摘要
信息物理融合系统(Cyber-Physical System,CPS)是一个集计算系统、通信系统、感知系统、控制系统和物理系统于一体的复杂系统,其行为是一种由离散计算过程与连续物理过程深度融合并紧密交互的混成行为。针对这种特性,采用混成Petri网对CPS建模,并在此基础上添加时间约束,即对离散变迁关联一个延迟时间,对连续变迁关联一个激发速率函数,同时引入抑止弧和测试弧的概念以提高Petri网的表达能力,由此提出一种新的模型——扩展混成Petri网模型。然后,对CPS应用中无人驾驶车辆系统的躲避障碍物场景进行建模,将建立的模型按照一定的规则转化为与之对应的Simulink模型,并通过Matlab仿真对系统行为及属性进行分析。
Cyber-physical system（CPS）is a complex system that integrates computing system,communication system,perceptual system,control system and physical system.Its running is a kind of hybrid behavior that discrete computing process and continuous physical process are closely interacted and deeply integrated.Concerning this feature,hybrid Petri net is used for modeling CPS and on this basis adding the time constraint,in other words,adding time delay to discrete places and adding a function of velocity to continuous places.At the same time,the concept of inhibitor arcs and test arc are introduced to improve the expression ability of Petri net.A new model called extended hybrid Petri Net was proposed.Then obstacles avoidance for unmanned vehicle system was modeled,according to some rules,the models were converted into corresponding Simulink models.Through the simulation of Matlab,the dynamic behaviors and attributes of systems were analyzed.
出处
《计算机科学》
CSCD
北大核心
2017年第7期21-24,共4页
Computer Science
