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平行系统方法在自动化集装箱码头中的应用研究

郑松 吴晓林 王飞跃 林东东 郑蓉 柯伟林 池新栋 陈德旺

郑松, 吴晓林, 王飞跃, 林东东, 郑蓉, 柯伟林, 池新栋, 陈德旺. 平行系统方法在自动化集装箱码头中的应用研究. 自动化学报, 2019, 45(3): 490-504. doi: 10.16383/j.aas.c170734
引用本文: 郑松, 吴晓林, 王飞跃, 林东东, 郑蓉, 柯伟林, 池新栋, 陈德旺. 平行系统方法在自动化集装箱码头中的应用研究. 自动化学报, 2019, 45(3): 490-504. doi: 10.16383/j.aas.c170734
ZHENG Song, WU Xiao-Lin, WANG Fei-Yue, LIN Dong-Dong, ZHENG Rong, KE Wei-Lin, CHI Xin-Dong, CHEN De-Wang. Applying the Parallel Systems Approach to Automatic Container Terminal. ACTA AUTOMATICA SINICA, 2019, 45(3): 490-504. doi: 10.16383/j.aas.c170734
Citation: ZHENG Song, WU Xiao-Lin, WANG Fei-Yue, LIN Dong-Dong, ZHENG Rong, KE Wei-Lin, CHI Xin-Dong, CHEN De-Wang. Applying the Parallel Systems Approach to Automatic Container Terminal. ACTA AUTOMATICA SINICA, 2019, 45(3): 490-504. doi: 10.16383/j.aas.c170734

平行系统方法在自动化集装箱码头中的应用研究

doi: 10.16383/j.aas.c170734
详细信息
    作者简介:

    吴晓林  爱普(福建)科技有限公司自动化集装箱码头控制系统实验室主任.2015年获得福州大学电气工程与自动化学院学士学位.主要研究方向为复杂系统, 多代理系统和自动控制.E-mail:xiaolin.wu@iapcloud.cn

    王飞跃  中国科学院自动化研究所复杂系统管理与控制国家重点实验室主任, 国防科技大学军事计算实验与平行系统技术研究中心主任, 中国科学院大学中国经济与社会安全研究中心主任, 青岛智能产业技术研究院院长.主要研究方向为平行系统的方法与应用, 社会计算, 平行智能以及知识自动化.E-mail:feiyue.wang@ia.ac.cn

    林东东  爱普(福建)科技有限公司自动化集装箱码头控制系统实验室工程师.2013年获得武汉理工大学电气工程与自动化学院学士学位.主要研究方向为AGV协同控制和智能算法.E-mail:dongdong.lin@iapcloud.cn

    郑蓉  爱普(福建)科技有限公司先进控制实验室助理研究员.2012年获得福州大学生物化学和分子生物学硕士学位.主要研究方向为智能生活, 机器人和复杂系统.E-mail:rzheng2017@163.com

    柯伟林  爱普(福建)科技有限公司自动化集装箱码头控制系统实验室工程师.2015年获得福建农林大学电气工程与自动化学院学士学位.主要研究方向为堆场自动化控制及集装箱库存管理.E-mail:weilin.ke@iapcloud.cn

    池新栋  福州大学电气工程与自动化学院研究生.2016年获得华北水利水电学院自动化专业学士学位.主要研究方向为复杂系统控制以及多代理架构在集装箱码头的应用.E-mail:13140163697@163.com

    陈德旺  福州大学数学与计算机科学学院教授.2003年在中国科学院自动化研究所获得控制理论专业博士学位.主要研究方向为智能控制, 机器学习和智能交通系统.E-mail:dwchen@fzu.edu.cn

    通讯作者:

    郑松  福州大学电气工程与自动化学院研究员.2008年获得清华大学热能工程系博士学位.主要研究方向为复杂系统, 工业互联网, 云控制, 机器人和工业信息安全.本文通信作者.E-mail:s.zheng@fzu.edu.cn

Applying the Parallel Systems Approach to Automatic Container Terminal

More Information
    Author Bio:

    Director at the Automatic Container Terminal Control System Laboratory, IAP (Fujian) Technology Co., Ltd. He received his bachelor degree from the Institute of Electrical Engineering and Automation, Fuzhou University in 2015. His research interest covers complex system, multi-agent system, and automatic control

    State specially appointed expert and director of the State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences. Professor of the Research Center for Computational Experiments and Parallel Systems Technology, National University of Defense Technology. Director of China Economic and Social Security Research Center in University of Chinese Academy of Sciences. Dean of Qingdao Academy of Intelligent Industries. His research interest covers methods and applications for parallel systems, social computing, parallel intelligence, and knowledge automation

    Engineer at the Automatic Container Terminal Control System Laboratory IAP (Fujian) Technology Co., Ltd. He received his bachelor degree from the College of Electrical Engineering and Automation, Wuhan University of Technology in 2013. His research interest covers AGV cooperative control and intelligent algorithm

    Assistant researcher at the Advanced Control Laboratory, IAP (Fujian) Technology Co., Ltd. She received her master degree in biochemistry and molecular biology, Fuzhou University in 2012. Her research interest covers smart life, robot, and complex systems

    Engineer at the Automatic Container Terminal Control System Laboratory, IAP (Fujian) Technology Co., Ltd. He received his bachelor degree from the College of Electrical Engineering and Automation, Fujian Agriculture and Forestry University in 2015. His research interest covers yard automation control and container inventory management system

    Master student at the Institute of Electrical Engineering and Automation, Fuzhou University. He received his bachelor degree in automation from North China University of Water Resources and Electric Power in 2016. His research interest covers complex system control and multi-agent architecture in container automation terminals

    Professor at the College of Mathematics and Computer Science, Fuzhou University. He received his Ph. D. degree in control theory from Institute of Automation, Chinese Academy of Sciences in 2003. His current research interests include intelligent control, machine learning, and intelligent transportation systems

    Corresponding author: ZHENG Song Professor at the Institute of Electrical Engineering and Automation, Fuzhou University. He received his Ph. D. degree from the Department of Thermal Engineering, Tsinghua University in 2008. His research interest covers complex systems, industrial internet, cloud control, robotics, and industrial information security. Corresponding author of this paper
  • 摘要: 平行系统是一种建立在人工社会和计算实验基础上的科学研究方法,它的特点是既能真实反映现实系统的动态过程,又能实时优化现实系统的控制过程.自动化集装箱码头是一类典型的复杂系统,既存在不计其数的作业方案,同时也有大量的约束条件.如何在最短时间和最低能源消耗的前提下,完成具有间歇和批次特征的集装箱转运任务,是涉及到数学、控制、管理和计算机等多个学科的重大课题.本文采用数据引擎作为人工社会中的基本计算单元,构成一个复杂的平行系统,用于自动化集装箱码头信息控制系统的研究.数据引擎作为一种面向图形化元件组态的计算环境,非常适用于复杂系统的建模与计算.在可视化和动态重构技术的支持下,利用380个数据引擎对一个具有8台岸桥、25辆AGV和16台龙门吊组成的港机系统进行了自动化作业过程的计算实验.研究结果表明,数据引擎技术是实现平行系统的有效方法,由多数据引擎组成的计算环境,能够大幅度降低自动化集装箱码头信息控制系统建模的复杂程度,能够将码头系统的管理和控制过程无缝地融合在一起.该平行系统可直接与港机设备对接,建立“人工码头”和“物理码头”之间的平行关系,从而实现对港机设备的最优控制.
    1)  本文责任编委 魏庆来
  • 图  1  平行控制的基本原理

    Fig.  1  The basic principle of parallel control

    图  2  数据引擎原理

    Fig.  2  The principle of data engine

    图  3  平行码头的架构原理

    Fig.  3  The architecture of parallel container terminal

    图  4  PCTICS系统构成及其应用示例

    Fig.  4  The PCTICS function and examples

    图  5  卸船基本模型的原理

    Fig.  5  The basic model of the discharge process

    图  6  卸船模型的应用实例: AGV代理与车道代理的动态交互

    Fig.  6  An application example of the discharge model: The dynamic interaction among AGV agents and lane agents

    图  7  双车避让规则及其算法实现

    Fig.  7  The implementation of double-car avoidance algorithm

    图  8  PCTICS系统设计及结构

    Fig.  8  The design and structure of PCTICS

    图  9  人工码头集装箱卸船的动态过程

    Fig.  9  The dynamic process of PCTICS discharge

    图  10  人工码头装卸效率

    Fig.  10  The efficiency of PCTICS

    图  11  控制策略变化产生的影响

    Fig.  11  The effect of AGV control strategy changes

    图  12  平行码头中人机交互系统工程应用实例

    Fig.  12  An application example of PCTICS human-computer interaction system

    表  1  不同行驶策略下AGV的任务时耗(s) $^{1}$

    Table  1  The time cost of AGV task under different driving strategies (s) $^{1}$

    $T_{\rm mode 1}$ $T'_{\rm mode 1}$ $T_{\rm mode 2}$ $T'_{\rm mode 2}$
    (Task 1)(Task 2)(Task 1)(Task 2)
    251316243328
    267320245315
    284330253301
    256349254322
    257328253327
    432334260320
    526328261457
    468304248533
    318323265450
    241323276322
    $^{1}$Task 1表示从104号岸桥搬运10个集装箱至47号堆场, Task 2表示从105号岸桥搬运10个集装箱至49号堆场; $T_{\rm mode 1}$和$T'_{\rm mode 1}$分别表示无汇流行驶策略下AGV完成任务1和任务2的时耗; $T_{\rm mode 2}$和$T'_{\rm mode 2}$分别表示汇流行驶策略下AGV完成任务1和任务2的时耗.
    下载: 导出CSV
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出版历程
  • 收稿日期:  2017-12-28
  • 录用日期:  2018-06-09
  • 刊出日期:  2019-03-20

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