作用域局部重叠的多机工程系统的优化调度与协调控制

协作控制是实现各类系统中多个体协同工作的关键技术。目前各行业对于作用域局部重叠的多机工程系统或技术装备的需求日益增长，由此，迫切需要开展这类系统通用的一般性协作控制理论方法的研究。项目拟将协作控制问题归结为多机调度和多机协调控制两问题来研究，（1）提出着色旅行商问题及求解方法，用于概括和解决作用域局部重叠多机系统的调度问题；（2）提出基于Petri网监督控制理论的多机协调方法，灵活实现多机的动、静态协调，支持协调行为正确性和协调性能的分析；（3）综合上述调度方法和协调方法，提出协作控制的弹性化策略和一般性方法，克服现有方法通用性和弹性差的问题；（4）最后，开展理论方法在多横梁水切割和多机器人协作焊接中的实验与应用研究。研究有望为作用域局部重叠多机系统的调度、协调和协作控制的共性问题研究提供新思路，为相关工程实际问题的解决提供理论方法支撑，具有重要的理论意义与良好的应用价值。

Cooperation control methods are is one of the key technologies to implement the collaborative work of multiple execution individuals in a variety of systems. To date the demands from various industries for large engineering systems or technical equipment consisting of multiple machines with partially overlapped workspaces are increasing rapidly. It gives a rise to an urgent need for the general cooperation control theories and methods of such a system. This proposal intends to address the cooperation problem of multi-machine systems with partially overlapping workspaces (M2SPOW) by transfer it into two problems of multi-machine scheduling and multi-machine coordination control. First, a colored traveling salesman problem and its solving methods are proposed to summarize and resolve M2SPOW's scheduling problem. Second, an M2SPOW coordination method based on Petri net supervisory control theory is presented to flexibly perform dynamic and static multi-machine coordination and support the behavior correctness and performance analysis of multi-machine coordination. Third, a resilient strategy and method for cooperative control of M2SPOW is proposed by combining the above scheduling and coordination methods. Contrast to the existing methods, it is more versatile and flexible. Finally, the applications of the proposed methods in multi-bridge waterjet cutting and multi-robot welding are conducted. The research is expected to provide a new thought for studying the common problems of scheduling, coordination and cooperation control in M2SPOW and offer theoretical support for the settlement of related practical problems. It is of great theoretical meaning and considerable application value.