【作者】 朱新平；

【导师】 韩松臣； 汤新民；

【作者基本信息】 南京航空航天大学 ， 交通运输规划与管理， 2012， 博士

【摘要】 建立空地一体化的空中交通管理系统，实现无缝隙空管运行，是新一代民用航空运输系统的战略目标之一。先进场面活动引导和控制系统（Advanced Surface Movement Guidance andControl Systems，A-SMGCS）通过监视场面活动目标（航空器和车辆）并展开管制决策，可支持实现机场范围内的无缝隙运行，将在未来空管系统中扮演重要角色。在A-SMGCS模块化实施方案中，滑行路由模块为活动目标提供无冲突滑行轨迹，冲突监控模块防止活动目标违背场面运行管制规则，因而成为A-SMGCS的关键核心模块。但目前A-SMGCS滑行路由和冲突监控研究多针对特定机场展开，缺乏通用性理论。鉴于此，本文建立了人在环路的A-SMGCS场面运行递阶控制结构，将滑行路由和冲突监控集中到统一的层次化结构中，并引入Petri网建模理论和分析方法对它们分别展开研究，形成了较为系统、完善的A-SMGCS滑行路由与冲突监控理论，为A-SMGCS实施提供具有通用性的理论指导。本文主要研究工作包括：提出了包含“滑行路径初始规划”、“滑行路由动态指派”、“滑行路由实时更新”三个阶段的滑行路由规划机制，并对各个阶段分别进行场面运行建模和相应的路由规划算法研究，建立了A-SMGCS滑行路由理论。其中，滑行路径初始规划阶段，在划分场面活动区典型运行单元的基础上，提出了一种场面运行单元扩展赋时库所Petri网(Extended Timed Place Petri Net, ETPPN)，建立了场面ETPPN模型，并给出了基于该模型的滑行路径初始规划方法。场面ETPPN模型库所定义了对应场面单元的管制规则约束，避免了以往活动区节点-路段类模型对管制规则约束描述能力的不足，并引入重构机制实现模型结构的动态调整，实时体现场面运行条件的变化，以支持基于该模型进行初始路径规划的可持续性。然后利用遗传算法并采用ETPPN模型中的变迁激发序列编码染色体，设计了染色体合法性检测与修复算法，以保证所得初始滑行路径的实用性，最终实现滑行路径的初始规划，为航班场面滑行提供多条备选的初始路径。滑行路由动态指派阶段，提出一种场面运行时间窗约束Petri网（Time Windows ConstraintPetri Net,TWCPN）并用于建立场面TWCPN模型，基于该模型给出了一种滑行路由动态指派方法，实现新加入场面运行航班的滑行路由指派，同时调整其它正在滑行航班的路由。场面TWCPN模型库所定义了对应的单元占用时间窗，可以准确描述航空器滑行对交叉口单元的阶段性占用过程。在该模型基础上，以实现路由规划阶段的冲突避免为目标，设计了模型行为演变算法并求解得到可行滑行路由；然后采用单亲遗传算法，用可行滑行路由编码染色体，以最小化航班滑行成本为目标，求解最优或次优滑行路由并完成滑行路由动态指派，避免了以往基于场面运行运筹学模型一味追求最优解、参数多且求解复杂，难以满足实时场面运行的缺陷。滑行路由实时更新阶段，分析了场面运行不确定性特征，并提出一种集成场面态势监测的滑行路由实时更新方法，然后依据该方法针对航班滑行轨迹相对于指派路由推迟占用某一场面运行单元的情形，设计了对应的路由更新算法。所给滑行路由实时更新方法，将优化与反馈结合，采用实时获取的场面态势信息来驱动路由更新，并利用针对不同情形设计的路由更新算法完成滑行路由实时更新。在路由更新算法设计时，针对A-SMGCS监测到航班结束对某一场面运行单元的占用，以及A-SMGCS监测到场面运行的各种不确定情形，分别采用常态路由更新算法和非常态路由更新算法进行路由更新，克服了以往每隔一个固定时段才更新滑行路由，难以实时应对场面各种不确定事件的不足。提出了基于虚拟单元划分和分散协调的冲突监控机制，给出了实现该机制的滑行冲突闭环控制框架，并对框架中的冲突预测与避免、冲突探测与解脱进行实施方案、场面运行建模和控制器设计研究，最终建立了A-SMGCS冲突监控理论。其中，滑行冲突预测与避免方面，提出了一种基于离散事件监控理论的冲突预测与避免实施方案，并给出了该方案中的场面运行过程离散建模方法，以及对头冲突预测与避免控制器的设计方法。在建模场面运行离散过程时，基于已划分的活动区典型运行单元，采用受控Petri网对其建模得到活动区受控Petri网模型，其控制库所可体现外界对场面运行的控制作用，然后采用航空器后续滑行路径对模型中托肯着色，以描述航空器的滑行意图，从而最终得到场面运行受控着色Petri网模型（Controlled Color Petri Net, CCPN）。进一步基于滑行道CCPN模型提出了航空器最小可控滑行路段的概念，并在与其相关的子模型中，依据面向冲突类型、基于产生式规则的冲突预测与避免控制器设计方法，提出了对头冲突预测与避免控制器设计算法，克服了以往基于路由规划提前避免滑行冲突，难以直接控制场面事件的不足。滑行冲突探测和解脱方面，提出了一种基于混杂模型的冲突探测与解脱实施方案，并给出了该方案中的场面运行过程混杂建模方法，以及交叉口冲突探测与解脱控制器的设计方法。定义一种扩展混杂Petri网（Extended Hybrid Petri Net, EHPN），建立场面EHPN模型。该模型中控制库所可体现外界对场面运行的控制作用，而定义在一般库所上的外界环境同步事件以及定义在有向弧上的变迁强制使能条件，则实现了对场面运行混杂状态的实时跟踪。基于所建交叉口EHPN模型，设计了交叉口滑行冲突探测与解脱控制器，通过离散性预警条件和连续性预警条件设计，减少虚警和误警出现的概率，并采用交叉口停止排灯来执行控制器决策的冲突解脱指令，可以直接引导飞行员操纵航空器滑行。更多还原

【Abstract】 Establishing integrated air traffic control system to achieve seamless air traffic control is thestrategic goal for next generation air transportation system. Advanced Surface Movement Guidanceand Control Systems (A-SMGCS) will support seamless operation in airport surface throughmonitoring and control on movement objects (aircrafts and cars). It will play an essential role in thefuture air traffic control system. In the modularize implementation scheme for A-SMGCS, routingfunction model and conflict control function model are key models. The former is in charge ofproviding conflict-free taxi trajectories for movement objects; the latter takes charge in preventingobjects running into conflict situation or colliding with each other. However, past research onA-SMGCS routing and conflict control was mostly for some concrete airport, lacking of research oncorresponding universal theory. In this thesis, human-in-the-loop multilevel hierarchical controlstructure for A-SMGCS was established, and A-SMGCS routing and control were integrated into ahierarchical control structure. The Petri Net theory and analysis method was introduced into theresearch on A-SMGCS routing and control. Corresponding research fruit will provide universal theoryguidance for A-SMGCS implementation. Main research work in this thesis was as following:Universal A-SMGCS routing mechanism of three stages was proposed, which includes initialtaxi routes planning, dynamic taxi route assignment, and taxi route updating in real-time. For theresearch of each stage, corresponding surface operation modeling methods and routing algorithmswere investigated to form the A-SMGCS routing theory.On the initial taxi routes planning, based on the surface typical operation zone division, one kindof Extended Timed Place Petri Net (ETPPN) was proposed and used to establish correspondingsurface ETPPN model. The initial taxi routes planning method was provided based on this model.Places in surface ETPPN model was defined using control regulations for its related operation zone,which overcome the disadvantage on control regulations representation in surface node-link model.The reconfiguration principle for structure dynamic adjustment in ETPPN model was proposed,which reflected the change on surface operation condition and supported consistent initial taxi routesplanning based on this model. The Genetic Algorithm (GA) was adopted and transition firingsequences of the ETPPN model were used as chromosomes. In order to ensure the practicability ofinitial taxi routes, algorithm for chromosome validation and amendment was provided. Finally, theinitial taxi routes set of defined number for aircraft taxi on surface was provided. On the dynamic taxi route assignment, one kind of Time Window Constrained Petri Net(TWCPN) was defined and used to establish the surface TWCPN. One taxi routes assignment methodbased on the TWCPN model was proposed to assign taxi routes for new flight. Meanwhile, routing forcurrently taxiing aircrafts were adjusted. Places in surface TWCPN model was defined using timewindow for its related operation zone, which reflected the dynamic occupation and release foraircrafts in divided operation zone. The state transition algorithm for surface TWCPN model wasprovided, fulfilling conflict avoidance and feasible taxi routes search. And then, Partheno-Geneticalgorithm (PGA) for minimizing the taxi cost was proposed and one new mixed switch and mutationoperator was designed, fulfilling reasonable taxi route search and the dynamic taxi route assignment.The proposed taxi routes assignment method overcome disadvantage of operations model, which settoo many parameters leading complication on computation and can’t meet requirement of real timesurface operation.On the taxi route updating in real-time, the uncertainties in surface operation was analyzed andone kind of taxi route updating method which integrated surface operation tendency monitoring wasprovide. And also, one concrete taxi routes updating algorithm was proposed for aircraft taxitrajectory postponed occupying one zone comparing to the assigned taxi routes. In the taxi routeupdating method, optimization and feedback mechanism were integrated, and the surface operationtendency was used to drive the update process. And then, this process was fulfilled using concretealgorithms for different scenarios. In concrete taxi routes updating algorithm designing, the regularand non-regular taxi route updating algorithms were provided, which overcome the disadvantage ofpast method updating taxi routs every few minutes and can not tackle surface uncertainties.Virtual zone division, decentralized and coordinated-based control mechanism was proposed.And also, the corresponding surface conflict feedback control structure was provided, in which, theconflict prediction and avoidance, conflict detection and resolution were investigated fromimplementation scheme, surface operation modeling and controller design, finally forming theA-SMGCS conflict control theory.On conflict prediction and avoidance, one implementation scheme based on the discrete eventsupervisor theory was proposed, the surface operation process modeling method from discreteperspective was provided, and the controller design method for head-on conflict prediction andavoidance was provide. In surface discrete operation process modeling, the controlled Petri Net modelfor surface movement area was constructed. In this model, the controlled Places could represented thecontrol role from outside, and then the token was colored using the residual taxi route forcorresponding aircraft, which represented the aircraft taxi tendency and finally formed the Controlled Color Petri Net (CCPN) for surface operation. In the surface CCPN model, the least controlled taxisegment for aircrafts was proposed. In its related sub-model, the controller design algorithm forhead-on conflict prediction and avoidance was proposed, according to conflict category oriented andproduction rules-based conflict prediction and avoidance controller design method. The proposedmethod overcomes the disadvantage of routing-based taxi conflict avoidance method which can nottackle surface event directly.On conflict detection and resolution, one implementation scheme based on hybrid model wasproposed, the surface operation process modeling method from hybrid perspective was provided, andthe controller design method for intersection conflict detection and resolution was provided. One kindof Extended Hybrid Petri Net (EHPN) was defined and used to model surface operation. Thecontrolled Places in surface EHPN could represent control role from outside. Meanwhile, thesynchronizing event defined on ordinary Places and the force enable conditions for transitions couldtrack the surface hybrid state. Based on the intersection EHPN model, the corresponding controller forconflict detection and resolution was designed. The discrete and continuous conflict cautionconditions were proposed to reduce the probability on false alarm and missed alarm. In order todirectly provide visual guidance for pilot, the intersection stop bars were used to execute the conflictresolution command.更多还原