先进机场场面活动引导与控制技术研究
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摘要
随着航空运输量的持续增加和机场不断的扩建,场面活动及管理也日趋复杂,迫切需要实施先进场面活动引导和控制系统,改善场面服务质量,保证场面交通安全,提高机场运行效率。本文主要研究场面活动引导与控制系统中的控制和路径规划关键技术,为完整实现整个系统进行了一定的理论性探索。
本文将基于Petri网的离散事件监控理论运用于场面活动引导与控制问题中。首先将跑道、滑行道和停机坪等活动区域离散化,根据离散元到Petri网基本元素的映射,建立了基于Petri网的场面活动模型。其次,利用线性不等式定义场面活动控制规范,将场面航空器的冲突转化为状态禁止问题,利用基于库所不变量的控制器设计方法来设计满足控制规范的控制器,从而避免跑道系统的入侵冲突和滑行道系统的对头冲突等。同时,针对交叉口的交叉相遇,借鉴扩展Petri网中抑制弧的概念,控制航空器在交叉口的运行顺序,从而使建立的场面活动Petri网模型满足机场运行规则。
根据先进场面活动引导与控制系统的滑行路径规划需求,提出了滑行路径规划的三层次体系两阶段控制的总体框架;以滑行时间最短为路径规划目标,对传统Dijkstra算法进行改进,计算出静态预选路径库,将静态预选路径作为可行解对滑行路径进行动态规划,得出最优滑行路径及其活动时间窗;并实施在线路径更新,根据场面状态变化情况动态调整路径时间窗以避免航空器发生冲突,提高场面管制自动化水平,降低管制员工作强度。最后设计了先进场面活动引导与控制仿真系统的框架。
With the continuous increase of air transportation and the expansion of airports, the movement and management on airport surface is becoming complex. To guarantee safety of surface movements and improve the efficiency of airport operation, it is an urgent need to develop the advanced surface movement guidance and control system (A-SMGCS). This paper focuses on the controller synthesis and route planning technology of A-SMGCS, and processes some theoretical investigate for the development of A-SMGCS.
The discrete event supervisory control theory is used for A-SMGCS in this paper. Firstly, the runway,taxiway and apron is dispersed. The surface structure model is built according to the mapping between the discretizations and the Petri nets elements. Surface movements control regulations are described as linear inequality. The conflicts among aircrafts are transformed into forbidden states in the Airport Surface Movements Model. Then, the surface controllers satisfied the regulations are designed by controler’s design method based on concept of Petri nets place invariants. Once the controllers are completed, the runway incursion conflict and taxiway opposite conflict are avoided. Considering the intersection meets, the inhibitor arc conception in extended Petri nets is adopted to design controllers which can make aircrafts move orderly at the cross. The surface movement model built with Petri nets fulfils the airport running rules.
According to A-SMGCS route planning requirements, the three-layers and two-staged scheduling general framework is proposed for aircraft taxi route planning. The static preelection route database is gained through improving the traditional Dijkstra algorithm. The dynamic route plan is implemented based on the static preelection routes. The optimal routes and their movement time windows are calculated. According to the surface state change, the time windows are adjusted dynamicly to avoid conflicts among aircrafts. With the implementation of A-SMGCS, surface control automatic level is improved, and the workload of controller is reduced. Finally, the simulation system of A-SMGCS is designed in this paper.
本文将基于Petri网的离散事件监控理论运用于场面活动引导与控制问题中。首先将跑道、滑行道和停机坪等活动区域离散化,根据离散元到Petri网基本元素的映射,建立了基于Petri网的场面活动模型。其次,利用线性不等式定义场面活动控制规范,将场面航空器的冲突转化为状态禁止问题,利用基于库所不变量的控制器设计方法来设计满足控制规范的控制器,从而避免跑道系统的入侵冲突和滑行道系统的对头冲突等。同时,针对交叉口的交叉相遇,借鉴扩展Petri网中抑制弧的概念,控制航空器在交叉口的运行顺序,从而使建立的场面活动Petri网模型满足机场运行规则。
根据先进场面活动引导与控制系统的滑行路径规划需求,提出了滑行路径规划的三层次体系两阶段控制的总体框架;以滑行时间最短为路径规划目标,对传统Dijkstra算法进行改进,计算出静态预选路径库,将静态预选路径作为可行解对滑行路径进行动态规划,得出最优滑行路径及其活动时间窗;并实施在线路径更新,根据场面状态变化情况动态调整路径时间窗以避免航空器发生冲突,提高场面管制自动化水平,降低管制员工作强度。最后设计了先进场面活动引导与控制仿真系统的框架。
With the continuous increase of air transportation and the expansion of airports, the movement and management on airport surface is becoming complex. To guarantee safety of surface movements and improve the efficiency of airport operation, it is an urgent need to develop the advanced surface movement guidance and control system (A-SMGCS). This paper focuses on the controller synthesis and route planning technology of A-SMGCS, and processes some theoretical investigate for the development of A-SMGCS.
The discrete event supervisory control theory is used for A-SMGCS in this paper. Firstly, the runway,taxiway and apron is dispersed. The surface structure model is built according to the mapping between the discretizations and the Petri nets elements. Surface movements control regulations are described as linear inequality. The conflicts among aircrafts are transformed into forbidden states in the Airport Surface Movements Model. Then, the surface controllers satisfied the regulations are designed by controler’s design method based on concept of Petri nets place invariants. Once the controllers are completed, the runway incursion conflict and taxiway opposite conflict are avoided. Considering the intersection meets, the inhibitor arc conception in extended Petri nets is adopted to design controllers which can make aircrafts move orderly at the cross. The surface movement model built with Petri nets fulfils the airport running rules.
According to A-SMGCS route planning requirements, the three-layers and two-staged scheduling general framework is proposed for aircraft taxi route planning. The static preelection route database is gained through improving the traditional Dijkstra algorithm. The dynamic route plan is implemented based on the static preelection routes. The optimal routes and their movement time windows are calculated. According to the surface state change, the time windows are adjusted dynamicly to avoid conflicts among aircrafts. With the implementation of A-SMGCS, surface control automatic level is improved, and the workload of controller is reduced. Finally, the simulation system of A-SMGCS is designed in this paper.
引文
[1]中国民用航空总局规划发展司.中国民航2009年10月份主要运输生产指标统计[EB/OL].中国民用航空局. http://www.caac.gov.cn/.2009.11.
[2]吕小平.建设新一代空中交通管理系统[N].中国民航报, 2007年.
[3]叶晓萌.先进的场面引导和控制系统在大型机场中的应用[J].空中交通管理, 2007,5:16~20.
[4] International Civil Aviation Organization (ICAO). Advanced Surface Movement Guidance and Control Systems (A-SMGCS) Manual. Doc 9830-AN/452, 2004.
[5] International Civil Aviation Organization (ICAO). Surface Movement Guidance and Control Systems (SMGCS) Manual. Doc 9476-AN/927, 1986.
[6]张清山,王灏.浅谈高级一地面活动引导和控制系统[J].中国民用航空, 2007,2(74):46~49.
[7] Brown.A.K. A review of radar as a sensor for advanced surface movement guidance and control systems[J]. Aviation Surveillance System, 2002: 71~74.
[8]杜益.浦东国际机场地面交通控制/管理的基本框架[J].中国民航学院学报, 1999,17(6): 25~28.
[9] J.Timmerman. Runway Incursion Prevention System ADS-B and DGPS Data Link Analysis Dallas-Ft[R]. Worth International Airport, NASA/CR-2001-211242, 2001:1~31.
[10] Carotenuto, S. State of the Art in A-SMGCS[R]. Eurocontrol, 2005.
[11] Paul Adamson. European Air Traffic Management Program[R]. A-SMGCS VIS2-VIS3 Transition Simulation Report. 2005:1~189.
[12] Augusto Casaca, Tiago Silva, Franck Presutto, etal. The Use of Wireless Networks for the Surveillance and Control of Vehicles in an Airport Environment[J]. Lecture Notes in Computer Science, 2006: 483~493.
[13] Debbie Sive. Transtech A-SMGCS Handover to London Luton Airport. 2007.10.
[14]强成,张学军,吴财军. A-SMGCS中基于QNX平台的车载终端的设计研究[J].电子技术应用. 2006,1:8~11.
[15]叶阳东,杜彦华,贾利民.面向对象Petri子网的列车群运行系统模型[J].中国铁道科学. 2002,23(4): 81~88.
[16]黄圣国,肖靖,陆瑜,等.基于Petri网的空中交通管制辅助决策系统[J].南京航空航天大学学报. 2000,32(2): 206~211.
[17] TANG Xinmin, Han Songchen. Petri Net Controller Synthesis for Advanced Surface Movement Guidance and Control System[C]. IEEE International conference on Information and Automation, 2009:483-488.
[18] Holloway, L.E., B.H.Krogh. Synthesis of Feedback Logic for a Class of Controlled Petri Nets[J]. IEEE Transactions on Automatic Control, 1990,35(5):514~523.
[19] Li.Y, W.M.Wonham. Control of Vector Discrete Event Systems[J]. IEEE Transactions on Automatic Control, 1993,38(8):1214~1227.
[20] John O. Moody, Panos J. Antsakis. Petri Net Supervisors for DES with Uncontrollable and Unobservable Transitions[J]. IEEE Transactions on Automatic Control, 2000,45(3):462~476.
[21] Weimin Wu, Honye Su, et.al. An approach of controller synthesis for Petri nets with constraint containing transitions firing[C]. Portugal, Proceedings of 6th European Control Conference, 2001.
[22] Lida Dong, Weimin Wu, Honye Su, et.al. Normalized cascade structures and state feedback control logic synthesis[C]. Hawaii, Proceedings of the 42nd IEEE Conference on Decision and Control, 2003.
[23] Shouguang Wang, Gangfeng Yan. A novel method for design of Petri net controller enforcing general linear constraints[J]. Journal of Software, 2005,16(3):419~426.
[24]朱新平,汤新民,韩松臣. A-SMGCS滑行道交叉口引导灯控制指令控制指令决策方法研究.信息与控制(已录用)
[25] Ji Rong, Han Songchen. Route Optimizing Algorithm of Airport Surface Based on GIS[J]. Transactions of Nanjing University of Aeronautics & Astronautics, 2005,22(1):71~77.
[26] H.H. Hesselink, S. Paul. Planning Aircraft Movements on Airports with Constraint satisfaction [J]. National Aerospace Laboratory NLR, April 1-3,1998.
[27]李擎,宋顶立,张双江.两种改进的最优路径规划算法[J].北京科技大学学报, 2005,27(3): 367-370.
[28]张威,谢晓妤,刘晔.基于Petri网的机场场面路径规划探讨[J].现代电子工程, 2007:59-61.
[29]黄圣国,孙同江,吕兵.运输网络的最短有向路Petri网仿真算法[J].南京航空航天大学学报, 2002,34(2):121~125.
[30] Enrico Piazza. A-SMGCS Routing and Guidance Functions[J]. IEEE AES Systems Magazine, 2000,7:15-23.
[31] J.W. Smeltink, M.J.Soomer, P.R. de Waal, et, al. An Optimisation Model for Airport Taxi Scheduling [J]. Proceedings of INFORMS Annual Meeting, Denver, USA, 2004.
[32] Angel G. Marin. Airport management: taxi planning[J]. Annals of Operations Research, 2006,143(1):191-202.
[33] P.C. Roling, H.G. Visser. Optimal Airport Surface Traffic Planning Using Mix Integer Linear Programming[J]. International Journal of Aerospace Engineering, 2008.
[34] Tang Xin-min, Wang Yu-ting, Han Songchen. Aircraft Taxi Route Planning for A-SMGCS based on Discrete Event Dynamic System modeling. Second International Conference on Computer Modeling and Simulation, 2010.
[35] C.A.Petri.Kommunikation mit Automaten. PhD thesis, Institue fur Instrumentelle Mathematikm, Bonn, Germany 1962. In German.
[36]郑大钟,赵千川.离散事件动态系统[M].北京:清华大学出版社, 2001:231~268.
[37]吴哲辉. Petri网导论[M].北京:机械工业出版社, 2006:6~19.
[38]张乐伟.基于赋时分层着色Petri网的工作流建模与性能评价[硕士学位论文].北京:中国石油大学, 2009.5.
[39] Kurt Jensen. Colored Petri Nets[EB/OL]. Computer Science Department, University of Aarhus, and URL:http://www.daimi.au.dk/~kjensen.
[40]沈斌,姚敏,易文晟,等.基于分层Petri网的面向服务需求求精[J].浙江大学学报(工学版), 2006,40(6):1045-1050.
[41] CPN Tools [EB/OL]. URL:http://wiki.daimi.au.dk/cpntools/.
[42] JensenK, Christensen S, Kristensen M. CPN Tools Occurrence Graph Manual[EB/OL]. URL: http://www.daimi.au.dk/designCPN/man/Misc/OccGraph.All.pdf .University of Aarhus,2002.
[43]王维.机场飞行区管理与场道施工[M].北京:人民交通出版社, 2007:28-29.
[44] Moody, J.O., K. Yamalidou, M. D. Lemmon, P.J. Antsaklis. Feedback Control of Petri Nets Based on Place Invariantes[C]. In Proc. Of the 33rd IEEE Int.Conf. on Decision and Control, 1994,3104-3109.
[45] Katerina Yamalidou, John Moody, Michel Lemmon, etal. Feedback Control of Petri Nets Based on Place Invariants[R]. Technical Report of the ISIS Group at the University of Notre Dame, February, 1994.
[46]王凯.离散事件系统的两种Petri网控制器设计方法的研究[硕士学位论文].杭州:浙江大学, 2004.
[47]王寿光.基于网简化技术的离散事件系统控制器的综合[博士学位论文].杭州:浙江大学, 2005.
[48]吴维敏.离散事件系统的Petri网控制器综合[博士学位论文].杭州:浙江大学, 2002.
[49]靳学梅,杨恺. A-SMGCS中自动路由规划关键技术研究.现代电子工程, 2009:43-50.
[50] Leon J L. Automatic path planning for a mobile robot among obsticals of arbitrary shape[J]. IEEE Transactions on Systems, Man, and Cybernetics, 1998,28(3):467-471.
[51]苏永云,晏克非,黄翔,等.车辆导航系统的动态最优路径搜索方法研究[J].系统工程, 2007,18(4):32~37.
[52]谭德荣,严新平.变权值加快收敛的路径寻优实时算法[J].交通工程运输学报, 2004,4(1): 118~120.
[53]谭国真,柳亚玲,高文.随机时间依赖网络的K期望最短路径[J].计算机学报, 2003,26(3): 323~330.
[54]任小龙,温浩宇,李华.无向Petri网的多AGV最优路径方法研究[J].西安电子科技大学学报(自然科学版), 2008,35(3):517-522.
[2]吕小平.建设新一代空中交通管理系统[N].中国民航报, 2007年.
[3]叶晓萌.先进的场面引导和控制系统在大型机场中的应用[J].空中交通管理, 2007,5:16~20.
[4] International Civil Aviation Organization (ICAO). Advanced Surface Movement Guidance and Control Systems (A-SMGCS) Manual. Doc 9830-AN/452, 2004.
[5] International Civil Aviation Organization (ICAO). Surface Movement Guidance and Control Systems (SMGCS) Manual. Doc 9476-AN/927, 1986.
[6]张清山,王灏.浅谈高级一地面活动引导和控制系统[J].中国民用航空, 2007,2(74):46~49.
[7] Brown.A.K. A review of radar as a sensor for advanced surface movement guidance and control systems[J]. Aviation Surveillance System, 2002: 71~74.
[8]杜益.浦东国际机场地面交通控制/管理的基本框架[J].中国民航学院学报, 1999,17(6): 25~28.
[9] J.Timmerman. Runway Incursion Prevention System ADS-B and DGPS Data Link Analysis Dallas-Ft[R]. Worth International Airport, NASA/CR-2001-211242, 2001:1~31.
[10] Carotenuto, S. State of the Art in A-SMGCS[R]. Eurocontrol, 2005.
[11] Paul Adamson. European Air Traffic Management Program[R]. A-SMGCS VIS2-VIS3 Transition Simulation Report. 2005:1~189.
[12] Augusto Casaca, Tiago Silva, Franck Presutto, etal. The Use of Wireless Networks for the Surveillance and Control of Vehicles in an Airport Environment[J]. Lecture Notes in Computer Science, 2006: 483~493.
[13] Debbie Sive. Transtech A-SMGCS Handover to London Luton Airport. 2007.10.
[14]强成,张学军,吴财军. A-SMGCS中基于QNX平台的车载终端的设计研究[J].电子技术应用. 2006,1:8~11.
[15]叶阳东,杜彦华,贾利民.面向对象Petri子网的列车群运行系统模型[J].中国铁道科学. 2002,23(4): 81~88.
[16]黄圣国,肖靖,陆瑜,等.基于Petri网的空中交通管制辅助决策系统[J].南京航空航天大学学报. 2000,32(2): 206~211.
[17] TANG Xinmin, Han Songchen. Petri Net Controller Synthesis for Advanced Surface Movement Guidance and Control System[C]. IEEE International conference on Information and Automation, 2009:483-488.
[18] Holloway, L.E., B.H.Krogh. Synthesis of Feedback Logic for a Class of Controlled Petri Nets[J]. IEEE Transactions on Automatic Control, 1990,35(5):514~523.
[19] Li.Y, W.M.Wonham. Control of Vector Discrete Event Systems[J]. IEEE Transactions on Automatic Control, 1993,38(8):1214~1227.
[20] John O. Moody, Panos J. Antsakis. Petri Net Supervisors for DES with Uncontrollable and Unobservable Transitions[J]. IEEE Transactions on Automatic Control, 2000,45(3):462~476.
[21] Weimin Wu, Honye Su, et.al. An approach of controller synthesis for Petri nets with constraint containing transitions firing[C]. Portugal, Proceedings of 6th European Control Conference, 2001.
[22] Lida Dong, Weimin Wu, Honye Su, et.al. Normalized cascade structures and state feedback control logic synthesis[C]. Hawaii, Proceedings of the 42nd IEEE Conference on Decision and Control, 2003.
[23] Shouguang Wang, Gangfeng Yan. A novel method for design of Petri net controller enforcing general linear constraints[J]. Journal of Software, 2005,16(3):419~426.
[24]朱新平,汤新民,韩松臣. A-SMGCS滑行道交叉口引导灯控制指令控制指令决策方法研究.信息与控制(已录用)
[25] Ji Rong, Han Songchen. Route Optimizing Algorithm of Airport Surface Based on GIS[J]. Transactions of Nanjing University of Aeronautics & Astronautics, 2005,22(1):71~77.
[26] H.H. Hesselink, S. Paul. Planning Aircraft Movements on Airports with Constraint satisfaction [J]. National Aerospace Laboratory NLR, April 1-3,1998.
[27]李擎,宋顶立,张双江.两种改进的最优路径规划算法[J].北京科技大学学报, 2005,27(3): 367-370.
[28]张威,谢晓妤,刘晔.基于Petri网的机场场面路径规划探讨[J].现代电子工程, 2007:59-61.
[29]黄圣国,孙同江,吕兵.运输网络的最短有向路Petri网仿真算法[J].南京航空航天大学学报, 2002,34(2):121~125.
[30] Enrico Piazza. A-SMGCS Routing and Guidance Functions[J]. IEEE AES Systems Magazine, 2000,7:15-23.
[31] J.W. Smeltink, M.J.Soomer, P.R. de Waal, et, al. An Optimisation Model for Airport Taxi Scheduling [J]. Proceedings of INFORMS Annual Meeting, Denver, USA, 2004.
[32] Angel G. Marin. Airport management: taxi planning[J]. Annals of Operations Research, 2006,143(1):191-202.
[33] P.C. Roling, H.G. Visser. Optimal Airport Surface Traffic Planning Using Mix Integer Linear Programming[J]. International Journal of Aerospace Engineering, 2008.
[34] Tang Xin-min, Wang Yu-ting, Han Songchen. Aircraft Taxi Route Planning for A-SMGCS based on Discrete Event Dynamic System modeling. Second International Conference on Computer Modeling and Simulation, 2010.
[35] C.A.Petri.Kommunikation mit Automaten. PhD thesis, Institue fur Instrumentelle Mathematikm, Bonn, Germany 1962. In German.
[36]郑大钟,赵千川.离散事件动态系统[M].北京:清华大学出版社, 2001:231~268.
[37]吴哲辉. Petri网导论[M].北京:机械工业出版社, 2006:6~19.
[38]张乐伟.基于赋时分层着色Petri网的工作流建模与性能评价[硕士学位论文].北京:中国石油大学, 2009.5.
[39] Kurt Jensen. Colored Petri Nets[EB/OL]. Computer Science Department, University of Aarhus, and URL:http://www.daimi.au.dk/~kjensen.
[40]沈斌,姚敏,易文晟,等.基于分层Petri网的面向服务需求求精[J].浙江大学学报(工学版), 2006,40(6):1045-1050.
[41] CPN Tools [EB/OL]. URL:http://wiki.daimi.au.dk/cpntools/.
[42] JensenK, Christensen S, Kristensen M. CPN Tools Occurrence Graph Manual[EB/OL]. URL: http://www.daimi.au.dk/designCPN/man/Misc/OccGraph.All.pdf .University of Aarhus,2002.
[43]王维.机场飞行区管理与场道施工[M].北京:人民交通出版社, 2007:28-29.
[44] Moody, J.O., K. Yamalidou, M. D. Lemmon, P.J. Antsaklis. Feedback Control of Petri Nets Based on Place Invariantes[C]. In Proc. Of the 33rd IEEE Int.Conf. on Decision and Control, 1994,3104-3109.
[45] Katerina Yamalidou, John Moody, Michel Lemmon, etal. Feedback Control of Petri Nets Based on Place Invariants[R]. Technical Report of the ISIS Group at the University of Notre Dame, February, 1994.
[46]王凯.离散事件系统的两种Petri网控制器设计方法的研究[硕士学位论文].杭州:浙江大学, 2004.
[47]王寿光.基于网简化技术的离散事件系统控制器的综合[博士学位论文].杭州:浙江大学, 2005.
[48]吴维敏.离散事件系统的Petri网控制器综合[博士学位论文].杭州:浙江大学, 2002.
[49]靳学梅,杨恺. A-SMGCS中自动路由规划关键技术研究.现代电子工程, 2009:43-50.
[50] Leon J L. Automatic path planning for a mobile robot among obsticals of arbitrary shape[J]. IEEE Transactions on Systems, Man, and Cybernetics, 1998,28(3):467-471.
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