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Safety Verification of Material Handling Systems Driven by Programmable Logic Controller--Consideration of Physical Behavior of Plants--
Eiji KONAKA Tatsuya SUZUKI Shigeru OKUMA
IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences
Publication Date: 2004/04/01
Print ISSN: 0916-8508
Type of Manuscript: Special Section PAPER (Special Section on Selected Papers from the 16th Workshop on Circuits and Systems in Karuizawa)
programmable logic controller, safety verification, hybrid dynamical system,
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The PLC (Programmable Logic Controller) has been widely used in the industrial world as a controller for manufacturing systems, as a process controller and so on. The conventional PLC has been designed and verified as a pure Discrete Event System (DES) by using an abstract model of a controlled plant. In verifying the PLC, however, it is also important to take into account the physical behavior (e.g. dynamics, shape of objects) of the controlled plant in order to guarantee such important factors as safety. This paper presents a new verification technique for the PLC-based control system, which takes into account these physical behaviors, based on a Hybrid Dynamical System (HDS) framework. The other key idea described in the paper is the introduction of the concept of signed distance which not only measures the distance between two objects but also checks whether two objects interfere with each other. The developed idea is applied to illustrative material handling problems, and its usefulness is demonstrated.