关键词: 时间Petri网, 信息物理融合系统（CPS）, 物理实体, 空间信息, 时空Petri网

Abstract: Time Petri net can analyze not only the logic level system performance, but also the time-level system performance by the introduction of the time factor based on the proto-type Petri net. However, the generation of CPS (cyber-physical system) containing spatial factors increases the necessary further expansion to time Petri net. CPS integrates computing system and physical system. It has not only the ability of real-time perception to the physical environment, but also the ability of controlling the physical entities to change the physical environment. This paper analyzes the physical characteristics and properties of CPS and the location change process of physical entities in CPS in depth. Then it proposes a formal modeling method of physical entities in CPS, and constructs a spatio-temporal Petri net model by introducing space factor into the traditional time Petri net, which can describe not only the logic and time-level behavior of physical entities, but also the change of state caused by the position change of physical entities. At last an example of robot control system proves the effectiveness of spatio-temporal Petri net model.

Key words: time Petri net, cyber-physical system (CPS), physical entities, spatial information, spatio-temporal Petri net