Automatic Supervisory System Synthesis for Port Cranes Collision Prevention by Using Petri Net

  • Danko Kezić
  • Radovan Antonić
  • Nikola Račić
Keywords: collision prevention, motion control of cranes


The article deals with the system of port cranes comprisingtwo independently controlled cranes which are simultaneouslyengaged in the transhipment of cargo between a vessel and arailway wagon assembly alongside. The crane operator's errorcan lead to tlie collision of cranes. Therefore, it is necessary toinstall the supervisor in an automatic control system with thefunctions of continuous supervision of the process of cranemovement, and blocking of commands that can lead to collision.The article shows the method of crane system modellingas a discrete event system by using PIT and P-timed Petri nets.There is a proposal of a formal mathematic method for calculationof the state supervisor by P-invariant method. The supervisorcalculated in this way is maximally permissive supervisor.The efficiency of the supervisor is verified by a computer simulation.


Barkaoui, K., Abdallab, J,: Deadlock Avoidance in FMS

Based on Structural theory of Petri Nets. IEEE Symposium

on Emerging Technologies and Factory Automation,

, pp 499-510.

David, R., Alia, H.: Discrete, Continuous, and Hybrid

Petri Nets, Springer, 2005.

Desrochers, A. A., AI-Jaar, R. Y.: Applications of Petri

Nets in Manufacturing Systems. IEEE Control Systems

Society, IEEE press, 1995, New York.

Giua, A., DiCesare, F., Silva, M.: Petri Net Supervisors

for Generalized Mutual Exclusion Constraints. Proc.

IFAC 12th Triennial World Congress, Vol. 1, Sydney

, pp. 267-270.

Haoxun, C.: Control synthesis of Petri nets based on

S-decreases. Discrete Event Dynamic Systems, Kluwer

Academic Publishers, Vol. 10, No. 3~ Netherlands 2000,

pp. 233-249.

Harustak, M., Hruz, B.: Supervisory control of Discrete

event systems and its solutions with the Petri net P-invarijants.

IFAC Con£. on Control Systems Design (CSD'

/2000), Bratislava, Slovak Republic 2000, pp. 390-394.

Kezic D., Antonic R., Munitic A.: Calculation of Collision

Prevention Supervisor of Port Cranes System by

using Petri nets, Proc. of 13th International Conference

on Electrical Drives and Power Electronics, Dubrovnik,

Croatia, 26-28 September 2005, CD Proceedings

EDPE 2005, ISBN 953-6037-43-2, UDK 621.31 (063)

(048), 621.38.022 (063) (048), pp. E05-46-l, E05-46-10.

Kezic, D., Peric, N., Petrovic, I.: A Petri Net Approach of

Deadlock Prevention in Batch Processes in Case of Failure.

in Proc. of Int. Symposium of Industrial Electronics,

L'Aquila, Italia, 2002, pp. 205-210.

Kezic D., Peric N., Petrovic 1.: Deadlock Prevention in

Manufacturing Systems Based on Petri Nets. Proc. of 11th

International Power Electronics and Motion Control

Conference, Vol. 4, Riga, Latvia, 2-4 September 2004,

pp. 320-327.

Li, Y., Wonbam, W. M.: Control of vector discrete systems

I - the base model. IEEE Trans. on Automatic

Control, Vol. 38, No. 8, 1993, pp. 1214-1227.

Li, Y., Wonbam, W. M.: Control of vector discrete systems

- controller synthesis. IEEE Trans. on Automatic

Control, Vol. 39, No. 3, 1994, pp. 512-531.

Murata, T.: Petri Nets: Properties, Analysis and Applications.,

in Proc. ofthe IEEE, 77(4), 1989, pp 541-580.

Yamalidou, K., Moody, J., Lemmon, M., Antsaklis, P.:

Feedback Control of Petri Nets Based on Place Invariants.

Automatica, Vol. 32, No. 1, 1996, pp. 15-28.

How to Cite
Kezić D, Antonić R, Račić N. Automatic Supervisory System Synthesis for Port Cranes Collision Prevention by Using Petri Net. PROMET [Internet]. 1 [cited 2020Jan.22];18(3):143-50. Available from:
Older issues