飞机表面爬行机器人是一个复杂的离散事件和连续动态事件相结合的混成运动系统,为描述系统的静态特性和动态行为,提出一种分层可控混成Petri网模型。依据爬行运动机构定义了Petri网模型组成元素,建立了爬行机器人单轴和双轴分层可控混成Petri网,该模型可接收上层运动轨迹指令并输出爬行动作序列。实验表明,基于该模型实施的飞机模拟机舱表面爬行控制安全可靠,验证了模型的正确性和实用性。 Aircraft surface crawling robot is a hybrid motion system with complex discrete events and continuous dynamic events. To describe the static characteristics and dynamic behavior of the system, a hierarchical controllable hybrid Petri nets model is proposed. According to the structure of Petri net, the compositional elements of Petri net model are defined, and the hierarchical and controllable petri nets of the crawling robot are established. The model can receive the instruction of upper track and output the sequence of crawling action. Experiments show that the control of surface creep of aircraft cabin simulated by the model is safe and reliable, which proves the correctness and practicability of the model.