Naslov
Automatic supervisory system synthesis for port cranes colission prevention by using Petri net

Autori
Kezić, Danko ; Antonić, Radovan ; Račić Nikola

Izvornik
Promet - Traffic & Transportation (0353-5320) 18 (2006), 3; 143-150

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, prethodno priopćenje, znanstveni

Ključne riječi
collision prevention; Motion control of cranes

Sažetak
The article deals with the system of port cranes comprising of two independently controlled cranes which are simultaneously engaged in the transhipment of cargo between a vessel and a railway wagon assembly alongside. The crane operator's error can lead to the collision of cranes. Therefore it is necessary to install the supervisor in an automatic control system with the functions of continuous supervision of the process of crane movement, and blocking of commands that can lead to collision. The article shows the method of crane system modelling as a discrete event system by using P/T and P-timed Petri nets. There is a proposal of a formal mathematic method for calculation of the state supervisor by P-invariant method. The supervisor calculated in this way is maximally permissive supervisor. The efficiency of the supervisor is verified by a computer simulation.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Tehnologija prometa i transport

POVEZANOST RADA