中文摘要：

研究并实现一种着色赋时面向对象Petri网（CTOPN）建模方法，它将面向对象技术与着色赋时Petri网相结合，从而综合了两种方法的优势，降低了Petri网模型的复杂性，增加了时间描述，便于系统定量分析。首先给出CTOPN的形式定义，然后建立AUV系统的CTOPN模型，最后给出模型的死锁检测算法，从而验证模型无死锁，为系统仿真创造了条件。

英文摘要：

The modeling method of colored timed object- oriented Petri net is studied, and combining the technology of object - oriented and colored timed Petri nets to simplify complexity of the system and add time description so as to easy to quantitative analysis Firstly, the definition of CTOPN is given. Then the CTOPN model of AUV system is built. Finally, the deadlock detection algorithm of the model is given. So the model is proved non - deadlock, creating a good condition for system simulation.