The Design And Implementation Of Recongfigurable Robotized Manufacturing Cell Control System

Most of the existing robotized manufacturing cell control systems haven’t the real-time dynamic reconfiguration performance,they can’t implement rapidly real-time configuration or reconfiguration according to the changing running environment or the abnormity situation. The above-mentioned factor contributes significantly to the total cost of manufacturing enterprises. To address this issue, this paper firstly proposes reconfigurable manufacturing cell control system architecture based device processor model. Secondly, be on the modeling and analysis of the system and design device processor.Finally,the entire control system is designed and developed.This paper mainly includes the following areas:(1) To make the manufacturing devices have real-time dynamic reconfiguration performance, device processor model provided with autonomy and cooperation ability is proposed.Then, robotized manufacturing cell hybrid control architecture based on device processor model was constructed. This architecture distinguishes manufacturing control flows into independent reconfiguration control flow and execution control flow,hence,it can achieve the concurrent implementation of reconfiguration control and execution control for the robotized manufacturing cell. To increase the local autonomy ability of device processor,and provide the control system software with some excellent characteristics of modularity,reusability,open capability and integration performance, service-oriented robotized manufacturing cell control software architecture is constructed.(2) Combining Object Oriented Technology and the Colored Petri Net, reconfigurable robotized manufacturing cell control system dynamic modeling and analysis methods based on the Object-Oriented Colored Petri Net is proposed. Firstly,build OOCPN mode of device processor object,and then OOCPN mode of reconfigurable robotized manufacturing cell control system is constructed. Secondly, the deadlock detecting method is proposed for the above-mentioned models for deadlock analysis. Finally, the resolution strategy against the possible conflict events appearing in the aforesaid models is presented and the input/output conflicts in the various models are analyzed. (3) To resolve the problem of the information transfer among the heterogeneous manufacturing devices,universal module and communication module of device processor are designed.The manufacturing information transfer model based on MMS and Web Services is presented and communication service of interface device processor is defined.(4) Based on constructing the system architecture and performing dynamic modeling and analysis for robotized manufacturing cell control system in this paper, the control system is designed by using the Object-Oriented Unified Modeling Language(UML). A prototype system was developed by Web Services technology. An running case of prototype system and the performance evaluation validate the real-time dynamic reconfiguration of robotized manufacturing cell control system.Finally, this paper makes the summary of this research work done and the main results and makes the prospect for further research of reconfigurable robotized manufacturing cell control system.