engleski

Calculation of colission prevention superviser of port cranes system by using Petri nets

The article deals with the system of port cranes comprising of three independently controlled cranes which are simultaneously engaged in the transshipment of cargo between a bulk carrier and a railway wagon assembly alongside. The crane operator’ s error can lead to the collision of cranes. Therefore it is necessary to install the supervisor in an automatic control system with the functions of continuous supervision of the process of crane movement, and blocking of commands that can lead to collision. The article shows the method of crane system modeling as a discrete event system by using Petri nets. There is a proposal of a formal mathematic method for calculation of the state supervisor by P-invariant method. The supervisor calculated in this way is maximally permissive supervisor. The efficiency of tha supervisor is verified by a computer simulation.

Industrial applications; Motion control

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