【作者】 郭龙；

【导师】 王洪礼；

【作者基本信息】 天津大学 ， 工程力学， 2006， 硕士

【摘要】 发展工程机械机群智能化的重要意义在于利用高新技术提升工程机械的制造水平和国家重点建设项目的施工水平,从而提高我国工程机械产业的市场竞争力和国产施工设备的装备水平。本文针对当前路面施工中存在的自卸车、摊铺机、压路机以及拌和机等设备配置不够合理,物料断流或积压时有发生及生产率低下和劳动强度大等急需解决的重大问题,将人工智能领域的最新成果——多智能主体技术应用于在高等级路面上施工的工程机械机群的智能化建设中,构建了工程机械机群多主体混杂控制系统模型,并重点研究了机群混杂系统的优化配置与调度问题,具体如下:首先,为简化系统设计和降低系统的最终成本,采用将中央控制与分布控制相结合的方法建立了路面施工机群的多智能主体混杂分层式结构。该结构在提高系统灵活性、鲁棒性的同时,也保证了系统的反应速度,且不过于增加系统的复杂性。其次,本文提出了一种基于MAS的蚁群算法来处理机群动态调度问题的方法,使主体需求参数优化配比,达到动态平衡,MATLAB仿真结果验证了算法处理机群调度问题的稳定性,并给出优化配比的调度调节域,指导了工程实践。再次,以施工过程中摊铺机对物料的供需平衡为中心,利用混杂控制理论分析了物料的供应特性,提出自卸卡车动态调度的队列法。基于ACL语言构造二级广播的通讯形式,将物料的供需调度关系转化为处理主体间通讯调度机制,仿真结果保证了物料供应的连续性,使工程机械集群物料生产与消耗平衡协调。最后,应用优先级、选路和混杂控制等算法,首次实现了对路面施工机群系统级的优化控制,并以自卸卡车为例,利用MATLAB实现了对各供应主体行驶速度分级模式PID控制策略的仿真,同时借助VC++面向对象的可视化编程技术,完成了公路机械智能化混杂控制系统可视化动态仿真软件的开发。本论文受国家自然科学基金项目(编号:50375107)与天津市应用基础研究重点项目(编号:043801911)资助。更多还原

【Abstract】 The significance of developing intelligent engineering machinery of cluster is stepping up the manufacture level of engineering machinery and the construction level of national significant item, and advancing the competitiveness of national engineering machinery industry and equipment level of national construction equipment with new technology. There are many problems in road construction 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. This article apply the most advanced technology of artificial intelligence——multi-agent system to intelligence realizing of high way construction machinery of cluster,and the model of multi-agent system of engineering machinery cluster is created by the hybrid control way,it is the most important problem to research the dynamic optimize and scheduling of hybrid system of engineering cluster.The first, it gives the hybrid layered multi-agent system configuration of road construction machinery of cluster with the method of integrating centre control and distributed control for predigesting system design and reducing system last cost. At the same time of advancing system agility and robustness, this configuration can ensure the system reaction speed and not increase system complexity.Second,the article presents ant colony algorithm based on MAS that has the abilities of intelligentized modeling and dynamic scheduling. MAS model deals with single agent’s communication and corresponding in engineering machinery of clusters firstly, next we apply ant colony algorithm to solve dynamic scheduling in the plant. Ant colony algorithm can optimize the match of agents and make the system dynamic balance. The effectiveness of the proposed method is demonstrated with MATLAB simulations.Third, In this article, the character of material supplying is analyzed with hybrid control theory and dynamic attempterring of machinery is studied with multi-agent technology. The method of alignment is created in dynamic scheduling of cluster. The problem can be transformed form scheduling to communication relation, Simulations shows that the means of queue could guarantee continuity of materiel supply.At last, According to the conception of Multi-Agent and the arithmetic such as PRI, selection, hybrid control, the optimal control of road machinery was realized更多还原