大型激光驱动器靶场管路布局优化研究

Large laser facility is of great significance for national security and energy, in which target area system is an important part. Optimizing the pipe routing in the target area is a key factor for the successful installations and maintenances the optical components. Due to the complex environment in the target area and numerous factors affecting the design results of the pipe routing, previous methods are proven to be ineffective so that new technologies and methods are in need to be introduced. Therefore, this project aims to optimize the pipe routing in the target area for large laser facility, including the following research contents. Firstly, after analyzing the importance of the factors that have impacts on the routing sequence, a hierarchical ranking method is used to determine the routing sequence. Secondly, the pipe routing problem is modeled. With a defined evaluation function, the pipe routing problem is consequently converted to a constrained optimization problem. Thirdly, the genetic operators and heuristic mutation operators are designed to search pipes’ optimal path. Finally, different pipe routing candidates are compared and the optimal one is selected whose assembly sequence is planned by employing the disassembly method. The project is promoted to establish a pipe routing optimization prototype system for the target area system of the large laser facility, as a result to eventually achieve automation, visualization and optimization of the pipe routing design.

大型激光驱动器，对国家安全、能源具有重要的意义。靶场系统是大型激光驱动器的重要组成部分，对靶场管路的布局进行优化是靶场光学元件安装和维护顺利展开的保障。由于大型激光驱动器靶场环境复杂，影响布局效果的因素众多，现有的管路布局方法难以直接应用，亟待引入新的工具和方法。因此，本项目拟展开面向大型激光驱动器靶场的管路布局优化设计研究：首先，对影响布局顺序的多个因素的重要性进行分析，利用分层次排序的方法确定管路的布局顺序；然后，对管路布局问题进行建模，定义评价函数，将管路布局问题转化为一个带约束的优化问题；继而，设计了适合于路径操作的遗传算子和启发式变异算子搜索管路的最优路径；最后，对不同的管路布局进行对比，选定最优布局，并利用拆卸法规划该布局的装配序列；最终建立一个面向大型激光驱动器靶场的管路布局设计的原型系统，实现管路布局的可视化、自动化和最优化。

大型激光驱动器对国家安全、能源具有重要意义。靶场系统是大型激光驱动器的重要组成部分。本课题针对大型激光驱动器的靶场系统，对工作于其中的大型辅助工装的结构、运动与控制展开了研究。首先，综合考虑工装的自由度、可达空间、尺寸、洁净度等因素，对工装的机械结构进行分析与评估。其次，利用凸投影计算环境中的障碍物在投影平面的障碍区域，利用Minkowski和进行拓展，利用线性四叉树实现了环境的非均匀栅格建模。然后，基于三阶BEZIER曲线，设计了能够连接任意位置和任意方向两点的转弯单元，利用转弯单元连接路径搜索算法得到的路径点，获得满足工装非完整性约束的平滑路径。最后，基于DELMIA软件搭建了数字样机仿真平台，对装配路径和装配流程进行仿真，对规划的有效性进行验证。本课题对机器人的相关理论与应用进行了进一步探索，相关科研成果不仅可以直接应用于大型激光驱动器靶场系统的装配优化，对其他大型科学装置的建造、其他领域的共性关键问题，也有一定的借鉴意义。