基于部分可观测Markov决策过程理论的盾构推进载荷规划

发布时间：2018-01-11 22:11

本文关键词：基于部分可观测Markov决策过程理论的盾构推进载荷规划　出处：《机械工程学报》2014年21期 　论文类型：期刊论文

【摘要】：针对盾构掘进过程中位姿控制问题,提出了基于部分可观测马尔科夫决策过程(Partially observable Markov decision processes,POMDP)理论的推进载荷规划方法。在推进载荷规划模型中,将盾构自动纠偏看成不确定环境下序贯决策问题,充分考虑掘进过程中随机因素的影响,将盾构掘进过程中受到的阻力、推进载荷和盾构位姿分别定义为POMDP的状态集、行动集和观测集,然后重点讨论了信念状态、状态转移函数和观测函数等几个关键参数的获取方法。在计算值函数时,考虑了盾构位姿偏离程度和盾构载荷平稳程度对推进载荷决策的影响,建立了立即收益函数和长期折扣收益函数,并采用基于点的值迭代算法寻求推进载荷最优规划策略。针对天津地铁9号线进行了案例分析,结果表明基于POMDP的推进载荷规划方法是合理有效的,能够顺应掘进阻力随机变化。
[Abstract]:Aiming at the position and pose control problem in shield tunneling process. A partial observable Markov decision processes based on partially observable Markov decision process is proposed. In the propulsion load planning model, the automatic deviation correction of shield machine is regarded as a sequential decision problem in uncertain environment, and the influence of random factors in the tunneling process is fully considered. The resistance, propulsion load and posture of shield tunneling are defined as the state set, action set and observation set of POMDP, respectively, and then the belief state is discussed emphatically. Several key parameters such as state transfer function and observation function are obtained. When calculating the value function, the influence of shield position deviation and shield load stationary degree on the propulsion load decision is considered. The immediate income function and the long-term discount income function are established, and the point-based iterative algorithm is used to find the optimal planning strategy for the propulsion load. A case study of Tianjin Metro Line 9 is carried out. The results show that the propulsion load planning method based on POMDP is reasonable and effective and can adapt to the random variation of tunneling resistance.
【作者单位】：中国电子科技集团公司第38研究所;华中科技大学机械科学与工程学院;
【基金】：国家重点基础研究发展计划(973计划,2013CB035405) 国家科技支撑计划(2012BAF12B03)资助项目
【分类号】：U455.43
【正文快照】： 0前言*为了实现极端环境下的高精、高效掘进作业,*国家重点基础研究发展计划(973计划,2013CB035405)和国家科技支撑计划(2012BAF12B03)资助项目。20131109收到初稿,20140701收到修改稿盾构要求具备极高的轨迹跟踪能力,如必须保证长达20 km的隧道轴线误差小于20 mm。然而,服役

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