基于MAS的开放式数控系统体系结构研究
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摘要
随着信息技术和控制技术的不断发展，机械制造业的生产规模不断扩大，设备复杂度不断增加，用户的加工需求也呈现出多样化和个性化的发展趋势，传统的专用封闭式体系结构在并行处理及异构系统的集成、移植和伸缩性上都已无法满足现实需求，严重制约了数控系统的发展。为适应机械制造业的发展需求，国内外相继提出了多种开放式数控系统体系结构模型。这些模型大多从工程的角度对传统设计方法进行了改进，虽然在一定程度上满足了数控系统的高性能、高适用性特征，但都缺乏对系统智能化设计需求的考虑。MAS理论是分布式人工智能领域的重要系统建模思想，源于对人类社会结构和群体性行为的仿真。MAS系统由多个具有自主决策能力的独立Agent组成，并通过特定的协商手段协同完成具有分布式特征的系统任务，具有良好的分布性、自主性和协调性。综上所述，本文开展基于MAS的开放式数控系统体系架构方法及相关智能技术的研究，将MAS理论与开放式数控系统体系结构的设计过程相结合，利用MAS理论在系统建模上表现出的良好分布性、柔性、异步性特征来匹配数控系统的开放式设计需求，在提升系统的集成、处理能力的基础上，有效提高了系统的整体智能化程度。论文的主要研究内容包括以下几方面：
1.基于MAS的开放式数控系统体系结构模型研究。针对开放式数控系统体系结构的高度智能化需求，开展对开放式数控系统体系结构智能化设计方法的研究工作。论述了将MAS理论应用于开放式数控系统体系结构建模的可行性和先进性，在分析开放式数控系统的工作原理和数据流程基础上，提出一种基于MAS的开放式数控系统体系结构模型，该结构模型采用分层设计方法，不仅可以满足开放式系统在体系结构上的可重构性、可扩充性和可移植性需求，而且可以利用分布式人工智能领域其他的智能理论提升系统的整体智能化程度。
2. Agent个体模型研究。在分析Agent拟人性特征基础上，论述了Agent的社会属性，以及Agent社会属性对于Agent群体性行为的影响，开展对Agent个体建模方法的研究。针对现有Agent建模方法对于Agent社会属性表达方面的不足，对传统BDI-Agent模型进行了扩展，增加了反映Agent社会属性的要素，提出一种基于社会属性扩展的SBDI-Agent模型和基于Petri-Net的SBDI-Agent模型表示方法。利用Petri-Net良好的图形化描述能力，可以简单、清晰地对Agent心智状态的改变进行建模和分析检验，其异步、并发、模糊性等特征也与Agent的自身特点十分吻合。
3. MAS知识模型研究。在分析基于MAS的开放式数控系统中知识的复杂、异构、模糊特征基础上，开展对MAS系统知识建模方法的研究。提出一种基于加权模糊Petri网的MAS系统知识模型，并提出基于该模型的双向约减推理算法和免疫学习算法。加权模糊Petri网是一种图形化的系统建模分析工具，既具备图形的直观性，也具备数学的可推理性，且对模糊产生式规则有良好的描述能力。双向约减推理算法通过逆向推理确定与决策目标有关的规则或条件，对WFPN进行化简，缩小问题求解空间，能够有效避免推理陷入局部极小的误区。基于抗原相似浓度优化的免疫学习算法，能够在知识处理过程中发现和学习新的知识规则，使得知识库能不断的更新、完善。对比实验结果验证了本文提出的推理算法在推理速度和推理精度方面优势明显，免疫学习算法在网络训练和学习效率上也表现出速度快、精度高等优势。
4. MAS通信机制研究。在分析MAS通信特征和通信过程的基础上，开展面向MAS通信机制设计方法的研究。提出一种消息传递与黑板模式相结合的混合式通信模型、通信语言标准化封装方法和不良通信状态的检测方法。在混合式通信模型中，对于控制相关信息采用黑板通信模式，数据相关信息采用信息交换的直接通信模式，解决了不同类型通信信息在信息存储和调度频度等方面的不同需求。基于XML描述的KQML通信语言标准，解决了KQML标准在ACL消息解析、通信有效性检查机制和移植性等方面表现出的缺点。基于压迫行为模式的通信状态度量方法和Agent角色划分机制，能够从不同层次，不同角度对系统的整体压迫状态进行评估和分析。实验结果证明本文提出的度量方法能够准确的定位和消除引起MAS通信失衡状态的不良通信结构，提高了系统的通信效率和整体服务质量。
5. MAS协商机制研究。在分析MAS协商的概念、特征和协商过程基础上，开展对MAS协商机制的研究。对比目前主流协商方法间的异同和优缺点，提出一种基于对手协商偏好预测让步的MAS协商机制，分别设计了可效用补偿和不可效用补偿议题的联合效用值计算方法，避免了因非补偿性效用值局部过小导致的协商资源浪费。该协商机制借鉴了双赢型协商策略的思路，将Agent个体的心理属性作为影响协商结果的要素之一，通过推测交互对手的协商偏好来动态修改自身权值，从而解决了因个体效用执着而导致协商失败的问题。
With the continuous development of information technology and controltechnology, the production scale of mechanical manufacturing industry expandsconstantly and the complexity of mechanical equipment increases continually, whichlead to the diversification and individuation of user requirements. The closedarchitecture of traditional CNC system, which lacks integration, portability andflexibility, has badly restricted the development of CNC system. To meet the need ofthe development of mechanical manufacturing, scholars from both domestic andoverseas carried out many related researches in which a variety of architecture modelsof CNC system have been provided. Most models are built by improving the traditionaldesign approach from the view of engineering. These proposed models, to a certainextent, can meet the demand of high performance and high applicability of CNCsystem. However, these models still didn’t take the demand of intelligence intoconsideration. Multi-agent is an important system modeling theory in distributedartificial intelligence and is originated from the simulation of human social structureand group behaviors. A multi-agent system consists of many independent agents. Eachagent, which can be taken as a physical or abstract entity, needs to communicate witheach other so as to complete the task cooperatively. Multi-agent systems havecharacters of distribution, autonomy and harmony. This paper will focus on themodeling approach and the research of relevant technologies on open architecture ofCNC system based on multi-agent theory. Application of the multi-agent theory in theprocess of open architecture CNC system modeling will not only meet the demand ofopen frame, but also will improve the system integration because of its characteristicsof distributive, flexibility and synchronism. The main works are undertaken mainly infollowing aspects.
1. Architectural model of open CNC system based on multi-agent theory isbuilt. Taking the requirement of high intelligence of open CNC system architectureinto consideration, the research of modeling method of open CNC system architecture is carried out in this part. The feasibility and the advancement of applying multi-agenttheory into building architectural model of open CNC system are firstly discussed.After analyzing of the principle and the working flow of CNC system, a model of openCNC system architecture based on multi-agent theory is then provided. In this model,the layered modularized method is adopted which can not only meet demands ofreconfigurability, expandability and portability, but also can improve the systemintegration by using the intellectual technology of distributed artificial intelligence.
2. Individual agent modeling methods are studied. After analyzingcharacteristics of human nature of each agent, the study of individual agent modelingmethod is carried out. The social attribute of agent and its influence on group behaviorsin multi-agent environment are expounded. Concerning the disadvantages of existingmodeling methods, the traditional SBDI-agent model is improved by increasing socialattributes of agent. The SBDI-Agent model based on social attributes and theSBDI-Agent based on Petri-Net are then provided. Based on the good ability ofgraphical description of Petri-Net, the mental state of the Agent inspection can then beanalyzed and modeled easily.
3. Knowledge model in multi-agent system is studied. After analyzing thecomplexity, isomerism, and fuzzy of knowledge in multi-agent system, a knowledgemodel in multi-agent system based on weight fuzzy petri-net, the corresponding fuzzyreasoning algorithm and learning mechanism based on artificial immune network areproposed. Fuzzy Petri Net (FPN) is a kind of modified fuzzy knowledge modeling toolbased on traditional Petri net. It not only has the same ability of graphic description astraditional Petri net but also is capable of fuzzy reasoning. The combination of positiveand negative bi-directional reasoning algorithm based on WFPN is proposed in thispart. The problem-solving space is reduced by optimizing the WFPN model throughconfirming the rules and conditions that are related to decision objectives by backwardreasoning method. The positive confidence level is calculated by matrix algebraformula, which is helpful to enhance efficiency and search speed of large-scaleknowledge base. Referring to immune regulation mechanism of biological immune system, the immune regulation mechanism based on similarity of antigen is designed.According to those important net parameters obtained by immune regulation, theconcrete structure model of immune net is built. Using the proposed learning algorithmfor extracting rules from knowledge processing process can make the database insystem constantly improved. The experiment result indicates that the proposedreasoning method has significant advantages over the traditional reasoning algorithmin less reasoning time and error rate. The immune algorithm has shown faster learningspeed and higher classification accuracy.
4. Communication mechanism in Multi-agent system is studied. Based onanalysis of the characteristics and the process of communication in multi-agent system,the study of communication mechanism in MAS is carried out. First of all, a mixedcommunication mode is presented. Direct communication will be used if there is adirect interaction between agents. Otherwise, indirect communication is implementedby building data shared pool. Secondly, a description method of KQML based on XMLhas been provided. The grammar of KQML message will be standardized by usingXML. The code of XML includes analyzing message, which makes the procedure ofanalysis more convenient. The social characteristic of MAS and the similarity betweenoppressive behaviors and unbalanced states of communication are firstly discussed.Regarding the oppressive behavior, some metrics have been designed to measure thecommunication among agents, and some rules have been devised to classify agentsinto several patterns in the following part. Experiments are finally conducted onCrisis-MAS. Experiment results show that the causes of the unbalancedcommunication design can be figured out by means of oppressive behavior and thattheir metrics, classification rules, and the performance also can be improved byeliminating the oppressive behavior in MAS.
5. Negotiation mechanism in multi-agent system is studied. After analyzingthe concept, characteristics and process of negotiation in multi-agent system, the studyof negotiation mechanism in MAS is carried out. By comparing the advantages anddisadvantages of the current mainstream negotiation methods, a concessions negotiation mechanism in multi-agent system based on predicting the negotiationtendency of rival is given. Depending on whether the utility is complementary or not,the utility computing can be divided into two cases in order to avoid the waste ofnegotiation resource caused by low complementary utility value. The negotiationmechanism, using the idea of win-win negotiation strategy for reference, takespsychological attributes of agent as one of the elements that affect negotiation results.In order to solve the negotiation failure problem caused by obsession with utility,negotiation weights can be dynamically modified by predicting the negotiationtendency of rival.
1.基于MAS的开放式数控系统体系结构模型研究。针对开放式数控系统体系结构的高度智能化需求，开展对开放式数控系统体系结构智能化设计方法的研究工作。论述了将MAS理论应用于开放式数控系统体系结构建模的可行性和先进性，在分析开放式数控系统的工作原理和数据流程基础上，提出一种基于MAS的开放式数控系统体系结构模型，该结构模型采用分层设计方法，不仅可以满足开放式系统在体系结构上的可重构性、可扩充性和可移植性需求，而且可以利用分布式人工智能领域其他的智能理论提升系统的整体智能化程度。
2. Agent个体模型研究。在分析Agent拟人性特征基础上，论述了Agent的社会属性，以及Agent社会属性对于Agent群体性行为的影响，开展对Agent个体建模方法的研究。针对现有Agent建模方法对于Agent社会属性表达方面的不足，对传统BDI-Agent模型进行了扩展，增加了反映Agent社会属性的要素，提出一种基于社会属性扩展的SBDI-Agent模型和基于Petri-Net的SBDI-Agent模型表示方法。利用Petri-Net良好的图形化描述能力，可以简单、清晰地对Agent心智状态的改变进行建模和分析检验，其异步、并发、模糊性等特征也与Agent的自身特点十分吻合。
3. MAS知识模型研究。在分析基于MAS的开放式数控系统中知识的复杂、异构、模糊特征基础上，开展对MAS系统知识建模方法的研究。提出一种基于加权模糊Petri网的MAS系统知识模型，并提出基于该模型的双向约减推理算法和免疫学习算法。加权模糊Petri网是一种图形化的系统建模分析工具，既具备图形的直观性，也具备数学的可推理性，且对模糊产生式规则有良好的描述能力。双向约减推理算法通过逆向推理确定与决策目标有关的规则或条件，对WFPN进行化简，缩小问题求解空间，能够有效避免推理陷入局部极小的误区。基于抗原相似浓度优化的免疫学习算法，能够在知识处理过程中发现和学习新的知识规则，使得知识库能不断的更新、完善。对比实验结果验证了本文提出的推理算法在推理速度和推理精度方面优势明显，免疫学习算法在网络训练和学习效率上也表现出速度快、精度高等优势。
4. MAS通信机制研究。在分析MAS通信特征和通信过程的基础上，开展面向MAS通信机制设计方法的研究。提出一种消息传递与黑板模式相结合的混合式通信模型、通信语言标准化封装方法和不良通信状态的检测方法。在混合式通信模型中，对于控制相关信息采用黑板通信模式，数据相关信息采用信息交换的直接通信模式，解决了不同类型通信信息在信息存储和调度频度等方面的不同需求。基于XML描述的KQML通信语言标准，解决了KQML标准在ACL消息解析、通信有效性检查机制和移植性等方面表现出的缺点。基于压迫行为模式的通信状态度量方法和Agent角色划分机制，能够从不同层次，不同角度对系统的整体压迫状态进行评估和分析。实验结果证明本文提出的度量方法能够准确的定位和消除引起MAS通信失衡状态的不良通信结构，提高了系统的通信效率和整体服务质量。
5. MAS协商机制研究。在分析MAS协商的概念、特征和协商过程基础上，开展对MAS协商机制的研究。对比目前主流协商方法间的异同和优缺点，提出一种基于对手协商偏好预测让步的MAS协商机制，分别设计了可效用补偿和不可效用补偿议题的联合效用值计算方法，避免了因非补偿性效用值局部过小导致的协商资源浪费。该协商机制借鉴了双赢型协商策略的思路，将Agent个体的心理属性作为影响协商结果的要素之一，通过推测交互对手的协商偏好来动态修改自身权值，从而解决了因个体效用执着而导致协商失败的问题。
With the continuous development of information technology and controltechnology, the production scale of mechanical manufacturing industry expandsconstantly and the complexity of mechanical equipment increases continually, whichlead to the diversification and individuation of user requirements. The closedarchitecture of traditional CNC system, which lacks integration, portability andflexibility, has badly restricted the development of CNC system. To meet the need ofthe development of mechanical manufacturing, scholars from both domestic andoverseas carried out many related researches in which a variety of architecture modelsof CNC system have been provided. Most models are built by improving the traditionaldesign approach from the view of engineering. These proposed models, to a certainextent, can meet the demand of high performance and high applicability of CNCsystem. However, these models still didn’t take the demand of intelligence intoconsideration. Multi-agent is an important system modeling theory in distributedartificial intelligence and is originated from the simulation of human social structureand group behaviors. A multi-agent system consists of many independent agents. Eachagent, which can be taken as a physical or abstract entity, needs to communicate witheach other so as to complete the task cooperatively. Multi-agent systems havecharacters of distribution, autonomy and harmony. This paper will focus on themodeling approach and the research of relevant technologies on open architecture ofCNC system based on multi-agent theory. Application of the multi-agent theory in theprocess of open architecture CNC system modeling will not only meet the demand ofopen frame, but also will improve the system integration because of its characteristicsof distributive, flexibility and synchronism. The main works are undertaken mainly infollowing aspects.
1. Architectural model of open CNC system based on multi-agent theory isbuilt. Taking the requirement of high intelligence of open CNC system architectureinto consideration, the research of modeling method of open CNC system architecture is carried out in this part. The feasibility and the advancement of applying multi-agenttheory into building architectural model of open CNC system are firstly discussed.After analyzing of the principle and the working flow of CNC system, a model of openCNC system architecture based on multi-agent theory is then provided. In this model,the layered modularized method is adopted which can not only meet demands ofreconfigurability, expandability and portability, but also can improve the systemintegration by using the intellectual technology of distributed artificial intelligence.
2. Individual agent modeling methods are studied. After analyzingcharacteristics of human nature of each agent, the study of individual agent modelingmethod is carried out. The social attribute of agent and its influence on group behaviorsin multi-agent environment are expounded. Concerning the disadvantages of existingmodeling methods, the traditional SBDI-agent model is improved by increasing socialattributes of agent. The SBDI-Agent model based on social attributes and theSBDI-Agent based on Petri-Net are then provided. Based on the good ability ofgraphical description of Petri-Net, the mental state of the Agent inspection can then beanalyzed and modeled easily.
3. Knowledge model in multi-agent system is studied. After analyzing thecomplexity, isomerism, and fuzzy of knowledge in multi-agent system, a knowledgemodel in multi-agent system based on weight fuzzy petri-net, the corresponding fuzzyreasoning algorithm and learning mechanism based on artificial immune network areproposed. Fuzzy Petri Net (FPN) is a kind of modified fuzzy knowledge modeling toolbased on traditional Petri net. It not only has the same ability of graphic description astraditional Petri net but also is capable of fuzzy reasoning. The combination of positiveand negative bi-directional reasoning algorithm based on WFPN is proposed in thispart. The problem-solving space is reduced by optimizing the WFPN model throughconfirming the rules and conditions that are related to decision objectives by backwardreasoning method. The positive confidence level is calculated by matrix algebraformula, which is helpful to enhance efficiency and search speed of large-scaleknowledge base. Referring to immune regulation mechanism of biological immune system, the immune regulation mechanism based on similarity of antigen is designed.According to those important net parameters obtained by immune regulation, theconcrete structure model of immune net is built. Using the proposed learning algorithmfor extracting rules from knowledge processing process can make the database insystem constantly improved. The experiment result indicates that the proposedreasoning method has significant advantages over the traditional reasoning algorithmin less reasoning time and error rate. The immune algorithm has shown faster learningspeed and higher classification accuracy.
4. Communication mechanism in Multi-agent system is studied. Based onanalysis of the characteristics and the process of communication in multi-agent system,the study of communication mechanism in MAS is carried out. First of all, a mixedcommunication mode is presented. Direct communication will be used if there is adirect interaction between agents. Otherwise, indirect communication is implementedby building data shared pool. Secondly, a description method of KQML based on XMLhas been provided. The grammar of KQML message will be standardized by usingXML. The code of XML includes analyzing message, which makes the procedure ofanalysis more convenient. The social characteristic of MAS and the similarity betweenoppressive behaviors and unbalanced states of communication are firstly discussed.Regarding the oppressive behavior, some metrics have been designed to measure thecommunication among agents, and some rules have been devised to classify agentsinto several patterns in the following part. Experiments are finally conducted onCrisis-MAS. Experiment results show that the causes of the unbalancedcommunication design can be figured out by means of oppressive behavior and thattheir metrics, classification rules, and the performance also can be improved byeliminating the oppressive behavior in MAS.
5. Negotiation mechanism in multi-agent system is studied. After analyzingthe concept, characteristics and process of negotiation in multi-agent system, the studyof negotiation mechanism in MAS is carried out. By comparing the advantages anddisadvantages of the current mainstream negotiation methods, a concessions negotiation mechanism in multi-agent system based on predicting the negotiationtendency of rival is given. Depending on whether the utility is complementary or not,the utility computing can be divided into two cases in order to avoid the waste ofnegotiation resource caused by low complementary utility value. The negotiationmechanism, using the idea of win-win negotiation strategy for reference, takespsychological attributes of agent as one of the elements that affect negotiation results.In order to solve the negotiation failure problem caused by obsession with utility,negotiation weights can be dynamically modified by predicting the negotiationtendency of rival.
引文
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