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CN106227036B - A kind of symmetrical discrete event system On-line Control rule reconstructing method - Google Patents

A kind of symmetrical discrete event system On-line Control rule reconstructing method Download PDF

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CN106227036B
CN106227036B CN201610552197.9A CN201610552197A CN106227036B CN 106227036 B CN106227036 B CN 106227036B CN 201610552197 A CN201610552197 A CN 201610552197A CN 106227036 B CN106227036 B CN 106227036B
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CN106227036A (en
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甘永梅
焦亭
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Xian Jiaotong University
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    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
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    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

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Abstract

The invention discloses a kind of symmetrical discrete event system On-line Controls to restrain reconstructing method, comprising the following steps: 1) calculate system global automaton model G；2) the automatic machine RG=relabel (G) after heavy label is calculated and the performance indicator after heavy label；3) monitoring controller XRSUP (m, n) in event heavy label system is calculated to obtain；4) the monitoring controller XRSUP (m, n) in event heavy label system is simplified, obtains simplified monitoring controller XRSIM (m, n)；5) the monitoring controller NSUP of system after reconstructing when buffer pool size k increase and decrease is calculated；6) the monitoring controller SUP_INV after computational short cut and reconstruct after system monitoring controller NSUP between corresponding states to set SP；7) state of the monitoring controller NSUP of system after simplified monitoring controller SUP_INV and reconstruct is subjected to seamless switching, this method, which can be realized, simplifies original monitoring controller, at the same can be realized simplified monitoring controller and reconstruct after system monitoring controller between online switching.

Description

A kind of symmetrical discrete event system On-line Control rule reconstructing method
Technical field
The invention belongs to discrete event system Survey of Supervisory Control Theory field, it is related to a kind of symmetrical discrete event system in line traffic control System rule reconstructing method.
Background technique
Discrete event system (Discrete-Event Systems, vehicle economy S) such as flexible manufacturing system, computer and logical Communication network, robot, traffic control system, logistics and data base management system etc. be always control field research hotspot it One.DES be it is a kind of with physical event occurs and the dynamical system of evolution, these physical events may be unknown and irregular Occur in time interval.It due to the new system component of sensor fault, introducing or is equilibrium assignment in actual production Production system input and output side machine quantity and appearance situations such as modify Control performance standard, the supervision designed before will cause Controller does not adapt to new control requirement.And in order to design the supervisory control system of more flexible, flexible intelligence, just must It must solve the problems, such as control law on-line reorganization, and further realize the seamless switching of system.
And the research of existing discrete event system control rule reconstruct is concentrated mainly on offline design and goes out between all mode Handoff relation.Since offline design needs calculated in advance to go out the corresponding all possible control mode of various reconstruct, work as system There are many component, when such as tens or more, calculate the work that all control mode will be a complexity and be difficult to realize, and A large amount of memory spaces are needed to store the corresponding monitoring controller of each control mode.It is therefore desirable to study to be calculated with online mode The monitoring controller of system after reconstruct.Because reconstruct front and back system has certain general character (such as symmetry), often can be by original Monitoring controller after having supervisory control reconstruct.Furthermore, it is possible to pass through exploitation control software realization and the entire weight of management Structure process enables system components after reconstruct to continue to complete task unfinished before without returning to original state Restart work.
Do not consider the problems of Modeling of Discrete-event System that multiple components have identical structure (symmetry) in the past, it is such as more The identical machine of a function takes workpiece from the same buffer area (Buffer), needs to all events occurred in each machine It is marked with different digital, causes gained monitoring controller larger.In fact, mutually isostructural component can be with same Event sets are marked, this is by the structure of largely simplified control device.Therefore when system has the more of variable amounts When the group identical component of function, this symmetry will export the invariance and repeatability of controller.It, can be using the invariance The design process for largely simplifying reconfigurable controller, to facilitate the solution of subsequent online switching problem.And by function Energy same components are marked with same event sets weakens component itself, and control center of gravity has been placed on buffer pool size (corresponding to the storehouse institute capacity in Petri network), the system after re-flagging have invariance --- template contral (Template Control), this solves the problems, such as that there is control law reconstruction caused by changing due to system structure important science to grind to efficient Study carefully meaning and engineering application value, however original monitoring controller cannot be simplified in technology, and not can be carried out online Switching.
Summary of the invention
It is an object of the invention to overcome the above-mentioned prior art, it is online to provide a kind of symmetrical discrete event system Control law reconstruction method, this method, which can be realized, simplifies original monitoring controller, while can be realized simplified prison Online switching after superintending and directing controller and reconstructing between the monitoring controller of system.
In order to achieve the above objectives, symmetrical discrete event system On-line Control rule reconstructing method of the present invention includes following Step:
1) the automaton model G of various components in system is establishedα, and according to the automaton model G of various components in systemα Using synchronous integration method calculate system global automaton model G；
2) event heavy label operation is carried out to the global automaton model G and performance indicator BSPEC of system respectively, obtains and marks again Automatic machine RG=relabel (G) after the note and performance indicator RBSPEC after heavy label, wherein G and RG are denoted as MACH respectively (m, n) and RMACH (m, n)；
3) the automatic machine RG after the heavy label and performance indicator RBSPEC after heavy label is calculated by the supcon in TCT software Method calculates to obtain monitoring controller XRSUP (m, n) in event heavy label system；
4) call TCT software in supreduce algorithm in event heavy label system monitoring controller XRSUP (m, N) simplified, obtain simplified monitoring controller XRSIM (m, n), and XRSIM (m, n) is denoted as SUP_INV；
5) when component increase or delete when, simplified monitoring controller SUP_INV is remained unchanged, thus need to only generate by The corresponding monitoring controller of system calculates buffer pool size k if buffer pool size is k after buffer pool size increase and decrease triggering reconstruct The monitoring controller NSUP of system after being reconstructed when increase and decrease；
6) it establishes corresponding between simplified monitoring controller SUP_INV and the monitoring controller NSUP of system after reconstruct State set is to relationship, after the monitoring controller SUP_INV and reconstruct after computational short cut between the monitoring controller NSUP of system Corresponding states set to set CSP；
7) the corresponding states set obtained according to step 6) to set CSP by simplified monitoring controller SUP_INV with The state of the monitoring controller NSUP of system carries out seamless switching after reconstruct.
The concrete operations of step 1) are as follows: establish the automaton model G of each component in systemα=(Qα,∑α,δα,qα,0, Qα,m), wherein QαFor GαState set, ∑αFor GαEvent sets, δαFor GαTransfer function, qα,0For GαInitial shape State, Qα,mFor GαIdentification-state set；Further according to the automaton model G of component each in systemα=(Qα,∑α,δα,qα,0,Qα,m) Utilize the global automaton model G of synchronous integration method computing system；Wherein, equal for the automaton model of component each in system Using the form storage state transfer relationship of 3 tuples lists, 3 tuples list includes three column, wherein first row storage source shape State, secondary series store event title, third column storage dbjective state, the currently active state of source status representative system, event generation Table has the event that qualification occurs under current state, and dbjective state represents the state reached via generable event；If There is β event under a source state, then there are β rows in list；
Establish the automaton model G of each component in systemα=(Qα,∑α,δα,qα,0,Qα,m) concrete operations are as follows:
101) event sets in the various components of controlled system are defined, wherein different event name is different, and foundation is used for The status list State_list of storage system status；
102) using the original state of system as the first row in first source state write state list State_list The position of first row, and will be in the original state write state list State_list of system；
103) dynamic process of analytic unit is established the event that can occur under the source state, is located under the original state β event can occur；
104) by the first column position of the source state write state list State_list next line, next event is write Enter the second column position of the row, then determine the state that the source state is reached after event generation, by the source state in the thing State achieved is denoted as dbjective state after part occurs, when dbjective state is already present in status list State_list, Status list State_list is constant；When dbjective state is not present in status list State_list, then by the mesh Mark state is stored in the third column position of the row；
105) it repeats 104) until β transfer relationship whole write state list State_ corresponding with β event Until list；
106) judge whether current source state is the last one state in status list, when current source state is status Bar In table State_list when the last one state, then step 108) is gone to；When current source state is not status list State_ In list when the last one state, then step 107) is gone to；
107) next state is taken out from status list State_list, and will be taken out from status list State_list Next state as new source state, and go to step 103)；
108) the status list State_list for obtaining step 106) is as the automaton model of the component；
109) repeat step 101) -108) Ergodic Theory all components, obtain the automaton model of all components in system Gα；By the automaton model G of all components in systemαCorresponding document, and root are inputted and created by the prompt of TCT program Create Pass through the global automaton model G of TCT program Sync computing system according to the file of creation；
G=Sync (MIN1,…,MINm,MOUT1,…,MOUTn)
Wherein, MINγFor the γ input side component in system, 1≤γ≤m, MOUTλFor the λ outlet side group in system Part, 1≤λ≤n；M is the number of input side component in system, and n is the number of outlet side component in system.
The concrete operations of step 2) are as follows:
Event heavy label relabel operation is carried out respectively to the global automaton model G and performance indicator BSPEC of system, Automatic machine RG=relabel (G) after the obtaining heavy label and performance indicator RBSPEC=relabel (BSPEC) after heavy label, then G and RG are denoted as MACH (m, n) and RMACH (m, n) respectively, wherein to the global automaton model G and performance indicator of system BSPEC carry out the concrete operations of event heavy label operation respectively the following steps are included:
201) by global automaton model G=(Q, ∑, δ, the q of system0,Qm) traversal lists in each transfer < source state, Event title, dbjective state > event title replaced one by one by heavy label rule, derive from Motivation Model G'=(Q, T, δ, q0,Qm), wherein Q is the state set of G, and ∑ is the event sets of G, and δ is the transfer function of G, q0For the original state of G, QmFor The identification-state set of G, event sets ∑ are denoted as T after event heavy label；
202) by automaton model G'=(Q, T, δ, q0,Qm) in { q0It is used as original state, to the thing after heavy label Each event t in part set T successively generates subsets of states according to δ (S, t)=∪ { δ (q, t) | q ∈ S },To have generated Subsets of states；
203) step 202) is repeated, until not new subsets of states generates, is obtained in all subsets of states containing mark The subset of knowledge state；
204) using the subset for containing identification-state in all subsets of states that step 203) obtains as identification-state subset Qm, automatic machine RG=relabel (G) after obtaining heavy label；
205) the performance indicator RBSPEC after heavy label is calculated, wherein RBSPEC=relabel (BSPEC).
The table of the monitoring controller XRSUP (m, n) in step 3) in event heavy label system is calculated using supcon algorithm Up to formula are as follows:
XRSUP (m, n)=supcon (RMACH (m, n), RBSPEC)
The expression formula of simplified monitoring controller XRSIM (m, n) in step 4) are as follows:
XRSIM (m, n)=supreduce (RMACH (m, n), XRSUP (m, n), XRSUP (m, n) .dat)
XRSUP (m, n) .dat=condat (RMACH (m, n), XRSUP (m, n))
Wherein, supreduce algorithm is for calculating the corresponding simplified monitoring controller of monitoring controller XRSUP (m, n) XRSIM (m, n), calculated result XRSUP (m, n) .dat are stored with forbidden in each state in monitoring controller XRSUP (m, n) Controllable event sets.
The concrete operations of step 5) are as follows:
When component increases or deletes, monitoring controller SUP_INV:=(X, T, ξ, x0,Xm) remain unchanged, therefore only need It generates and the corresponding monitoring controller of system after triggering reconstructs is increased and decreased by buffer pool size, wherein the state set of X expression SUP_INV It closes, T indicates that the event sets of SUP_INV, ξ indicate the transfer function of SUP_INV, x0Indicate the original state of SUP_INV, XmTable Show the identification-state set of SUP_INV, if buffer pool size is k, wherein when buffer pool size k increases by 1, after generating reconstruct The concrete operations of the corresponding monitoring controller NSUP of system are as follows:
501a) buffer pool size k increases by 1, adds state xij, i ∈ 0 ..., and k+1 }, j=k+1-i；
502a) buffer pool size k increases by 1, increases the corresponding transfer ξ (x of event a1, a2, b1 and b2ij,a1)、ξ (xij,a2)、ξ(xij, b1) and ξ (xij, b2), wherein
ξ(xij, a1) and=xi,j+1, i ∈ { 0 ..., k }, j=k-i,
ξ(xij, a2) and=xi+1,j-1, i ∈ { 0 ..., k }, j=k+1-i,
ξ(xij, b1) and=xi-1,j, i ∈ { 1 ..., k+1 }, j=k+1-i,
ξ(xij, b2) and=xij, i ∈ 0 ..., and k+1 }, j=k+1-i；
When buffer pool size reduces 1, the concrete operations of the corresponding monitoring controller of system after reconstruct are generated are as follows:
501b) delete state xij, i ∈ 0 ..., and k }, j=k-i；
502b) the corresponding transfer ξ (x of deletion event a1, a2, b1 and b2ij,a1)、ξ(xij,a2)、ξ(xij, b1) and ξ (xij, b2), wherein
ξ(xij, a1) and=xi,j+1, i ∈ { 0 ..., k-1 }, j=k-1-i,
ξ(xij, a2) and=xi+1,j-1, i ∈ { 0 ..., k-1 }, j=k-i,
ξ(xij, b1) and=xi-1,j, i ∈ { 1 ..., k }, j=k-i,
ξ(xij, b2) and=xij, i ∈ 0 ..., and k }, j=k-i.
The concrete operations of step 6) are as follows:
Establish simplified monitoring controller SUP_INV:=(X, T, ξ, x0,Xm) with reconstruct after system monitoring controllerBetween corresponding states set to relationship, wherein Z indicate NSUP state set,Indicate NSUP Transfer function, z0Indicate the original state of NSUP, ZmIndicate the identification-state set of NSUP, SUP_INV has identical with NSUP Event sets, the event sets of NSUP are still indicated with T, enable (ori_ex, ori_ev, ori_en) ∈ ori_SUP, (new_ex, New_ev, new_en) ∈ new_SUP, wherein ori_SUP indicates the state transfer relationship list of SUP_INV, ori_ex, ori_ Ev and ori_en respectively indicates the source state, event title and dbjective state shifted in SUP_INV, and new_SUP indicates NSUP's State transfer relationship list, new_ex, new_ev and new_en respectively indicate the source state, event title and mesh shifted in NSUP Mark state, then monitoring controller SUP_INV:=(X, T, ξ, the x after computational short cut0,Xm) with reconstruct after system Supervised Control DeviceBetween corresponding states set to set CSP, wherein the monitoring controller after computational short cut SUP_INV:=(X, T, ξ, x0,Xm) with reconstruct after system monitoring controllerBetween correspondence shape Concrete operations of the state set to set CSP are as follows:
601) intermediate variable corresponding states is introduced to set SP, initializes simplified monitoring controller SUP_INV and again Corresponding states after structure between the monitoring controller NSUP of system is { (0,0) } to set SP；
602) to each transfer (ori_ex, ori_ev, ori_en), each tuple (sp_ori, sp_ in SP are successively searched New) with new_SUP in each tuple (new_ex, new_ev, new_en), wherein sp_ori, sp_new indicate SUP_INV with Corresponding states pair between NSUP, as ori_ex=sp_ori, sp_new=new_ex and ori_ev=new_ev, then by tuple (ori_en, new_en) be added to simplified monitoring controller SUP_INV and reconstruct after system monitoring controller NSUP it Between corresponding states in set SP；
603) it repeats step 602) and traverses all of state transfer relationship list in simplified monitoring controller SUP_INV Until transfer；
604) the correspondence shape of each state q in the state transfer relationship list of simplified monitoring controller SUP_INV is set State set CSqFor empty set, successively finding step 602) obtain to system after simplified monitoring controller SUP_INV and reconstruct Monitoring controller NSUP between corresponding states to tuple (sp_ori, sp_new) each in set SP, if sp_ori=q, Sp_new is then added to the corresponding states set CS of state qqIn；After lookup, by tuple (q, CSq) corresponding states collection is added It closes in set CSP；
605) institute is stateful in the state transfer relationship list of the simplified monitoring controller SUP_INV of traversal, obtains simplification Corresponding states set after rear monitoring controller SUP_INV and reconstruct between the monitoring controller NSUP of system is to set CSP.
The concrete operations of step 7) are as follows:
It records current activation state q of simplified monitoring controller SUP_INV during monitoring and has executed event String s, the existence z ∈ Z in the monitoring controller NSUP of system after reconstruct, andThen directly it is switched to from state q Z, then new system is run under the monitoring of the monitoring controller NSUP of system after reconstitution；Otherwise, then dijkstra's algorithm is utilized Found in the monitoring controller NSUP of system after reconstitution with the shortest state q' in the path current activation state q, and state q' is deposited In corresponding states set, state q to the shortest path between state q' is denoted as s ", state q0Shortest path to state q' Diameter is denoted as s', from the current activation state q execution route s " of simplified monitoring controller SUP_INV by simplified prison The current activation state for superintending and directing controller SUP_INV is updated to state q', and from the initial shape of the monitoring controller NSUP after reconstruct State z0Virtual execution of setting out path s' is to stateThen it is switched to state z' from state q', new system is after reconstitution It is run under the monitoring of the monitoring controller NSUP of system.
The invention has the following advantages:
Symmetrical discrete event system On-line Control of the present invention restrains reconstructing method, then when specific operation, based on marking again Automatic machine RG after the note and performance indicator RBSPEC after heavy label calculates to obtain event weight by the supcon algorithm in TCT software Monitoring controller XRSUP (m, n) in tagging system recycles the supreduce algorithm in TCT software to event heavy label system Monitoring controller XRSUP (m, n) in system is simplified, to largely reduce controlled device and monitoring controller Scale.In addition, between monitoring controller NSUP of the present invention using system after simplified monitoring controller SUP_INV and reconstruct Corresponding states the monitoring controller NSUP of system after simplified monitoring controller SUP_INV and reconstruct is realized to set SP State carries out seamless switching, cutting between the monitoring controller of system online after realizing simplified monitoring controller and reconstructing It changes, thus keep system operation more flexible, it is more easy to maintain, discrete event system method for supervision and control is effectively advanced in reality The application of occasion.
Detailed description of the invention
Fig. 1 is the schematic diagram of event heavy label function in the present invention；
Fig. 2 is the schematic diagram of certain manufacture system in the present invention；
Fig. 3 is the schematic diagram of monitoring controller invariance in heavy label system in the present invention；
Fig. 4 is the schematic diagram that discrete event system control restrains restructuring procedure in the present invention；
Fig. 5 is the schematic diagram of automaton model construction process in the present invention.
Specific embodiment
The invention will be described in further detail with reference to the accompanying drawing:
With reference to Fig. 1, symmetrical discrete event system On-line Control rule reconstructing method of the present invention the following steps are included:
1) the automaton model G of various components in system is establishedα, and according to the automaton model G of various components in systemα Using synchronous integration method calculate system global automaton model G；
The concrete operations of step 1) are as follows: establish the automaton model G of each component in systemα=(Qα,∑α,δα,qα,0, Qα,m), wherein QαFor GαState set, ∑αFor GαEvent sets, δαFor GαTransfer function, qα,0For GαInitial shape State, Qα,mFor GαIdentification-state set；Further according to the automaton model G of component each in systemα=(Qα,∑α,δα,qα,0,Qα,m) Utilize the global automaton model G of synchronous integration method computing system；Wherein, equal for the automaton model of component each in system Using the form storage state transfer relationship of 3 tuples lists, 3 tuples list includes three column, wherein first row storage source shape State, secondary series store event title, third column storage dbjective state, the currently active state of source status representative system, event generation Table has the event that qualification occurs under current state, and dbjective state represents the state reached via generable event；If There is β event under a source state, then there are β rows in list；
Establish the automaton model G of each component in systemα=(Qα,∑α,δα,qα,0,Qα,m) concrete operations are as follows:
101) event sets in the various components of controlled system are defined, wherein different event name is different, and foundation is used for The status list State_list of storage system status；
102) using the original state of system as the first row in first source state write state list State_list The position of first row, and will be in the original state write state list State_list of system；
103) dynamic process of analytic unit is established the event that can occur under the source state, is located under the original state β event can occur；
104) by the first column position of the source state write state list State_list next line, next event is write Enter the second column position of the row, then determine the state that the source state is reached after event generation, by the source state in the thing State achieved is denoted as dbjective state after part occurs, when dbjective state is already present in status list State_list, Status list State_list is constant；When dbjective state is not present in status list State_list, then by the mesh Mark state is stored in the third column position of the row；
105) it repeats 104) until β transfer relationship whole write state list State_ corresponding with β event Until list；
106) judge whether current source state is the last one state in status list, when current source state is status Bar In table State_list when the last one state, then step 108) is gone to；When current source state is not status list State_ In list when the last one state, then step 107) is gone to；
107) next state is taken out from status list State_list, and will be taken out from status list State_list Next state as new source state, and go to step 103)；
108) the status list State_list for obtaining step 106) is as the automaton model of the component；
109) repeat step 101) -108) Ergodic Theory all components, obtain the automaton model of all components in system Gα；By the automaton model G of all components in systemαCorresponding document, and root are inputted and created by the prompt of TCT program Create Pass through the global automaton model G of TCT program Sync computing system according to the file of creation；
G=Sync (MIN1,…,MINm,MOUT1,…,MOUTn)
Wherein, MINγFor the γ input side component in system, 1≤γ≤m, MOUTλFor the λ outlet side group in system Part, 1≤λ≤n；M is the number of input side component in system, and n is the number of outlet side component in system.
2) event heavy label operation is carried out to the global automaton model G and performance indicator BSPEC of system respectively, obtains and marks again Automatic machine RG=relabel (G) after the note and performance indicator RBSPEC after heavy label, wherein G and RG are denoted as MACH respectively (m, n) and RMACH (m, n)；
The concrete operations of step 2) are as follows:
Event heavy label relabel operation is carried out respectively to the global automaton model G and performance indicator BSPEC of system, Automatic machine RG=relabel (G) after the obtaining heavy label and performance indicator RBSPEC=relabel (BSPEC) after heavy label, then G and RG are denoted as MACH (m, n) and RMACH (m, n) respectively, wherein to the global automaton model G and performance indicator of system BSPEC carry out the concrete operations of event heavy label operation respectively the following steps are included:
201) by global automaton model G=(Q, ∑, δ, the q of system0,Qm) traversal lists in each transfer < source state, Event title, dbjective state > event title replaced one by one by heavy label rule, derive from Motivation Model G'=(Q, T, δ, q0,Qm), wherein Q is the state set of G, and ∑ is the event sets of G, and δ is the transfer function of G, q0For the original state of G, QmFor The identification-state set of G, event sets ∑ are denoted as T after event heavy label；
202) by automaton model G'=(Q, T, δ, q0,Qm) in { q0It is used as original state, to the thing after heavy label Each event t in part set T successively generates subsets of states according to δ (S, t)=∪ { δ (q, t) | q ∈ S },To have generated Subsets of states；
203) step 202) is repeated, until not new subsets of states generates, is obtained in all subsets of states containing mark The subset of knowledge state；
204) using the subset for containing identification-state in all subsets of states that step 203) obtains as identification-state subset Qm, automatic machine RG=relabel (G) after obtaining heavy label；
205) the performance indicator RBSPEC after heavy label is calculated, wherein RBSPEC=relabel (BSPEC).
3) the automatic machine RG after the heavy label and performance indicator RBSPEC after heavy label is calculated by the supcon in TCT software Method calculates to obtain monitoring controller XRSUP (m, n) in event heavy label system, wherein
XRSUP (m, n)=supcon (RMACH (m, n), RBSPEC)
4) call TCT software in supreduce algorithm in event heavy label system monitoring controller XRSUP (m, N) simplified, obtain simplified monitoring controller XRSIM (m, n), and XRSIM (m, n) is denoted as SUP_INV；
The expression formula of simplified monitoring controller XRSIM (m, n) in step 4) are as follows:
XRSIM (m, n)=supreduce (RMACH (m, n), XRSUP (m, n), XRSUP (m, n) .dat)
XRSUP (m, n) .dat=condat (RMACH (m, n), XRSUP (m, n))
Wherein, supreduce algorithm is for calculating the corresponding simplified monitoring controller of monitoring controller XRSUP (m, n) XRSIM (m, n), calculated result XRSUP (m, n) .dat are stored with forbidden in each state in monitoring controller XRSUP (m, n) Controllable event sets.
5) when component increase or delete when, simplified monitoring controller SUP_INV is remained unchanged, thus need to only generate by The corresponding monitoring controller of system calculates buffer pool size k if buffer pool size is k after buffer pool size increase and decrease triggering reconstruct The monitoring controller NSUP of system after being reconstructed when increase and decrease；
The concrete operations of step 5) are as follows:
When component increases or deletes, monitoring controller SUP_INV:=(X, T, ξ, x0,Xm) remain unchanged, therefore only need It generates and the corresponding monitoring controller of system after triggering reconstructs is increased and decreased by buffer pool size, wherein the state set of X expression SUP_INV It closes, T indicates that the event sets of SUP_INV, ξ indicate the transfer function of SUP_INV, x0Indicate the original state of SUP_INV, XmTable Show the identification-state set of SUP_INV, if buffer pool size is k, wherein when buffer pool size k increases by 1, after generating reconstruct The concrete operations of the corresponding monitoring controller NSUP of system are as follows:
501a) buffer pool size k increases by 1, adds state xij, i ∈ 0 ..., and k+1 }, j=k+1-i；
502a) buffer pool size k increases by 1, increases the corresponding transfer ξ (x of event a1, a2, b1 and b2ij,a1)、ξ (xij,a2)、ξ(xij, b1) and ξ (xij, b2), wherein
ξ(xij, a1) and=xi,j+1, i ∈ { 0 ..., k }, j=k-i,
ξ(xij, a2) and=xi+1,j-1, i ∈ { 0 ..., k }, j=k+1-i,
ξ(xij, b1) and=xi-1,j, i ∈ { 1 ..., k+1 }, j=k+1-i,
ξ(xij, b2) and=xij, i ∈ 0 ..., and k+1 }, j=k+1-i；
When buffer pool size reduces 1, the concrete operations of the corresponding monitoring controller of system after reconstruct are generated are as follows:
501b) delete state xij, i ∈ 0 ..., and k }, j=k-i；
502b) the corresponding transfer ξ (x of deletion event a1, a2, b1 and b2ij,a1)、ξ(xij,a2)、ξ(xij, b1) and ξ (xij, b2), wherein
ξ(xij, a1) and=xi,j+1, i ∈ { 0 ..., k-1 }, j=k-1-i,
ξ(xij, a2) and=xi+1,j-1, i ∈ { 0 ..., k-1 }, j=k-i,
ξ(xij, b1) and=xi-1,j, i ∈ { 1 ..., k }, j=k-i,
ξ(xij, b2) and=xij, i ∈ 0 ..., and k }, j=k-i.
6) it establishes corresponding between simplified monitoring controller SUP_INV and the monitoring controller NSUP of system after reconstruct State set is to relationship, after the monitoring controller SUP_INV and reconstruct after computational short cut between the monitoring controller NSUP of system Corresponding states set to set CSP；
The concrete operations of step 6) are as follows:
Establish simplified monitoring controller SUP_INV:=(X, T, ξ, x0,Xm) with reconstruct after system monitoring controllerBetween corresponding states set to relationship, wherein Z indicate NSUP state set,Indicate NSUP Transfer function, z0Indicate the original state of NSUP, ZmIndicate the identification-state set of NSUP, SUP_INV has identical with NSUP Event sets, the event sets of NSUP are still indicated with T, enable (ori_ex, ori_ev, ori_en) ∈ ori_SUP, (new_ex, New_ev, new_en) ∈ new_SUP, wherein ori_SUP indicates the state transfer relationship list of SUP_INV, ori_ex, ori_ Ev and ori_en respectively indicates the source state, event title and dbjective state shifted in SUP_INV, and new_SUP indicates NSUP's State transfer relationship list, new_ex, new_ev and new_en respectively indicate the source state, event title and mesh shifted in NSUP Mark state, then monitoring controller SUP_INV:=(X, T, ξ, the x after computational short cut0,Xm) with reconstruct after system Supervised Control DeviceBetween corresponding states set to set CSP, wherein the monitoring controller after computational short cut SUP_INV:=(X, T, ξ, x0,Xm) with reconstruct after system monitoring controllerBetween correspondence shape Concrete operations of the state set to set CSP are as follows:
601) intermediate variable corresponding states is introduced to set SP, initializes simplified monitoring controller SUP_INV and again Corresponding states after structure between the monitoring controller NSUP of system is { (0,0) } to set SP；
602) to each transfer (ori_ex, ori_ev, ori_en), each tuple (sp_ori, sp_ in SP are successively searched New) with new_SUP in each tuple (new_ex, new_ev, new_en), wherein sp_ori, sp_new indicate SUP_INV with Corresponding states pair between NSUP, as ori_ex=sp_ori, sp_new=new_ex and ori_ev=new_ev, then by tuple (ori_en, new_en) be added to simplified monitoring controller SUP_INV and reconstruct after system monitoring controller NSUP it Between corresponding states in set SP；
603) it repeats step 602) and traverses all of state transfer relationship list in simplified monitoring controller SUP_INV Until transfer；
604) the correspondence shape of each state q in the state transfer relationship list of simplified monitoring controller SUP_INV is set State set CSqFor empty set, successively finding step 602) obtain to system after simplified monitoring controller SUP_INV and reconstruct Monitoring controller NSUP between corresponding states to tuple (sp_ori, sp_new) each in set SP, if sp_ori=q, Sp_new is then added to the corresponding states set CS of state qqIn；After lookup, by tuple (q, CSq) corresponding states collection is added It closes in set CSP；
605) institute is stateful in the state transfer relationship list of the simplified monitoring controller SUP_INV of traversal, obtains simplification Corresponding states set after rear monitoring controller SUP_INV and reconstruct between the monitoring controller NSUP of system is to set CSP.
7) the corresponding states set obtained according to step 6) to set CSP by simplified monitoring controller SUP_INV with The state of the monitoring controller NSUP of system carries out seamless switching after reconstruct.
The concrete operations of step 7) are as follows:
It records current activation state q of simplified monitoring controller SUP_INV during monitoring and has executed event String s, the existence z ∈ Z in the monitoring controller NSUP of system after reconstruct, andThen directly it is switched to from state q Z, then new system is run under the monitoring of the monitoring controller NSUP of system after reconstitution；Otherwise, then dijkstra's algorithm is utilized Found in the monitoring controller NSUP of system after reconstitution with the shortest state q' in the path current activation state q, and state q' is deposited In corresponding states set, state q to the shortest path between state q' is denoted as s ", state q0Shortest path to state q' Diameter is denoted as s', from the current activation state q execution route s " of simplified monitoring controller SUP_INV by simplified prison The current activation state for superintending and directing controller SUP_INV is updated to state q', and from the initial shape of the monitoring controller NSUP after reconstruct State z0Virtual execution of setting out path s' is to stateThen it is switched to state z' from state q', new system is after reconstitution It is run under the monitoring of the monitoring controller NSUP of system.

Claims (8)

1.一种对称离散事件系统在线控制律重构方法，其特征在于，包括以下步骤：1. a symmetrical discrete event system online control law reconstruction method, is characterized in that, comprises the following steps: 1)建立系统中各个组件的自动机模型Gα,并根据系统中各个组件的自动机模型Gα利用同步积算法计算得系统的全局自动机模型G；1) Establish the automaton model G α of each component in the system, and calculate the global automaton model G of the system by using the synchronous product algorithm according to the automaton model G α of each component in the system; 2)对系统的全局自动机模型G及性能指标BSPEC分别进行事件重标记操作，得重标记后的自动机RG＝relabel(G)及重标记后的性能指标RBSPEC，其中，将G及RG分别记作MACH(m,n)及RMACH(m,n)；2) Perform event re-labeling operations on the global automaton model G and performance index BSPEC of the system, respectively, to obtain the re-labeled automaton RG=relabel(G) and the re-labeled performance index RBSPEC, where G and RG are respectively Denoted as MACH(m,n) and RMACH(m,n); 3)重标记后的自动机RG及重标记后的性能指标RBSPEC通过TCT软件中的supcon算法计算得事件重标记系统中的监督控制器XRSUP(m,n)；3) The relabeled automaton RG and the relabeled performance index RBSPEC are calculated by the supcon algorithm in the TCT software to obtain the supervisory controller XRSUP(m,n) in the event relabeling system; 4)调用TCT软件中的supreduce算法对事件重标记系统中的监督控制器XRSUP(m,n)进行简化，得简化后的监督控制器XRSIM(m,n)，并将XRSIM(m,n)记作SUP_INV；4) Call the supreduce algorithm in the TCT software to simplify the supervisory controller XRSUP(m,n) in the event re-marking system to obtain the simplified supervisory controller XRSIM(m,n), and convert the XRSIM(m,n) Denoted as SUP_INV; 5)当组件增加或删除时，简化后的监督控制器SUP_INV保持不变，因此只需生成由缓冲区容量增减触发重构后系统对应的监督控制器，设缓冲区容量为k，计算缓冲区容量k增减时重构后系统的监督控制器NSUP；5) When components are added or deleted, the simplified supervisory controller SUP_INV remains unchanged, so it is only necessary to generate the supervisory controller corresponding to the system after the reconstruction is triggered by the increase or decrease of the buffer capacity. The supervisory controller NSUP of the reconstructed system when the area capacity k increases or decreases; 6)建立简化后的监督控制器SUP_INV与重构后系统的监督控制器NSUP之间的对应状态集合对关系，计算简化后的监督控制器SUP_INV与重构后系统的监督控制器NSUP之间的对应状态集合对集合CSP；6) Establish the corresponding state set pair relationship between the simplified supervisory controller SUP_INV and the supervisory controller NSUP of the reconstructed system, and calculate the relationship between the simplified supervisory controller SUP_INV and the supervisory controller NSUP of the reconstructed system. Corresponding state set pair set CSP; 7)根据步骤6)得到的对应状态集合对集合CSP将简化后的监督控制器SUP_INV与重构后系统的监督控制器NSUP的状态进行无缝切换。7) According to the corresponding state set obtained in step 6), the set CSP seamlessly switches the states of the simplified supervisory controller SUP_INV and the supervisory controller NSUP of the reconstructed system. 2.根据权利要求1所述的对称离散事件系统在线控制律重构方法，其特征在于，步骤1)的具体操作为：建立系统中各组件的自动机模型Gα＝(Qα,∑α,δα,qα,0,Qα,m),其中，Qα为Gα的状态集合，∑α为Gα的事件集合，δα为Gα的转移函数，qα,0为Gα的初始状态，Qα,m为Gα的标识状态集合；再根据系统中各组件的自动机模型Gα＝(Qα,∑α,δα,qα,0,Qα,m)利用同步积算法计算系统的全局自动机模型G；其中，对于系统中每个组件的自动机模型均采用3元组列表的形式存储状态转移关系，所述3元组列表包含三列，其中，第一列存储源状态，第二列存储事件名称，第三列存储目标状态，源状态代表系统当前激活的状态，事件代表在当前状态下具有发生资格的事件，目标状态代表经由可发生的事件到达的状态；如果在一个源状态下有β个事件发生，则列表中存在β行；2. The online control law reconstruction method for a symmetrical discrete event system according to claim 1, wherein the specific operation of step 1) is: establishing an automaton model of each component in the system G α =(Q α ,∑ α ,δ α ,q α,0 ,Q α,m ), where Q α is the state set of G α , ∑ α is the event set of G α , δ α is the transfer function of G α , q α,0 is G α The initial state of α , Q α,m is the set of identification states of G α ; then according to the automaton model of each component in the system G α =(Q α ,∑ α ,δ α ,q α,0 ,Q α,m ) The global automata model G of the system is calculated by using the simultaneous product algorithm; wherein, for the automata model of each component in the system, the state transition relationship is stored in the form of a 3-tuple list, and the 3-tuple list contains three columns, wherein, The first column stores the source state, the second column stores the event name, and the third column stores the target state. The source state represents the current active state of the system, the event represents the event that is eligible to occur in the current state, and the target state represents the event that can occur via the state reached; if there are β events in a source state, there is a β row in the list; 建立系统中各组件的自动机模型Gα＝(Qα,∑α,δα,qα,0,Qα,m)的具体操作为：The specific operations for establishing the automaton model of each component in the system G α =(Q α ,∑ α ,δ α ,q α,0 ,Q α,m ) are: 101)定义被控系统的各个组件中的事件集合，其中，不同事件命名不同，建立用于存储系统状态的状态列表State_list；101) define the event set in each component of the controlled system, wherein, different events are named differently, and a state list State_list for storing the system state is established; 102)把系统的初始状态作为第一个源状态写入状态列表State_list中的第一行第一列的位置,并将系统的初始状态写入状态列表State_list中；102) Write the initial state of the system as the first source state into the position of the first row and first column in the state list State_list, and write the initial state of the system into the state list State_list; 103)分析组件的动态过程，确立在该源状态下能够发生的事件，设在该源状态下能够发生β个事件；103) Analyze the dynamic process of the component, establish the events that can occur in the source state, and set β events to occur in the source state; 104)将该源状态写入状态列表State_list下一行的第一列位置，把下一个事件写入该行的第二列位置，再确定该源状态在该事件发生后所到达的状态，将该源状态在该事件发生后所达到的状态记作目标状态，当目标状态已经存在于状态列表State_list中时，状态列表State_list不变；当目标状态没有存在于状态列表State_list中时，则将所述目标状态存入该行的第三列位置；104) Write the source state to the first column position of the next row of the state list State_list, write the next event to the second column position of the row, and then determine the state the source state reaches after the event occurs. The state reached by the source state after the event occurs is recorded as the target state. When the target state already exists in the state list State_list, the state list State_list remains unchanged; when the target state does not exist in the state list State_list, the state list The target state is stored in the third column position of the row; 105)重复104)直到与β个事件相对应的β个转移关系全部写入状态列表State_list为止；105) Repeat 104) until all the β transition relationships corresponding to the β events are written into the state list State_list; 106)判断当前源状态是否为状态列表中的最后一个状态，当当前源状态为状态列表State_list中最后一个状态时，则转至步骤108)；当当前源状态不是状态列表State_list中最后一个状态时，则转至步骤107)；106) Determine whether the current source state is the last state in the state list, and when the current source state is the last state in the state list State_list, go to step 108); when the current source state is not the last state in the state list State_list , then go to step 107); 107)从状态列表State_list中取出下一个状态，并将从状态列表State_list取出的下一个状态作为新的源状态，并转至步骤103)；107) take out the next state from the state list State_list, and take the next state taken out from the state list State_list as the new source state, and go to step 103); 108)将步骤106)得到的状态列表State_list作为该组件的自动机模型；108) Use the state list State_list obtained in step 106) as the automaton model of the component; 109)重复步骤101)-108)遍历系统的所有组件，得系统中所有组件的自动机模型Gα；将系统中所有组件的自动机模型Gα按TCT程序Create的提示输入并创建相应文件，并根据创建的文件通过TCT程序Sync计算系统的全局自动机模型G；109) repeat steps 101)-108) to traverse all the components of the system to obtain the automaton model G α of all components in the system; the automaton model G α of all components in the system is input by the prompt of the TCT program Create and create a corresponding file, And according to the created file, the global automaton model G of the system is calculated through the TCT program Sync; G＝Sync(MIN1,…,MINm,MOUT1,…,MOUTn)G=Sync(MIN 1 ,…,MIN m ,MOUT 1 ,…,MOUT n ) 其中，MINγ为系统中第γ个输入侧组件，1≤γ≤m，MOUTλ为系统中第λ个输出侧组件，1≤λ≤n；m为系统中输入侧组件的数目，n为系统中输出侧组件的数目。Among them, MIN γ is the γ-th input-side component in the system, 1≤γ≤m, MOUT λ is the λ-th output-side component in the system, 1≤λ≤n; m is the number of input-side components in the system, and n is The number of output-side components in the system. 3.根据权利要求2所述的对称离散事件系统在线控制律重构方法，其特征在于，步骤2)的具体操作为：3. symmetric discrete event system online control law reconstruction method according to claim 2, is characterized in that, the concrete operation of step 2) is: 对系统的全局自动机模型G与性能指标BSPEC分别进行事件重标记relabel操作，得重标记后的自动机RG＝relabel(G)及重标记后的性能指标RBSPEC＝relabel(BSPEC)，再将G及RG分别记作MACH(m,n)及RMACH(m,n)，其中，对系统的全局自动机模型G与性能指标BSPEC分别进行事件重标记操作的具体操作包括以下步骤：Perform event relabeling and relabeling operations on the global automaton model G and performance index BSPEC of the system, respectively, to obtain the relabeled automaton RG=relabel(G) and the relabeled performance index RBSPEC=relabel(BSPEC), and then relabel G and RG are respectively denoted as MACH(m,n) and RMACH(m,n), wherein, the specific operation of re-marking the event on the global automaton model G and the performance index BSPEC of the system respectively includes the following steps: 201)将系统的全局自动机模型G＝(Q,∑,δ,q0,Qm)的转移列表中各转移<源状态，事件名称，目标状态>的事件名称按重标记规则进行逐一替换，得自动机模型G'＝(Q,T,δ,q0,Qm)，其中，Q为G的状态集合，∑为G的事件集合，δ为G的转移函数，q0为G的初始状态，Qm为G的标识状态集合，事件集合∑经事件重标记后记作T；201) Replace the event names of each transition <source state, event name, target state> in the transition list of the global automaton model G=(Q, ∑, δ, q 0 , Q m ) one by one according to the relabeling rule , the automaton model G'=(Q, T, δ, q 0 , Q m ), where Q is the state set of G, ∑ is the event set of G, δ is the transition function of G, and q 0 is the set of G’s The initial state, Q m is the set of marked states of G, and the event set ∑ is denoted as T after the event is re-marked; 202)将自动机模型G'＝(Q,T,δ,q0,Qm)中的{q0}作为初始状态，对重标记之后的事件集合T中的每个事件t依次根据δ(S,t)＝∪{δ(q,t)|q∈S}生成状态子集，为已生成的状态子集；202) Taking {q 0 } in the automaton model G'=(Q, T, δ, q 0 , Q m ) as the initial state, each event t in the event set T after re-marking is followed according to δ ( S,t)=∪{δ(q,t)|q∈S} generates a subset of states, is the generated state subset; 203)重复步骤202)，直至没有新的状态子集生成为止，得所有状态子集中含有标识状态的子集；203) Repeat step 202) until no new state subsets are generated, so that all state subsets contain subsets of identified states; 204)将步骤203)得到的所有状态子集中含有标识状态的子集作为标识状态子集Qm，得重标记后的自动机RG＝relabel(G)；204) Using the subset containing the identification state in all the state subsets obtained in step 203) as the identification state subset Q m , the automaton RG=relabel(G) after the relabeling is obtained; 205)计算重标记后的性能指标RBSPEC，其中，RBSPEC＝relabel(BSPEC)。205) Calculate the relabeled performance index RBSPEC, where RBSPEC=relabel(BSPEC). 4.根据权利要求1所述的对称离散事件系统在线控制律重构方法，其特征在于，利用supcon算法计算步骤3)中事件重标记系统中的监督控制器XRSUP(m,n)的表达式为：4. symmetric discrete event system online control law reconstruction method according to claim 1, is characterized in that, utilize supcon algorithm to calculate the expression of the supervisory controller XRSUP (m, n) in the event re-marking system in step 3) for: XRSUP(m,n)＝supcon(RMACH(m,n),RBSPEC) 。XRSUP(m,n)=supcon(RMACH(m,n),RBSPEC). 5.根据权利要求4所述的对称离散事件系统在线控制律重构方法，其特征在于，步骤4)中简化后的监督控制器XRSIM(m,n)的表达式为：5. symmetric discrete event system online control law reconstruction method according to claim 4, is characterized in that, the expression of simplified supervisory controller XRSIM (m, n) in step 4) is: XRSIM(m,n)＝supreduce(RMACH(m,n),XRSUP(m,n),XRSUP(m,n).dat)XRSIM(m,n)=supreduce(RMACH(m,n),XRSUP(m,n),XRSUP(m,n).dat) XRSUP(m,n).dat＝condat(RMACH(m,n),XRSUP(m,n))XRSUP(m,n).dat=condat(RMACH(m,n),XRSUP(m,n)) 其中，condat算法是基于被控对象RMACH(m,n)的信息,计算在监督控制器XRSUP(m,n)各状态被禁止的事件信息,supreduce算法用于计算监督控制器XRSUP(m,n)对应的简化监督控制器XRSIM(m,n)，计算结果XRSUP(m,n).dat存储有监督控制器XRSUP(m,n)中在各状态被禁止的可控事件集合。Among them, the condat algorithm is based on the information of the controlled object RMACH(m,n) to calculate the event information that is prohibited in each state of the supervisory controller XRSUP(m,n), and the supreduce algorithm is used to calculate the supervisory controller XRSUP(m,n). ) corresponding to the simplified supervisory controller XRSIM(m,n), the calculation result XRSUP(m,n).dat stores the set of controllable events that are prohibited in each state in the supervisory controller XRSUP(m,n). 6.根据权利要求5所述的对称离散事件系统在线控制律重构方法，其特征在于，步骤5)的具体操作为：6. symmetric discrete event system online control law reconstruction method according to claim 5, is characterized in that, the concrete operation of step 5) is: 当组件增加或删除时，监督控制器SUP_INV保持不变，因此只需生成由缓冲区容量增减触发重构后系统对应的监督控制器，其中，X表示SUP_INV的状态集合，T表示SUP_INV的事件集合，ξ表示SUP_INV的转移函数，x0表示SUP_INV的初始状态，Xm表示SUP_INV的标识状态集合，设缓冲区容量为k，其中，当缓冲区容量k增加1时，生成重构后系统对应的监督控制器NSUP的具体操作为：When components are added or deleted, the supervisory controller SUP_INV remains unchanged, so it is only necessary to generate the supervisory controller corresponding to the system after the reconfiguration is triggered by the increase or decrease of the buffer capacity, where X represents the state set of SUP_INV, and T represents the event of SUP_INV Set, ξ represents the transfer function of SUP_INV, x 0 represents the initial state of SUP_INV, X m represents the set of identification states of SUP_INV, and the buffer capacity is set to k. When the buffer capacity k increases by 1, the corresponding system after reconstruction is generated. The specific operations of the supervisory controller NSUP are: 501a)缓冲区容量k增加1，添加状态xij,i∈{0,…,k+1},j＝k+1-i；501a) The buffer capacity k is increased by 1, and the state x ij , i∈{0,...,k+1}, j=k+1-i is added; 502a)缓冲区容量k增加1，增加事件a1、a2、b1及b2分别对应的转移ξ(xij,a1)、ξ(xij,a2)、ξ(xij,b1)及ξ(xij,b2)，其中，502a) The buffer capacity k increases by 1, and the transitions ξ(x ij , a1), ξ(x ij , a2), ξ( xij, b1) and ξ(x ij , respectively corresponding to events a1, a2, b1 and b2 are added, b2), where, ξ(xij,a1)＝xi,j+1,i∈{0,…,k},j＝k-i，ξ(x ij , a1)=x i,j +1,i∈{0,…,k},j=ki, ξ(xij,a2)＝xi+1,j-1,i∈{0,…,k},j＝k+1-i，ξ(x ij ,a2)=x i+1,j-1 ,i∈{0,...,k},j=k+1-i, ξ(xij,b1)＝xi-1,j,i∈{1,…,k+1},j＝k+1-i，ξ(x ij ,b1)=x i-1,j ,i∈{1,...,k+1},j=k+1-i, ξ(xij,b2)＝xij,i∈{0,…,k+1},j＝k+1-i；ξ(x ij ,b2)=x ij ,i∈{0,...,k+1},j=k+1-i; 当缓冲区容量减少1时，生成重构后系统对应的监督控制器的具体操作为：When the buffer capacity is reduced by 1, the specific operations of the supervisory controller corresponding to the reconstructed system are generated as follows: 501b)删除状态xij,i∈{0,…,k},j＝k-i；501b) Delete state x ij , i∈{0,...,k}, j=ki; 502b)删除事件a1、a2、b1及b2分别对应的转移ξ(xij,a1)、ξ(xij,a2)、ξ(xij,b1)及ξ(xij,b2)，其中，502b) Delete the transitions ξ(x ij , a1), ξ(x ij , a2), ξ(x ij , b1) and ξ(x ij , b2) corresponding to the events a1, a2, b1 and b2, respectively, where, ξ(xij,a1)＝xi,j+1,i∈{0,…,k-1},j＝k-1-i，ξ(x ij , a1)=x i,j+1 ,i∈{0,...,k-1},j=k-1-i, ξ(xij,a2)＝xi+1,j-1,i∈{0,…,k-1},j＝k-i，ξ(x ij , a2)=x i+1,j-1 ,i∈{0,...,k-1},j=ki, ξ(xij,b1)＝xi-1,j,i∈{1,…,k},j＝k-i，ξ(x ij ,b1)=x i-1,j ,i∈{1,…,k},j=ki, ξ(xij,b2)＝xij,i∈{0,…,k},j＝k-i。ξ(x ij , b2)=x ij , i∈{0,...,k}, j=ki. 7.根据权利要求6所述的对称离散事件系统在线控制律重构方法，其特征在于，步骤6)的具体操作为：7. symmetric discrete event system online control law reconstruction method according to claim 6, is characterized in that, the concrete operation of step 6) is: 建立简化后的监督控制器SUP_INV:＝(X,T,ξ,x0,Xm)与重构后系统的监督控制器之间的对应状态集合对关系，其中，Z表示NSUP的状态集合，表示NSUP的转移函数，z0表示NSUP的初始状态，Zm表示NSUP的标识状态集合，SUP_INV与NSUP具有相同的事件集合，NSUP的事件集合仍用T表示，令(ori_ex,ori_ev,ori_en)∈ori_SUP，(new_ex,new_ev,new_en)∈new_SUP，其中，ori_SUP表示SUP_INV的状态转移关系列表，ori_ex,ori_ev及ori_en分别表示SUP_INV中转移的源状态、事件名称及目标状态，new_SUP表示NSUP的状态转移关系列表，new_ex,new_ev及new_en分别表示NSUP中转移的源状态、事件名称及目标状态，然后计算简化后的监督控制器SUP_INV:＝(X,T,ξ,x0,Xm)与重构后系统的监督控制器之间的对应状态集合对集合CSP，其中，计算简化后的监督控制器SUP_INV:＝(X,T,ξ,x0,Xm)与重构后系统的监督控制器之间的对应状态集合对集合CSP的具体操作为：Establish a simplified supervisory controller SUP_INV:=(X,T,ξ,x 0 ,X m ) and the supervisory controller of the reconstructed system The corresponding state set pair relationship between, where Z represents the state set of NSUP, Represents the transition function of NSUP, z 0 represents the initial state of NSUP, Z m represents the set of identification states of NSUP, SUP_INV has the same set of events as NSUP, and the set of events of NSUP is still represented by T, let (ori_ex, ori_ev, ori_en) ∈ ori_SUP, (new_ex, new_ev, new_en) ∈ new_SUP, where ori_SUP represents the state transition relationship list of SUP_INV, ori_ex, ori_ev and ori_en represent the source state, event name and target state transferred in SUP_INV respectively, new_SUP represents the state transition relationship of NSUP List, new_ex, new_ev and new_en respectively represent the source state, event name and target state transferred in NSUP, and then calculate the simplified supervisory controller SUP_INV:=(X, T, ξ, x 0 , X m ) and the reconstructed Supervisory Controller of the System The corresponding state set pair set CSP between , where the supervising controller SUP_INV:=(X, T, ξ, x 0 , X m ) after the calculation is simplified and the supervising controller of the reconstructed system The specific operation of the corresponding state set between the set CSPs is: 601)引入中间变量对应状态对集合SP,初始化简化后的监督控制器SUP_INV与重构后系统的监督控制器NSUP之间的对应状态对集合SP为{(0,0)}；601) Introduce an intermediate variable corresponding state pair set SP, and initialize the corresponding state pair set SP between the simplified supervisory controller SUP_INV and the supervisory controller NSUP of the reconstructed system as {(0,0)}; 602)对每个转移(ori_ex,ori_ev,ori_en)，依次查找SP中各元组(sp_ori,sp_new)与new_SUP中的各元组(new_ex,new_ev,new_en)，其中，sp_ori,sp_new表示SUP_INV与NSUP之间的对应状态对，当ori_ex＝sp_ori、sp_new＝new_ex且ori_ev＝new_ev，则将元组(ori_en,new_en)加入到简化后的监督控制器SUP_INV与重构后系统的监督控制器NSUP之间的对应状态对集合SP中；602) For each transition (ori_ex, ori_ev, ori_en), find each tuple (sp_ori, sp_new) in SP and each tuple (new_ex, new_ev, new_en) in new_SUP in turn, where sp_ori, sp_new represent SUP_INV and NSUP When ori_ex=sp_ori, sp_new=new_ex and ori_ev=new_ev, the tuple (ori_en, new_en) is added between the simplified supervisory controller SUP_INV and the restructured supervisory controller NSUP in the corresponding state pair set SP; 603)重复步骤602)遍历简化后的监督控制器SUP_INV中状态转移关系列表的所有转移为止；603) Repeat step 602) to traverse all transitions in the state transition relation list in the simplified supervisory controller SUP_INV; 604)设简化后的监督控制器SUP_INV的状态转移关系列表中每个状态q的对应状态集合CSq为空集，依次查找步骤602)得到的简化后的监督控制器SUP_INV与重构后系统的监督控制器NSUP之间的对应状态对集合SP中各元组(sp_ori,sp_new)，如果sp_ori＝q，则将sp_new加入状态q的对应状态集合CSq中；查找结束后，将元组(q,CSq)加入对应状态集合对集合CSP中；604) Set the corresponding state set CS q of each state q in the state transition relation list of the simplified supervisory controller SUP_INV to be an empty set, and sequentially search for the simplified supervisory controller SUP_INV obtained in step 602) and the reconfigured system The corresponding state pairs between the supervisory controllers NSUP are each tuple (sp_ori, sp_new) in the set SP. If sp_ori=q, then sp_new is added to the corresponding state set CS q of the state q; after the search, the tuple (q , CS q ) is added to the corresponding state set pair set CSP; 605)遍历简化后的监督控制器SUP_INV的状态转移关系列表中所有状态，得简化后的监督控制器SUP_INV与重构后系统的监督控制器NSUP之间的对应状态集合对集合CSP。605) Traverse all the states in the state transition relation list of the simplified supervisory controller SUP_INV to obtain the corresponding state set pair set CSP between the simplified supervisory controller SUP_INV and the supervisory controller NSUP of the reconstructed system. 8.根据权利要求7所述的对称离散事件系统在线控制律重构方法，其特征在于，步骤7)的具体操作为：8. symmetric discrete event system online control law reconstruction method according to claim 7, is characterized in that, the concrete operation of step 7) is: 记录简化后的监督控制器SUP_INV在监控过程中的当前激活状态q与已执行事件串s，当重构后系统的监督控制器NSUP中存在状态z∈Z，且则直接从状态q切换到z，然后新系统在重构后系统的监督控制器NSUP的监控下运行；否则，则利用Dijkstra算法在重构后系统的监督控制器NSUP中找到与当前激活状态q路径最短的状态q'，且状态q'存在对应状态集合，将状态q至状态q'之间的最短路径记作s”，状态q0至状态q'之间的最短路径记作s'，从简化后的监督控制器SUP_INV的当前激活状态q出发执行路径s”将简化后的监督控制器SUP_INV的当前激活状态更新为状态q'，并从重构后的监督控制器NSUP的初始状态z0出发虚拟执行路径s'至状态然后从状态q'切换到状态z'，新系统在重构后系统的监督控制器NSUP的监控下运行。Record the current activation state q and the executed event string s of the simplified supervisory controller SUP_INV during the monitoring process. When the supervisory controller NSUP of the system is reconfigured, there is a state z∈Z, and Then directly switch from state q to z, and then the new system runs under the supervision of the supervisory controller NSUP of the reconstructed system; otherwise, the Dijkstra algorithm is used to find the current activation state q in the supervisory controller NSUP of the post-reconstruction system. The state q' with the shortest path, and the state q' has a corresponding state set, the shortest path between the state q and the state q' is denoted as s", and the shortest path between the state q 0 and the state q' is denoted as s', Starting from the current activation state q of the simplified supervisory controller SUP_INV, the execution path s" updates the current activation state of the simplified supervisory controller SUP_INV to state q', and from the initial state z of the reconstructed supervisory controller NSUP 0 starts virtual execution path s' to state Then switch from state q' to state z', and the new system operates under the supervision of the supervisory controller NSUP of the reconfigured system.
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