基于混成自动机的矿井机车无人驾驶系统模型

Model of unmanned driving system of mine locomotive based on hybrid automaton

矿井机车无人驾驶系统显著表现出连续和离散同时存在的混成特征,混成自动机能够精确刻画其系统演化过程,文章研究该系统的建模及验证问题。首先设定遵循安全高效驾驶原则的时间演化行驶过程模型;然后定义影响系统演化的各道岔信号灯状态事件,并给出不同类型事件下的系统状态转换时刻递推算法,从而得到系统混成自动机模型;最后以多种场景下的数值结果验证了模型的正确性与完备性。

The composite character of simultaneousthe unmanned driving system of mine locomotive.existence of sequence and discreteness is shown inThe system evolution can be depicted accurately byhybrid automaton. The modeling and verification of the system is researched. Firstly, the drivingprocess model with time evolution is set which follows the principle of safe and efficient driving. Thenthe state events of each turnout signals that affect the system evolution are defined. The recursive al-gorithm of conversion time of the system under the different types of events is given. And the hybridautomaton model of the system can be obtained. Finally, the accuracy and completeness of the modelare verified by the numerical results in various situations.