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