ABSTRACT

The paper concerns the digital twin design and fault-tolerant control of a production system. The real laboratory system under consideration consists of two subsystems: an assembly part and an automated guided vehicle transportation one. The proposed approach focuses, simultaneously, on both concurrency and synchronization problems as they are inevitable in such a kind of modern systems. The research contribution deals with the development of an analytical description of both an assembly system and a multiple automated guided vehicles transportation layer along with algorithms that are able to determine an optimum sequence of starting individual operations. Subsequently, diagnostics and fault-tolerant control schemes are elaborated and applied to the two-layer system being investigated. The core advantage of the proposed approach is that it can compensate or eliminate the impact of some faults, e.g. delays occurring in the assembly unit or reduced velocities of transportation means. This makes it possible to keep the desired schedule as far as possible. The paper concludes with a series of illustrative use cases and comparisons which exhibit the performance of the novel approach in both cases, i.e. faulty and fault-free.

摘要

本文涉及生产系统的数字孪生设计和容错控制。所考虑的真实实验室系统由两个子系统组成：一个装配部分和一个自动导引车运输系统。所提出的方法同时关注并发和同步问题，因为它们在这种现代系统中是不可避免的。该研究贡献涉及对装配系统和多个自动引导车辆运输层的分析描述的开发，以及能够确定启动各个操作的最佳顺序的算法。随后，详细阐述了诊断和容错控制方案并将其应用于正在研究的两层系统。所提出方法的核心优势在于它可以补偿或消除某些故障的影响，例如在装配单元中发生的延迟或运输工具的速度降低。这使得可以尽可能地保持期望的时间表。本文以一系列说明性用例和比较作为结尾，展示了新方法在两种情况下的性能，即有故障和无故障。