Modelling and Analysis of Hybrid Supervisory Systems: A Petri Net Approach

240 Pages·2007·2.745 MB·English

by  Emilia Villani PhD, Paulo E. Miyagi, Robert Valette PhD (auth.)

Advances in Industrial Control
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Emilia Villani, Paulo E. Miyagi and Robert Valette
Modelling and Analysis
of Hybrid Supervisory
Systems
A PetriNetApproach
123
EmiliaVillani,PhD PauloE.Miyagi,DrEng,LDoc
InstitutoTecnológicodeAeronáutica UniversityofSãoPaulo
DivisãodeEngenhariaMecânica- EscolaPolitécnica
Aeronáutica 05508-030SãoPaulo(SP)
12228-900SãoJosédosCampos(SP) Brazil
Brazil
RobertValette,PhD
LaboratoireAnalyseetArchitecture
desSystèmes(LAAS)
CNRS
31077ToulouseCedex4
France
BritishLibraryCataloguinginPublicationData
Villani,Emilia
Modellingandanalysisofhybridsupervisorysystems:a
petrinetapproach.-(Advancesinindustrialcontrol)
1.Automaticcontrol2.Automaticcontrol-Mathematical
models3.Systemanalysis4.Automaticcontrol-Case
studies5.Petrinets
I.TitleII.Miyagi,PauloEigiIII.Valette,Robert
629.8’0151135
ISBN-13:9781846286506
LibraryofCongressControlNumber:2006938338
AdvancesinIndustrialControlseriesISSN1430-9491
ISBN 978-1-84628-650-6 e-ISBN 978-1-84628-651-3 Printedonacid-freepaper
©Springer-VerlagLondonLimited2007
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AdvancesinIndustrialControl
SeriesEditors
ProfessorMichaelJ.Grimble,ProfessorofIndustrialSystemsandDirector
ProfessorMichaelA.Johnson,Professor(Emeritus)ofControlSystems
andDeputyDirector
IndustrialControlCentre
DepartmentofElectronicandElectricalEngineering
UniversityofStrathclyde
GrahamHillsBuilding
50GeorgeStreet
GlasgowG11QE
UnitedKingdom
SeriesAdvisoryBoard
ProfessorE.F.Camacho
EscuelaSuperiordeIngenieros
UniversidaddeSevilla
CaminodelosDescobrimientoss/n
41092Sevilla
Spain
ProfessorS.Engell
LehrstuhlfürAnlagensteuerungstechnik
FachbereichChemietechnik
UniversitätDortmund
44221Dortmund
Germany
ProfessorG.Goodwin
DepartmentofElectricalandComputerEngineering
TheUniversityofNewcastle
Callaghan
NSW2308
Australia
ProfessorT.J.Harris
DepartmentofChemicalEngineering
Queen’sUniversity
Kingston,Ontario
K7L3N6
Canada
ProfessorT.H.Lee
DepartmentofElectricalEngineering
NationalUniversityofSingapore
4EngineeringDrive3
Singapore117576
ProfessorEmeritusO.P.Malik
DepartmentofElectricalandComputerEngineering
UniversityofCalgary
2500,UniversityDrive,NW
Calgary
Alberta
T2N1N4
Canada
ProfessorK.-F.Man
ElectronicEngineeringDepartment
CityUniversityofHongKong
TatCheeAvenue
Kowloon
HongKong
ProfessorG.Olsson
DepartmentofIndustrialElectricalEngineeringandAutomation
LundInstituteofTechnology
Box118
S-22100Lund
Sweden
ProfessorA.Ray
PennsylvaniaStateUniversity
DepartmentofMechanicalEngineering
0329ReberBuilding
UniversityPark
PA16802
USA
ProfessorD.E.Seborg
ChemicalEngineering
3335EngineeringII
UniversityofCaliforniaSantaBarbara
SantaBarbara
CA93106
USA
DoctorK.K.Tan
DepartmentofElectricalEngineering
NationalUniversityofSingapore
4EngineeringDrive3
Singapore117576
ProfessorIkuoYamamoto
KyushuUniversityGraduateSchool
MarineTechnologyResearchandDevelopmentProgram
MARITEC,Headquarters,JAMSTEC
2-15NatsushimaYokosuka
Kanagawa237-0061
Japan
Series Editors’ Foreword
The series Advances in Industrial Control aims to report and encourage technology
transfer in control engineering. The rapid development of control technology has
an impact on all areas of the control discipline. New theory, new controllers,
actuators, sensors, new industrial processes, computer methods, new applications,
new philosophies(cid:125), new challenges. Much of this development work resides in
industrial reports, feasibility study papers and the reports of advanced collaborative
projects. The series offers an opportunity for researchers to present an extended
exposition of such new work in all aspects of industrial control for wider and rapid
dissemination.
The existence of a “gap between theory and practice” is often discussed in
control engineering presentations and papers. Actually, this gap goes back a long
way as it was definitely a topic of discussion at control conferences in the early
1970s! However, the “gap” refers to the difference between the results of (some)
theoretical methods and procedures and the actual progress made by engineered
plant, products, devices and control systems. This gap is often illustrated by an
example like “the lowest order of a µ-controller for a sixth-order plant model that
could be achieved by order-reduction was 27”; clearly implementing a 27th-order
controller could pose some practical problems, hence the theory(cid:237)practice gap. To
retain a balanced perspective, it should be recognised that there has been a
widespread adoption of some advanced control techniques, for example the use of
model predictive control (MPC) methods in the process industries. It is also
essential that a wide range of new methods is explored since we are never quite
sure which method may make a significant contribution to tomorrow’s industrial
control engineering paradigm.
One of the key fascinations of industrial systems is that they can be very
complex, comprised as they often are, of continuous-time processes, discrete-event
systems, time- and process-dependent decision rules, information systems, control
systems, external operational interfaces and operator interventions. It is a massive
challenge for the control engineer to model this system complexity and then devise
techniques to analyse the system and its supervisory control. Since the late 1980s,
as a response to this complexity, the study of hybrid systems has emerged. In their
simplest form, hybrid systems comprise continuous-time dynamics, discrete-event
viii Series Editors’ Foreword
processes and the interaction between the two; however, in this volume in the
Advances in Industrial Control monograph series, Dr. Emilia Villani seeks a much
closer correspondence to industrial systems. Dr. Villani considers the industrial
system to be a self-contained object or process controlled by a hybrid supervisory
system or controller. This productive system structure is sufficiently general to
accommodate internal discrete decision rules, external user interfaces and
information system links. For this new conceptual framework of a productive
system, Dr. Villani then proceeds to construct a modelling formalism based on
Petri-net and differential-equation systems for the respective discrete-event and
continuous-time-process aspects and uses the object-oriented paradigm to
incorporate system complexity. The resulting hybrid-system-modelling tool,
known as the object-oriented differential predicate transition (OO-DPT) net, is
described in Chapter 2, and put to work in Chapter 3 to model an industrial process
supervisor as a hybrid system.
The strength of any new modelling tool is always tested when it is used to
create new system models and analyse their properties. Thus, in Chapter 4 of Dr.
Villani’s monograph, the model formalism is used to verify system reachability
and safety properties. For this, a new analysis method comprising seven activity
steps is presented and demonstrated. After four chapters of preparation, Dr. Villani
then presents three fully worked-out industrial examples, a heating, ventilation and
air conditioning (HVAC) system (Chapter 5), an aircraft landing system (Chapter
6) and a cane-sugar factory (Chapter 7). These carefully chosen examples represent
a range of industrial processes having different combinations of continuous-time
and discrete event features. For example, the aircraft landing system is discrete-
event dominated. A chapter on possible future developments of this new modelling
and analysis technique closes the monograph.
To conclude, one way to narrow the theory-practice gap is to have better and
more realistic industrial system representations that support useful synthesis and
analysis tools. Dr. Villani’s monograph Modelling and Analysis of Hybrid
Supervisory Systems makes a valuable contribution to this search as can be seen
from the applications (cid:237) three demanding technological systems being presented.
The volume should be of considerable interest to industrial engineers and academic
researchers alike and is a very welcome addition to the Advances in Industrial
Control series.
M.J. Grimble and M.A. Johnson
Glasgow, Scotland, U.K.
Preface
This book presents a new approach for the development of hybrid supervisory
systems. Application areas include process and basic industries, manufacturing
industries, service industries, healthcare, telecommunication, transportation and
logistics, among others.
The term ‘hybrid’ refers to the dynamic behaviour of the supervisory system,
which includes characteristics from both discrete event dynamic systems and
continuous dynamic systems.
The development of supervisory systems has been extensively treated in the
literature. However, it has always been considered as a problem of the discrete
event dynamic system domain exclusively. The main motivation for the study of
hybrid supervisory system is the need for integrating and exchanging information
among controllers and subsystems of different nature (discrete and continuous).
From the hardware point of view, the rapid progress of information processing
power and its commercial availability have allowed the development of complex
supervisory systems. Among the characteristics of these systems is the need to
integrate a large number of industrial and service processes, continuously monitor
a number of variables and react to asynchronous events generated either by the
controlled plant or by commands of users and upper level systems. Many barriers
that restrained the evolution of supervisory system in the past were removed by the
recent popularisation of the open system paradigm, which allows the connection of
devices, technologies and communication networks of different suppliers.
On the other hand, the software has not followed the hardware evolution.
Nowadays, most solutions are proposed in an ad hoc way. Both the industrial and
scientific community have pointed out the need for a generic approach that guides
the development of hybrid supervisory systems.
The research about hybrid systems is relatively new when compared with
discrete event dynamic systems and continuous dynamic systems. With the
exception of a few isolated works, hybrid systems began to be studied in the 1990s.
Although many proposals have already been made, there is no consolidated
approach for the systematic modelling and analysis of complex hybrid systems,
which is the case of supervisory systems.
x Preface
This book presents an approach to fill in this gap. The first chapter of the book
is dedicated to describe this purpose in detail. It defines what hybrid supervisory
systems are and presents the main phases of their development.
Basically, the first phase of the supervisory system design is to elaborate a
proposal and describe it using a mathematical formalism. For these purposes, this
book introduces a formalism that merges Petri net, differential equation systems
and the object-oriented paradigm. The use of Petri net and differential equations
ensures flexibility to model both discrete and continuous dynamics. The object-
oriented paradigm copes with the system complexity. This formalism is described
in Chapter 2.
However, due to the complexity of the problem, the elaboration of this proposal
is not usually straightforward. In order to guide the designer and conduct the
hybrid modelling, Chapter 3 describes a method that starts from the supervisory
system requirements and results in a model of both the supervisory system and the
controlled plant using the formalism presented in Chapter 2. The method is mainly
based on UML (unified modelling language) diagrams, which is a well-known tool
for both the academic and industrial community.
Once the model of the supervisory system and the controlled plant has been
elaborated, the next phase is the supervisory system validation. The main purpose
of validation is to ensure that the controlled plant will behave as expected under
any circumstances of the supervisory system operation. For this purpose, Chapter 4
presents a validation procedure that allows verifying the formal properties of the
hybrid model.
The approach introduced in Chapters 2, 3 and 4 is then applied to three
examples. The first example is the HVAC (heating ventilation and air-
conditioning) management system of a hospital. This is described in Chapter 5.
The second example is the supervisory landing system of a military aircraft
currently used by several air forces. This is described in Chapter 6. The third and
more complex example is the supervisory system of a cane sugar factory that was
updated to improve its productivity. This is described in Chapter 7. The last
chapter of this book, Chapter 8, presents the main limitations of the approach and
describes the points that can be expanded or improved in future work.

The book is directed to researchers, students, academic and industrial
professionals that are interested in industrial automation, design of supervisory
system, modelling and analysis of hybrid systems.
The book aims at building a bridge between what is developed by academic
researchers and what is available to the industrial professionals. From one point of
view, it introduces a design procedure for supervisory systems based on formal
techniques, allowing the verification of behavioural properties. The book also
presents an approach that establishes a connection with UML, which is a standard
in the industrial world. Finally, it is important to highlight that a particular
emphasis is placed on applications and a large portion of the book is dedicated to
describe the three real-world examples that illustrate different aspects of the
presented approach.