自动化物流AGV系统的定性仿真建模及算法研究
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。
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.
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。
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.
引文
[1]白方周、张雷，定性仿真导论，中国科学技术大学出版社，1998
[2]王东锋，模糊定性仿真理论及其算法实现[D]，国防科技大学出版社，1999
[3]郑人杰，殷人昆，陶永雷，实用软件工程(第二版)，清华大学出版社，2001
[4]王维平，朱一凡，华雪佳，张汗江，离散事件系统建模与仿真，国防科技大学出版社
[5]熊光楞等，先进仿真技术与仿真环境，国防工业出版社，1997
[6]肖田元，张燕云等，系统仿真导论，清华大学出版社，2000
[7]杨涤，李立涛，系统实时仿真开发环境与应用，清华大学出版社，2002
[8]张晓萍等，现代生产物流及仿真，清华大学出版社，1998
[9]Zhan Yue-dong,. Luo Ying, The guided and detecting technology of intelligent robot AGV and new-style AGY, Wuhan, China, ICSC2000.
[10]詹跃东、骆瑛，基于Petri网的物流自动化系统建模和仿真研究[J]，系统仿真学报，13(4)，2001，4
[11]骆瑛，自动化物流系统AGV优化调度控制及其虚拟仿真研究，昆明理工大学研究生论文，2001
[12]史扬，詹跃东，骆瑛，基于CPN建模的AGVS优化调度规则研究，昆明理工大学学报，2002
[13]薛定宇．，控制系统计算机辅助设计MATLAB语言及应用[M]，清华大学出版社，1996
[14]MATLAB C++ math Libarary User's Guide[Z]. The Math Works, Inc., 1998. 2
[15]施阳，李俊，MATLAB语言工具箱—TOOLBOX实用指南[M]，西北工业大学出版社，1998
[16]薛定宇，陈阳泉，基于MATLAB／Simulink的系统仿真，清华大学出版社，2002
[17](美)鲍戈斯(Boggs，W)等著，邱仲潘等译，UML with Rational Rose从入门到精通，电子工业出版社，2000
[18] (美)W．鲍戈斯，M．鲍戈斯著，邱仲潘等译，UML用户指南，电子工业出版社，2000
[19] (美)James Rumbaugh等著，姚淑珍等译，UML参考手册，机械工业出版社，2001
[20] 伍俊良，Delphi 5应用系统开发高级指南，电子工业出版社，2000
[21] 徐新华，Delphi 5高级编程：IDE与面向对象编程，人民邮电出版社，2000
[22] (美)Greg Perry著：王桂兰等译C++入门及实例详解，电子工业出版社，1994
[23] 李幼仪，甘志，C++Builder高级应用开发指南，清华大学出版社，2002
[24] 尤辉，AGV的基本结构和在烟草行业中的应用，云南省曲靖卷烟厂自动化仓库筹建组，www.863cims.net
[25] 黄苑虹，林志泉，吕明钰，无人驾驶自动导引车的研究，计算技术与自动化，1999．11
[26] 刘有苏、许嘉模，自动导向车系统方案分析[刊] ，组合机床与自动化加工技术，1999
[27] 白小波，AGV产业化进程中的机遇和挑战，机器人，2000．8
[28] 马清亮，胡昌华，胡书海，定性仿真与功能标记相结合的自动潜在电路分析, Proceeding of the Third World Congress on Intelligent Control and Automation, June 28-July 2, 2000, Hefei, P.R. China
[29] 陈根社，陈新海，遗传算法的研究与进展，信息与控制，Vol．23，No 4，Aug，1994
[30] 王东锋，模糊定性仿真理论及其算法实现，国防科技大学出版社，1999
[31] Hans P. M Veeke and Jaap A. Ottjes. Problem Oriented Modelling and Simulation. Proceeding of the 1999 Summer Computer Simulation Conference(SCSC 1999), 1999, Chicago
[32] Veeke H.P.M.,Process simulation as a management Tool, Proceedings of the IASTED International Sysposiom Applied Modelling and Simulation, Paris, 1982.
[33] Farquhar, A.; Kuipers, B.; Rickel, J. and Throop, D. 1994. Qsim, the program and its use. Part of qsim distribution.
[34] Richard Sceines, Peter Spirits, Clark Glymour. A Qualitative Approach to Causal
Modeling. Qualitative Simulation Modeling and Analysis.
[35] John De Kleer, John Seely Brown. Qualitative Physics Based on Confluence. Artificial Intelligence, 1984, 24
[36] Kuipers BJ. Qualitative Simulation: Modeling and Generation of Behavior. Cambridge, Massechusetts: The MIT press, 1994
[37] Hannes Werthner. Qualitative Reasoning Modeling and the Generation of Behavior. New York: Springer-Verlag Wien, 1994
[38] Bai Fang-Zhou, Tu Yong-Zhong. Fuzzy qualitative simulation of increased reliability. Chinese Journal of Automatization, 1998, 24(1): 124-128
[39] Kuipers BJ. Qualitative simulation: reasoning with qualitative models. Artificial Intellegence, 1984, 24(1-3): 169-203
[40] Bernhard Rinner. Prototype implementation and experimental evaluation of a scalable Multiproeessor architecture for qualitative simulation[PhDdissertation].The Graz University, 1996
[41] 白方周，霍鑫，鲍忠贵，一个基于QSIM算法的定性仿真系统GQSS，信息与控制，1996，25(1)：49～575
[42] 白方周，定性建摸、仿真和控制，99’学术论文集：系统仿真技术及其应用，中国科技大学出版社，7～19
[43] Berleant, Kuipers BJ. Qualitative and Quantitative Simulation: Bridging the Cap.Artificial Intelligence, 1997, 95: 215～255
[44] W. Carlton Maddrey. Analysis and Control of Large AGV System. Pb. D. thesis,North Carolina State University, 1991
[45] SabriC, Wayne. J. B. Performance Limitations of joint Variable-Feedback Controllers Dueto Manipulator Structural Flexibility. Proc. of IEEE Conf. on Robotic and Automation, 1990: 219～231
[46] XiF, Fenton R. G.. A Sequential Integration Method for Inverse Dynamic Analysis of Flexible link Manipulators. Proc. Of IEEE Conf. on Robotic and Automation, 1993: 743～748
[47] 李存昌等，自动导向车(AGV)的整体设计及动态实时调度[J]，组合机床与
自动化加工技术，1996(4)，32～36
[48] AUBIN J. -P. (1996) Neural Networks and Qualitative Physics: A Viability Approach, Cambridge University Press Birkhauser, Boston, Basel, Berlin
[49] DORDAN O. (1992) Mathematical problems arising in qualitative simulation of a differential equation, Artificial Intelligence, 55, 61-86
[50] AUBIN J. P. & DORDAN O. (2002) Dynamical simulation of evolutionary systems, Proceedings HSCC 2002.
[51] Shiizuka, Hisao; Suzuki, Misa. Modeling of AGV networks in flexible manufacturing systems. Computers & Industrial Engineering v 27 n 1-4 Sep 1994. P81-86
[52] Jing, Hsu Wen; Ying, Huang Shell. Route Planning of Automated guided Vehicles. Intelligent Vehicles Symposium, Proceedings 1994, IEEE, Piscataway,NJ, USA, 94TH8011.P479-484
[53] 现代物流系统技术的研究现状及发展趋势，www.e-works.net.cn
[54] 烟草企业自动化物流系统解决方案，www.tobaccochina.com
[55] Qua. Si. Ⅲ Qualitative Simulator, http://iridia.ulb.ac.be
[2]王东锋，模糊定性仿真理论及其算法实现[D]，国防科技大学出版社，1999
[3]郑人杰，殷人昆，陶永雷，实用软件工程(第二版)，清华大学出版社，2001
[4]王维平，朱一凡，华雪佳，张汗江，离散事件系统建模与仿真，国防科技大学出版社
[5]熊光楞等，先进仿真技术与仿真环境，国防工业出版社，1997
[6]肖田元，张燕云等，系统仿真导论，清华大学出版社，2000
[7]杨涤，李立涛，系统实时仿真开发环境与应用，清华大学出版社，2002
[8]张晓萍等，现代生产物流及仿真，清华大学出版社，1998
[9]Zhan Yue-dong,. Luo Ying, The guided and detecting technology of intelligent robot AGV and new-style AGY, Wuhan, China, ICSC2000.
[10]詹跃东、骆瑛，基于Petri网的物流自动化系统建模和仿真研究[J]，系统仿真学报，13(4)，2001，4
[11]骆瑛，自动化物流系统AGV优化调度控制及其虚拟仿真研究，昆明理工大学研究生论文，2001
[12]史扬，詹跃东，骆瑛，基于CPN建模的AGVS优化调度规则研究，昆明理工大学学报，2002
[13]薛定宇．，控制系统计算机辅助设计MATLAB语言及应用[M]，清华大学出版社，1996
[14]MATLAB C++ math Libarary User's Guide[Z]. The Math Works, Inc., 1998. 2
[15]施阳，李俊，MATLAB语言工具箱—TOOLBOX实用指南[M]，西北工业大学出版社，1998
[16]薛定宇，陈阳泉，基于MATLAB／Simulink的系统仿真，清华大学出版社，2002
[17](美)鲍戈斯(Boggs，W)等著，邱仲潘等译，UML with Rational Rose从入门到精通，电子工业出版社，2000
[18] (美)W．鲍戈斯，M．鲍戈斯著，邱仲潘等译，UML用户指南，电子工业出版社，2000
[19] (美)James Rumbaugh等著，姚淑珍等译，UML参考手册，机械工业出版社，2001
[20] 伍俊良，Delphi 5应用系统开发高级指南，电子工业出版社，2000
[21] 徐新华，Delphi 5高级编程：IDE与面向对象编程，人民邮电出版社，2000
[22] (美)Greg Perry著：王桂兰等译C++入门及实例详解，电子工业出版社，1994
[23] 李幼仪，甘志，C++Builder高级应用开发指南，清华大学出版社，2002
[24] 尤辉，AGV的基本结构和在烟草行业中的应用，云南省曲靖卷烟厂自动化仓库筹建组，www.863cims.net
[25] 黄苑虹，林志泉，吕明钰，无人驾驶自动导引车的研究，计算技术与自动化，1999．11
[26] 刘有苏、许嘉模，自动导向车系统方案分析[刊] ，组合机床与自动化加工技术，1999
[27] 白小波，AGV产业化进程中的机遇和挑战，机器人，2000．8
[28] 马清亮，胡昌华，胡书海，定性仿真与功能标记相结合的自动潜在电路分析, Proceeding of the Third World Congress on Intelligent Control and Automation, June 28-July 2, 2000, Hefei, P.R. China
[29] 陈根社，陈新海，遗传算法的研究与进展，信息与控制，Vol．23，No 4，Aug，1994
[30] 王东锋，模糊定性仿真理论及其算法实现，国防科技大学出版社，1999
[31] Hans P. M Veeke and Jaap A. Ottjes. Problem Oriented Modelling and Simulation. Proceeding of the 1999 Summer Computer Simulation Conference(SCSC 1999), 1999, Chicago
[32] Veeke H.P.M.,Process simulation as a management Tool, Proceedings of the IASTED International Sysposiom Applied Modelling and Simulation, Paris, 1982.
[33] Farquhar, A.; Kuipers, B.; Rickel, J. and Throop, D. 1994. Qsim, the program and its use. Part of qsim distribution.
[34] Richard Sceines, Peter Spirits, Clark Glymour. A Qualitative Approach to Causal
Modeling. Qualitative Simulation Modeling and Analysis.
[35] John De Kleer, John Seely Brown. Qualitative Physics Based on Confluence. Artificial Intelligence, 1984, 24
[36] Kuipers BJ. Qualitative Simulation: Modeling and Generation of Behavior. Cambridge, Massechusetts: The MIT press, 1994
[37] Hannes Werthner. Qualitative Reasoning Modeling and the Generation of Behavior. New York: Springer-Verlag Wien, 1994
[38] Bai Fang-Zhou, Tu Yong-Zhong. Fuzzy qualitative simulation of increased reliability. Chinese Journal of Automatization, 1998, 24(1): 124-128
[39] Kuipers BJ. Qualitative simulation: reasoning with qualitative models. Artificial Intellegence, 1984, 24(1-3): 169-203
[40] Bernhard Rinner. Prototype implementation and experimental evaluation of a scalable Multiproeessor architecture for qualitative simulation[PhDdissertation].The Graz University, 1996
[41] 白方周，霍鑫，鲍忠贵，一个基于QSIM算法的定性仿真系统GQSS，信息与控制，1996，25(1)：49～575
[42] 白方周，定性建摸、仿真和控制，99’学术论文集：系统仿真技术及其应用，中国科技大学出版社，7～19
[43] Berleant, Kuipers BJ. Qualitative and Quantitative Simulation: Bridging the Cap.Artificial Intelligence, 1997, 95: 215～255
[44] W. Carlton Maddrey. Analysis and Control of Large AGV System. Pb. D. thesis,North Carolina State University, 1991
[45] SabriC, Wayne. J. B. Performance Limitations of joint Variable-Feedback Controllers Dueto Manipulator Structural Flexibility. Proc. of IEEE Conf. on Robotic and Automation, 1990: 219～231
[46] XiF, Fenton R. G.. A Sequential Integration Method for Inverse Dynamic Analysis of Flexible link Manipulators. Proc. Of IEEE Conf. on Robotic and Automation, 1993: 743～748
[47] 李存昌等，自动导向车(AGV)的整体设计及动态实时调度[J]，组合机床与
自动化加工技术，1996(4)，32～36
[48] AUBIN J. -P. (1996) Neural Networks and Qualitative Physics: A Viability Approach, Cambridge University Press Birkhauser, Boston, Basel, Berlin
[49] DORDAN O. (1992) Mathematical problems arising in qualitative simulation of a differential equation, Artificial Intelligence, 55, 61-86
[50] AUBIN J. P. & DORDAN O. (2002) Dynamical simulation of evolutionary systems, Proceedings HSCC 2002.
[51] Shiizuka, Hisao; Suzuki, Misa. Modeling of AGV networks in flexible manufacturing systems. Computers & Industrial Engineering v 27 n 1-4 Sep 1994. P81-86
[52] Jing, Hsu Wen; Ying, Huang Shell. Route Planning of Automated guided Vehicles. Intelligent Vehicles Symposium, Proceedings 1994, IEEE, Piscataway,NJ, USA, 94TH8011.P479-484
[53] 现代物流系统技术的研究现状及发展趋势，www.e-works.net.cn
[54] 烟草企业自动化物流系统解决方案，www.tobaccochina.com
[55] Qua. Si. Ⅲ Qualitative Simulator, http://iridia.ulb.ac.be