Object Enhanced Real-Time Petri Net Models in Multi-processing Environments

OER-TPN (Object Enhanced Real-Time Petri Nets) have been successfully used to model, design, analyze and test applications. Apart from realtime contraints, OER-TPNs can be used to describe concurrency, task creation and input/output channel communication with other components. In this paper we show how the cyber-physical system development can be approached using OER-TPN. For the physical parts and the software parts the same kind of models is used. The physical plant consisting of a galvanizing line is linked to a software that implements a control algorithm made up of several components: a low-level controller, a supervisor, physical and software schedulers which manage the resources (basins) and robots allocation.