自动化物流AGV系统的定性仿真建模及算法研究

【作者】 聂娟；

【导师】 詹跃东；

【作者基本信息】 昆明理工大学 ， 控制理论与控制工程， 2003， 硕士

【摘要】 自动导向车(AGV)系统是根据接收到的物料搬运任务，合理调度车辆，在智能交通管理控制下，沿规定的路线自动高效地完成物料搬运任务，并实时调度小车的自动控制系统。本文用定性方法来仿真物流系统中的AGV运行情况，并对AGVS进行了动画仿真。 定性仿真以非数字手段通过定性模型推导系统的定性行为描述，定性算法在理论和应用上发展的最成熟的是朴素物理方法，而其中又以B．J．Kuipers基于约束的用定性微分方程描述的QSIM算法最有影响，本文采用了在QSIM算法基础上发展而来的定性和定量结合的方法对AGV系统进行了分析，对AGV的优化调度建立可行的数学模型，并用上述方法进行求解。 本文采用统一建模语言UML对AGV系统进行建模，UML是一个通用的可视化建模语言，利用面向对象的建模方法，得到了体现静态关系的任务管理、车辆管理、交通管理以及车辆仿真系统的用例图，以及体现动态关系的状态转换图，它们的设计符号被解释为C++程序代码。 本文的软件实现采用Delphi、C++混合编程，核心的定性算法部分采用Matlab中的Qua．Si．Ⅲ定性仿真模块，由C++来调用，实现了AGV仿真系统的具有计算机动画仿真功能的可视化界面。 本文利用了定性仿真技术在处理不完备知识方面的独到长处，为继续研究定性仿真在AGVS上的应用奠定了基础，为国内用定性方法结合原来的定量方法实现生产系统的模糊控制提供了借鉴。更多还原

【Abstract】 Automatic Guided Vehicle(AGV) system is an automatic system aimed to dispatching the carriers according to the conveying task, to fulfill the task efficiently along the route under intellectualized traffic management, and schedule the carriers for auto-charging. This text focuses on the research of simulating the AGV system in Automatic Material Handling System by means of qualitative method. At last the animated simulation of AGVS is realized.Qualitative simulation uses non-arithmatic method to deduce a system’s qualitative behaviors by qualitative models.The most mature qualitative algorithm in the development of theory and application is simple physics method. However, B.J.Kuipers’ QSIM algorithm is the most influent among them, which is described by qualitative differential equations based on constrains. This text adapts qualitative and quantitative method in analyzing an AGV system, and set up a practical mathematic model of AGV optimizing dispatching rule, which is solved by the above method.Unified Modeling Language-UML is a general visual modeling language. In use of object oriented modeling method, the Use Case Diagram of task management, vehicle management, transportation management and vehicle simulation system is obtained, that verify static relations. We also get State Chart Diagrams, that verify motive relations. Their design notations are translated into code in C++.The software uses Delphi and C++. However, the soul of qualitative algorithm uses Qua.Si.Ⅲ-qualitative simulation module in Matlab, which is transfered by C++. This realizes an AGV simulation system’ visual interfaces that have computers’ animating functions.This text utilizes the special merits of qualitative simulation in managing imperfect knowledge and establishes foundation for continuing to research the qualitative simulation’s application in AGVS. It’s also used for reference by production systems’ fuzzy controlling realization by the forms of qualitative and quantitative in native.更多还原