载人潜水器虚拟潜航员作业姿态仿真优化

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.