• CN:11-2187/TH
  • ISSN:0577-6686

›› 2014, Vol. 50 ›› Issue (21): 84-91.doi: 10.3901/JME.2014.21.084

• 论文 • 上一篇    下一篇

基于部分可观测Markov决策过程理论的盾构推进载荷规划

胡祥涛;张红旗;李自成;黄永安   

  1. 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
  • 出版日期:2014-11-05 发布日期:2014-11-05

POMDP-based Planning Model of Driving Force during Shield Tunneling

HU Xiangtao;ZHANG Hongqi;LI Zicheng;HUANG Yongan   

  • Online:2014-11-05 Published:2014-11-05

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。

关键词: POMDP, 盾构法, 推进载荷规划, 自动纠偏

Abstract: In shield tunneling, the automatic control systems are mostly based on empirical relationships and do not have a precise theoretical background. Consequently, the present automatic control systems control the shield according to a snake-like motion to move it back onto the planned alignment. To solve such problems, an approach that adopts partially observable Markov decision processes (POMDP) theory to plan the driving force with explicit representation of the uncertainty during excavation is presented. In POMDP, the huge resistances during excavation, shield attitudes, and the driving force of possible world are scattered as the state set, observe set and action set, respectively. Furthermore, the deviations of shield attitude from planned alignment and the stationary of the loads acting on the shield are considered in the calculation of the value function. The experimental results confirm that the driving force planning based on POMDP is reasonable, and have certain ability of compliance at the mutation conditions.

Key words: automatic deviation rectifying, driving force planning, POMDP, shield tunneling

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