| 引用本文: | 王文中,张树生,叶聪,陈登凯,樊皓.载人潜水器虚拟潜航员作业姿态仿真优化[J].哈尔滨工业大学学报,2021,53(8):163.DOI:10.11918/202002050 |
| WANG Wenzhong,ZHANG Shusheng,YE Cong,CHEN Dengkai,FAN Hao.Simulation and optimization for operating attitudes of virtual submariners of manned submersibles[J].Journal of Harbin Institute of Technology,2021,53(8):163.DOI:10.11918/202002050 |
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| 载人潜水器虚拟潜航员作业姿态仿真优化 |
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王文中1,2,张树生1,叶聪3,陈登凯1,樊皓1
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(1.工业设计与人机工效工信部重点实验室(西北工业大学),西安 710072; 2.陕西科技大学 设计与艺术学院,西安 710021; 3.中国船舶科学研究中心,江苏 无锡 214082)
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| 摘要: |
| 为减少潜航员在深海复杂环境下的误操作,提高人因可靠性,优化载人潜水器舱室空间是一项非常重要的方法。狭小密闭空间的布局方法是通过建立仿真模拟器来进行系列优化研究与评估。以蛟龙号为例,构建基于多目标博弈下的潜航员作业姿态仿真模型,在虚拟的舱室环境中,多个目标、任务及潜航员的关节姿态、舒适性、平衡性等因素之间进行博弈。根据MAS（multi-agent system）合作式博弈框架模型,一个行为模式层级动作就意味着完成多次微分博弈,博弈算法采用梯度下降的方法,搜索步长以前一次的子行为为基准,能快速得到虚拟潜航员的最佳工作状态。潜航员多元目标冲突问题在协商的基础上,经多次行为模式的微分博弈达到最佳均衡,其结果累加最终可获得满足多种利益的最佳均衡状态Pareto最优解集。仿真结果表明,潜航员在高强度、长时间作业环境下能修正自身行为,表现出良好的适用性,验证了技术的可行性和有效性。仿真得到的系列动态数据为优化潜水器舱室布局,提高人因可靠性提供了一种思路和途径。 |
| 关键词: 载人潜水器 MAS合作式博弈 仿真优化 作业姿态 多目标优化 人因可靠性 |
| DOI：10.11918/202002050 |
| 分类号:U662 |
| 文献标识码:A |
| 基金项目:国家重点研发计划(2016YFC0300600)；陕西省特支计划领军人才项目(No.w099115)；复合仿真机制支持下深海载人运载器舱室人因优化设计方法研究(31020190504007) |
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| Simulation and optimization for operating attitudes of virtual submariners of manned submersibles |
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WANG Wenzhong1,2,ZHANG Shusheng1,YE Cong3,CHEN Dengkai1,FAN Hao1
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(1.Key Laboratory of Industrial Design and Ergonomics (Northwestern Polytechnical University), Ministry of Industry and Information Technology, Xi’an 710072, China; 2.College of Art and Design, Shaanxi University of Science and Technology, Xi’an 710021, China; 3.China Ship Scientific Research Center, Wuxi 214082, Jiangsu, China)
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| Abstract: |
| To reduce the misoperation of submariners in the complex deep-sea environment and improve the reliability of human factors, the optimization of the cabin space of manned submersibles is a key method. A series of optimization research and evaluation have been carried out for the layout of small and confined space by constructing simulators. Taking Jiaolong as an example, a simulation model for the operating attitudes of submariners was built based on multi-objective game. In the virtual cabin environment, the multiple targets, tasks, and factors such as the joint attitude, comfort, and balance of submariners were regarded as a game. According to the cooperative game framework model of multi-agent system (MAS), a behavior mode hierarchical action meant to complete multiple differential games. The game algorithm adopted the method of gradient descent and searched the sub-behavior of the previous step size as the benchmark, so as to quickly obtain the optimal working state of the virtual submariner. On the basis of negotiation, the Pareto optimal solution set of the optimal equilibrium state satisfying multiple interests could be obtained by accumulating the results of the optimal equilibrium state through the differential game of multiple behavior modes. Simulation results show that the submariners could modify their behaviors under the high-intensity and long-time working environment, exhibiting good applicability, which verifies the feasibility and effectiveness of the proposed technology. The series of dynamic data obtained by simulation provides a means to optimize the cabin layout of submersibles and improve the reliability of human factors. |
| Key words: manned submersible cooperative games based on MAS simulation and optimization operating attitude multi-objective optimization human factor reliability |
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