CAJ | 학술논문

针对盾构掘进过程中位姿控制问题，提出了基于部分可观测马尔科夫决策过程(Partially observable Markov decision processes, POMDP)理论的推进载荷规划方法。在推进载荷规划模型中，将盾构自动纠偏看成不确定环境下序贯决策问题，充分考虑掘进过程中随机因素的影响，将盾构掘进过程中受到的阻力、推进载荷和盾构位姿分别定义为POMDP的状态集、行动集和观测集，然后重点讨论了信念状态、状态转移函数和观测函数等几个关键参数的获取方法。在计算值函数时，考虑了盾构位姿偏离程度和盾构载荷平稳程度对推进载荷决策的影响，建立了立即收益函数和长期折扣收益函数，并采用基于点的值迭代算法寻求推进载荷最优规划策略。针对天津地铁9号线进行了案例分析，结果表明基于POMDP的推进载荷规划方法是合理有效的，能够顺应掘进阻力随机变化。
침대순구굴진과정중위자공제문제，제출료기우부분가관측마이과부결책과정(Partially observable Markov decision processes, POMDP)이론적추진재하규화방법。재추진재하규화모형중，장순구자동규편간성불학정배경하서관결책문제，충분고필굴진과정중수궤인소적영향，장순구굴진과정중수도적조력、추진재하화순구위자분별정의위POMDP적상태집、행동집화관측집，연후중점토론료신념상태、상태전이함수화관측함수등궤개관건삼수적획취방법。재계산치함수시，고필료순구위자편리정도화순구재하평은정도대추진재하결책적영향，건립료립즉수익함수화장기절구수익함수，병채용기우점적치질대산법심구추진재하최우규화책략。침대천진지철9호선진행료안례분석，결과표명기우POMDP적추진재하규화방법시합리유효적，능구순응굴진조력수궤변화。
In shield tunneling, the automatic control systems are mostly based on empirical relationships and do not have a precise theoretical background. Consequently, the present automatic control systems control the shield according to a snake-like motion to move it back onto the planned alignment. To solve such problems, an approach that adopts partially observable Markov decision processes (POMDP) theory to plan the driving force with explicit representation of the uncertainty during excavation is presented. In POMDP, the huge resistances during excavation, shield attitudes, and the driving force of possible world are scattered as the state set, observe set and action set, respectively. Furthermore, the deviations of shield attitude from planned alignment and the stationary of the loads acting on the shield are considered in the calculation of the value function. The experimental results confirm that the driving force planning based on POMDP is reasonable, and have certain ability of compliance at the mutation conditions.