Martin-Luther-Universität Halle-Wittenberg

EnAS - JackStation + Drucksensoren

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Verification Gripper Station

The reachability graph below shows the closed loop behaviour of the gripper station of the EnAS Demonstrator. As formel model a discrete timed Net Condition/Event System (DTNCE system) is used. The formal model of the IEC 61499 task controller iss recieved automaticaly by using the TNCES-Workbench implemented at the expert system SWI-Prolog. Only the model of the plant consisting of the two valves, cylinders and sensors  is created manualy, but eased up through using pre modeled DTNCE modules for actors, sensors and other plant equiment.
Afterwards the modeled plant is interconnected by condition arcs with the automaticaly transformed controller model. As result we get the graph below with 1533 states. A visual verification is only  possible, because of the use of the graph layouter neato, which belongs to the graph visualization packet Graphviz, and the marking of the interresting steps with spontan plant transition with different colors. Furthermore different trajectories at the state space can be visulaised with the TNCES-Workbench, as shown at the last figure.

Timed NCES Model

Gripper - Station - TNCES MDL

Gripper - Station - TNCES MDL

Gripper - Station - TNCES MDL

Plant Model of the Gripper Station

Gripper - Station - TNCES Plant MDL

Gripper - Station - TNCES Plant MDL

Gripper - Station - TNCES Plant MDL

Visualisation of the trajectory to close a tin

Gripper - Station - GanttChart

Gripper - Station - GanttChart

Gripper - Station - GanttChart

Actors

  • lower_gripper (t279, t280) ... red
  • shut_gripper (t281, t282) ... brown

Cylinders

  • up and down cylinder (t287, t288 ,t289, t290)... green
  • closing cylinder (t291, t292 ,t293, t294) ... blue

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