摘要
为了有效地解决多机械手制造单元适应带驻留约束的多品种调度问题,提出了基于瓶颈的推拉式算法.首先,进行了调度问题域的描述,以最小Makespan为目标,建立了数学模型.在此基础上,提出了一种以瓶颈工作站为界,通过逐级回溯和递推来优化机械手动作组合,同时降低产品在机器上的驻留时间的启发式调度算法;该算法结合时间缓冲概念,有效地解决了共享工作站的机械手冲突问题,防止了死锁现象的发生.最后,通过仿真实验对提出的基于瓶颈的推拉式算法进行验证并与拉式算法进行比较,结果表明,该算法能够有效地实现多品种、带驻留约束的多机械手制造单元的调度,且性能优于拉式算法.
In order to effectively schedule multi-manipulator manufacturing cells with residency constraints and dif- ferent product types, a bottleneck-based push-pull algorithm is presented. In the investigation, first, the problem domain of the manufacturing cell scheduling is discussed. Next, the mathematical models with a scheduling objec- tive of minimum system Makespan are established. Then, based on these models, a heuristic scheduling algorithm bounded by the bottleneck workstation is proposed to optimize manipulator movements by adopting backtracking and recursive methods and to reduce the residency time on workstations. By combining with the time buffer concept on the shared workstations, the push-pull algorithm helps to implement robot conflict-free and deadlock-free at the same time. Finally, the bottleneck-based push-pull algorithm is verified and is compared with the conventional pull algorithm through simulations. The results demonstrate that the proposed algorithm can implement the scheduling of multi-manipulator manufacturing cell with residency constraints and different product types, and has a better per- formance than pull algorithm.
出处
《华南理工大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2013年第3期122-128,共7页
Journal of South China University of Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(71071115
61273035)
国家"863"计划项目(2009AA043000)
关键词
制造单元
驻留约束
多机械手
调度算法
manufacturing cell
residency constraint
multi-robot
scheduling algorithm
