基于MAS的管桩专用起重机集成管理研究

Research on Integrated Management of Special Crane of Pipe Pile Based on Multi-Agent Technology

针对管桩专用起重机运行过程中相互紧急避让、追逐,甚至相撞的现象,为了提高整体工作效率,降低能耗,提出一种基于Multi-Agent的管桩专用起重机集成管理模型,分析了该模型下中央协调Agent层、区域协调Agent层和设备Agent层的合作与协调方式。结合博弈论(game theory)的协调理论,重点分析了该机制下的协调策略S,建立了基于博弈论的管桩专用起重机集成管理的协调机制。通过对MAS模型研究,建立管桩专用起重机博弈协调最优能耗决策,以管桩专用起重机运行能耗最小为目标函数,实现管桩专用起重机的最低能耗。

Because the problems of emergency avoidance,chasing and impaction with each other exist in the movement process of the special crane of pipe pile,in order to improve the overall efficiency and reduce energy consumption,an integrated management model of special crane of pipe pile based on Mutli-Agent is propossed and the cooperation and coordinated manner among the central coordinating Agent layer,the regional coordination Agent layer and the equipment Agent Layer are analysed.Combined with the coordination principle of game theory,a coordination mechanism for the integrated management model is proposed and the mechanism of the coordination strategy S is analyzed.The optimal energy strategy is established through NAS model,in which the minimization of system power consumption is taken as objective function.