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Alexandre Ribeiro
alexandre.mecatronica@gmail.com URL:https://sites.google.com/site/alexandreribeiromecatronica
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Ementa
Introduo Tipos de Sistemas Sistemas a Eventos Discretos (SED) Autmato de Estado Finito Redes de Petri
Simulao de Redes de Petri Redes de Petri Temporizadas Arcos Inibidores e Habilitadores
Graph7
Componentes Implementao Utilizando SIEMENS
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Objetivo do Curso
Como projetar Sistemas de Controle para Sistemas a Eventos Discretos (SEDs) utilizando ferramentas de validao baseadas em Redes de Petri.
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1. Introduo
Dispositivo de Controle
Dispositivo de Atuao
Planta
Dispositivo de Deteco
Usurio
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1. Introduo
dos
requisitos
do
Sistema
de
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1. Introduo
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1. Introduo
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1. Introduo
O que um MODELO?
1. Introduo
1. Introduo
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1. Introduo
Evoluo do sistema realizada em funo da ocorrncia abrupta de eventos. A durao de um evento desprezvel. Os eventos so portanto considerados instantneos, ou discretos. Intervalo de tempo entre dois eventos em geral irregular e desconhecido. Entre a ocorrncia de dois eventos, o sistema permanece num determinado estado. Sistemas feitos pelo homem man-made systems.
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1. Introduo
Estado: 1 pessoa na sala Evento: entrada de uma pessoa Estado: 2 pessoa na sala Evento: sada de uma pessoa Estado: 1 pessoa na sala
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1. Introduo
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1. Introduo
Sistemas Hbridos
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1. Introduo
IMPORTANTSSIMO
Quando se classifica um sistema em SED, SVC ou Hbrido, na verdade j se est fazendo uma abstrao do sistema real. A classificao do sistema restringe o conjunto de tcnicas de modelagem que podem ser utilizadas, e portanto, o tipo de modelo que ser construdo.
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Rob Sada A
Entrada B
Mquina CNC 2
Sada B
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Objetivo:
Verificar o funcionamento do sistema supervisrio responsvel pela alocao de recursos.
Descrio do sistema:
Processo A: Entrada A CNC 1 CNC 2 Sada A. Processo B: Entrada B CNC 2 CNC 1 Sada B. Todo transporte realizado pelo Rob, que carrega apenas uma pea de cada vez.
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Lgica do supervisrio:
Se existe pea na Entrada A, se CNC 1 est livre, Rob coloca pea em CNC 1. Se existe pea na Entrada B, se CNC 2 est livre, Rob coloca pea em CNC 2. Quando uma pea do tipo A ou B entregue a CNC 1 ou 2, realiza-se o respectivo processo de usinagem. Se uma pea do tipo A em CNC 1 est pronta e se CNC 2 est livre, Rob coloca pea em CNC 2. Se uma pea do tipo A em CNC 2 est pronta, Rob coloca pea na Sada A. Idem para peas do tipo B.
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Modelagem
Formalismo de modelagem: redes de Petri.
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Anlise
Simulao.
?
O sistema funciona de acordo com o desejado
?
Resposta nas prximas aulas...
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Modelagem:
e1 1 7
e2 2 6
e3 3
e4
Estados: 0 Trem estendido. 0 1 Circuito pressurizando () e8 2 Pisto retraindo. 3 Circuito despressurizando () 4 Trem recolhido. 1 Circuito pressurizando () 2 Pisto estendendo. 3 Circuito despressurizando ()
4 5 e5 e7
e6
Eventos: Posicionamento de vlvulas hidrulicas. Intervalos de tempo: t2, t3, t4, t6, t7, t8.
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Anlise:
Execuo de algoritmo que determina e calcula a durao de todos os possveis cenrios para atingir estado 0. e1 1 0 7 e8 e7 e6
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e2 2 6
e3 3
e4
4 5 e5
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Objetivo
Determinar tempo mdio para atendimento. Determinar nmero mdio de pessoas na fila.
Descrio do sistema
composto por 2 caixas de banco e uma fila com lugar para 4 pessoas.
Sada de clientes
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Modelagem
Autmatos (Cadeias de Markov).
0 1
Eventos:
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Modelagem
Tempo para ocorrncia distribuio estocstica. de eventos dado por
Anlise
Simulao simples de um cenrio (um dia de trabalho). Simulao de Monte Carlo (mdia de muitos dias de trabalho). Clculo usando expresses matemticas distribuies forem exponenciais). (se as
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Exemplo 4 - Cristalizador
Objetivo
Determinar tempo para realizao de um ciclo. Determinar variao da massa no cristalizador ao longo do tempo.
Descrio do sistema
Em uma usina de acar os cristalizadores recebem o xarope de cana e realizam sua concentrao at obteno da massa de acar. O cristalizador um sistema por bateladas.
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Exemplo 4 - Cristalizador
Descrio do sistema
Estgio 1 Fazer vcuo Estgio 2 Carregar p de xarope Estgio 3 Concentrar xarope Estgio 4 Diminuir vcuo Estgio 5 Injetar semente Estgio 6 Estabelecimento dos gros Estgio 7 Crescimento dos cristais Estgio 8 Evaporao da gua Estgio 9 Despejar contedo Estgio 10 Limpar o cristalizador
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Exemplo 4 - Cristalizador
Modelagem
Redes de Petri + sistemas de equaes diferenciais.
Estgio 2 Estgio 3 Estgio 4 Estgio 5 Estgio 1
Estgio 10
Estgio 9
Estgio 8
Estgio 7
Estgio 6
Estados discretos: estgios. Eventos discretos: abre vlvula, fecha vlvula, vai p/ prximo de estgio.
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Exemplo 4 - Cristalizador
Modelagem
Estgio 1 Estgio 2 Estgio 3 Estgio 4 Estgio 5
Estgio 10
Estgio 9
Estgio 8
Estgio 7
Estgio 6
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Exemplo 4 - Cristalizador
Modelagem
Estgio 1 Estgio 2 Estgio 3 Estgio 4 Estgio 5
Estgio 10
Estgio 9
Estgio 8
Estgio 7
Estgio 6
influenciam
a ocorrncia de
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Exemplo 4 - Cristalizador
Estgio 1
Modelagem
Estgio 2
Estgio 3
Estgio 4
Estgio 5
Estgio 10
Estgio 9
Estgio 8
Estgio 7
Estgio 6
Eventos discretos modificam variveis contnuas: Mudana de Estgio 5 p/ Estgio 6: M:=M+KS (adio de semente).
Anlise
Simulao.
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