载人潜水器虚拟潜航员作业姿态仿真优化

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。

Simulation and optimization for operating attitudes of virtual submariners of manned submersibles

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.