC bus by a boost converter. The battery is connected by a bi-directional DC/DC converter, and then integrated into the AC utility grid via a common DC/AC inverter. In order to extract the maximum energy, a simulation study has been carried out according to the meteorological conditions (wind speed and variable solar irradiance) while maintaining power quality at a satisfactory level. In order to capture the maximum power, a MPPT algorithm is applied for both wind turbine and photovoltaic panel. The modeling and simulation of the whole system has been performed under Matlab/Simulink environment. The obtained results show that the current and the voltage of grid side are sinusoidal and alternative forms, and the power injected to the grid is around the power produced by the hybrid system.