【作者】 任炜；

【导师】 王洪礼；

【作者基本信息】 天津大学 ， 工程力学， 2004， 博士

【摘要】 机群的智能化和系统化不仅是未来工程机械发展的重要趋势，也是解决当前公路施工中存在的摊铺机、压路机、拌和机等设备配置不够合理，物料断流或积压、生产率低、劳动强度大等重大问题，并具有行业带动性的重大而迫切的热门课题。多智能主体技术是人工智能领域的最新成果，本文首次应用这一技术来实现机群智能化，较基于群控技术的机群具有更高的灵活性、自主性和可靠性。混杂控制技术是当今控制领域的最先进的技术，研究由离散事件系统与连续变量系统紧密结合而成的复杂动态系统的控制方法，本文首次将这一方法应用于工程机械机群智能化中，从而为我国工程机械机群智能化和系统化达到国际先进水平打下良好基础。本文取得了以下成果：（1）首次应用多智能主体技术建立了智能化工程机械机群的混杂分层式系统结构，并设计了适应这一结构与工程机械实际的智能主体结构——人－机共栖的反应主体和人－机共栖的MAPE混合结构。同时，进行了多智能主体智能化机群的系统设计，包括机群的物料供应控制研究，主体通信方法和通信语言MACL的设计，系统的任务分解与分配过程设计，基于综合决策支持系统的机群系统动态调度研究，机群状态的评价方案设计，机群系统的知识库设计，及机群系统的协调与协作机制设计。（2）针对机群在公路路面施工过程中的沥青混合料供应，首次运用了混杂控制方法，并采用多智能主体技术实现，提高了施工系统的鲁棒性和施工效率。（3）提出了机群多智能主体系统中的各单机控制主体的控制策略，包括压实控制、拌和控制、摊铺控制和运输控制。（4）提出了多智能主体智能化的工程机械机群的实施方案，包括单机的智能主体化改造方案、中央主体及其它控制主体的实施方案、无线通讯系统实施方案以及基于GPS的移动定位解决方案。更多还原

【Abstract】 The intelligentized and systematic engineering machinery of cluster is not only an important trend of future development of engineering machinery, but also a focus of the researches to solve some serious problems in road constructions nowadays, such as the illogical configuration of machinery of cluster, the lack or overstock of material, the low efficiency of construction, and the high intensity of work. For the first time, the latest achievement of artificial intelligence, multi-agent is applied to intelligentize the engineering machinery of cluster. This will let the cluster own more agility, self-determination, and reliability than the cluster using group control. Hybrid control is the focus in the field of automatic control, and it aims to study the control method of a complicated system, which is composed of discrete event system and continuous variable system. In this thesis, for the first time, hybrid control is applied to the intelligentization of engineering machinery of cluster. This will provide an abundant basis for raising the level of the intelligentization and systematism of engineering machinery of cluster in our country, and later, the level of the intelligentization and systematism will reach to the international top level. The main research contents of this thesis are listed here:1) For the first time, multi-agent is applied to build the system structure of the intelligentized machinery of clusterThe system is designed to be hybrid and layered. According to this hybrid-layered system structure, the structures of agents, reactive agents and mixed agents of man-machine commensalism are designed. And also, the method of “plug-in” is applied to construct agents. The core of agents is designed too.At the same time, design of multi-agent system is carried out. It includes: The pitch-concrete accommodation is studied; the communication method and communication language are designed; the analysis and assignment of the task are studied; the dynamic dispatching system based on all-around decision support system is designed; the evaluation scheme of the cluster status is brought forward; knowledge databases are designed; the mechanism of <WP=5>harmonization and cooperation among agents is built too.2) Hybrid control of machinery of clusterAccording to the supplement of pitch-concrete in the procedure of road construction, the hybrid control method is applied, and realized by multi-agent. The efficiency and robustness of the construction system are raised.3) Control strategies of control agentsControl strategies of control agents are proposed. Control agents are made up of roller controller, mixer controller, spreading machine controller, and tipper controller.4) The actualization project of intelligentized engineering machinery of clusterIt includes: The intelligentizing alteration of single machine; actualization projects of the center agent and other control agents; the actualization project of the wireless communication system; and the actualization project of the mobile orientation system based on GPS.更多还原