水下无人系统学报

Comprehensive Evaluation of Torpedo Tactical Performance Indices Based on Gray Relational Degree Analysis Method

WANG Chun-jian, DU Hui, LI Chun-hui

2007, 15(1) doi: 10.11993/j.issn.1673-1948.2007.01.016

[Abstract](526) [PDF 144KB](321)

Abstract:
The features of torpedo tactical performance indices are analyzed. According to the theory of gray system, the torpedo tactical performance indices are comprehensively evaluated taking the following 7 performances as the indices: explosivew eight, maximum speed, maximum depth, maximum range, anti-inte rference capacity, homing range, searching sector angle. The assessment model is established by constructing judgment matrix of gray relational degree and defining the weighting vectors based on the layer analysis method and them arks from experts. Further more, the proximity between torpedo system and virtual system is obtained, and the order of comprehensive evaluation results for torpedo performance are given. The simulation result proves that the method is effective and feasible, and can be used as a quantitative basis for torpedo improvement.

Laser Cladding and Its Applications to Repairing Underwater Weapons

Yue Can-Fu, Wu Shi-Dong

2007, 15(1): 001-5. doi: 10.11993/j.issn.1673-1948.2007.01.001

[Abstract](746) [PDF 1176KB](388)

Abstract:
Laser Cladding has many advantages in the repair process o f naval vessel components, such as small thermal deformation and heat effect zone, little effect on the performances of basematerial, large repaired area, and high bond efficiency. The laser cladding repairing technique has been adopted by the U. S. Navy to repair underwater weapons quickly with low cost. Comparing with chromeplating technique, it will not pollute environment, and the cost is lower. This technique has been used on the U.S. Nava l submarines for repairing the corrosion and wear components to reduce cost, such as torpedo shell, torpedo engine cylinder body, vertical launch system(VLS) tubes, valve seat and stem, and propeller shafts, etc. This paper summarizes the current status and progress of the laser cladding technique for underwater weapons in the U. S. Navy to provide a reference for the research in this field.

Discussion About Key Technologies of Anti-Torpedo Torpedo

DING Zhen-dong

2007, 15(1): 006-7. doi: 10.11993/j.issn.1673-1948.2007.01.002

[Abstract](959) [PDF 96KB](434)

Abstract:
This paper discusses the key technologies of anti-torpedo torpedo (ATT) weapon systems and the subsystems including overall design, homing, control, fuze and warhead, and presents technical requirements for the main subsystem s. The ATT weapon systems should equip active and passive sonar in order to improve interception probability. A guidance method adapted to ATT intercepting trajectory is presented. The principles to determine homing range and homing searching sector are given. The maximum allowable angular rate of ATT must no less than 80 degree each second and the tracking error for instruction must be no more than 15 percent with in one second in order to get high maneuverability and fast response to control system. The issues about fuze and warhead subsystem that ATT should adopt active acoustic fuze and damage radius must match with average miss distance are also discussed.

Review of Wake Homing Simulations and Countermeasures in France

QIAN Dong, HAN Xiao

2007, 15(1): 008-11. doi: 10.11993/j.issn.1673-1948.2007.01.003

[Abstract](867) [PDF 736KB](370)

Abstract:
France DCN Armes Sous Marines(DCN ASM) has dedicated for more than 15 years apart of its research activities to wake study in order to develop wake homing torpedo and corresponding countermeasures technology. This paper describes briefly their work on modeling of surface vessel wakes, relevant experimentations and measurements at sea, and wake homing torpedo simulation and countermeasure. Base on the concepts of 4-wake types: spume wake, wave wake(Kelvin’s wake), pressure wake and speed wake, the simplified geometrical wake model is adopted. Several factors relevant to the model and software are considered, including the influence of sea condition on wake shape, boatsmutually crossing their wakes, depth and width of parametric
wake model depending on time and ship speed and ship type, and the torpedo acoustic head with multi-beam. The current countermeasures are compared and analyzed. It is proposed that hard-kill is the main methods to counter wake homing torpedo.

Initial Alignment Method of Strapdown Inertial Navigation System for Shipbased Weapons

WANG Xin-long, CHEN Tao, LI Zhi-yu

2007, 15(1): 012-16. doi: 10.11993/j.issn.1673-1948.2007.01.004

[Abstract](949) [PDF 164KB](383)

Abstract:
The swaying movement and the lever arm effect erro r are two major factors affecting the alignment accuracy of shipbased weapons. Based on the characteristics of shipbased weapons, an error model of strapdown inertial navigation system(SINS) is established on a swaying base, and an autonomous initial alignment method of shipbased weapons is analyzed in details. On the basis of the conventional compensation method of the lever arm effect error, a new method for compensating this error is proposed. The simulation results show that the new method has higher precision than that of the conventional one. This investigation would be expected to offer atheoretical foundation to the design and selection of alignment scheme for SINS of shipbased weapons.

Study of Anti-interference Technology in Laser Wake Detection

JI Bang-jie

2007, 15(1): 017-18. doi: 10.11993/j.issn.1673-1948.2007.01.005

[Abstract](573) [PDF 101KB](314)

Abstract:
The system of laser wake detection is a laser-electric compound one. It can detect and trace wake bubbles based on the differences of light absorbing and scattering between pure seawater and the seawater containing bubble wake. The interfe rences with the laser wake detec tion system are both optic and electronic, mainly including laser power fluctuant , light scattering on particles in water, natural light and electrical circuit. According to the analysis of the interferences with the system performance, this paper uses adaptive algorithm to restrain the laser power fluctuation and the light scattering on particles in water, applies filter slice and signal processing algorithm to restrain the interference of natural light, and adopts power filter and covering ground technique to reduce the interference from electrical circuit. The experimental results demonstrate the improved performance and stability o f the laser wake detection. system.

An Integrated Navigation System for Underwater Vehicles

ZHANG Fu-bin, GAO Jian, CUI Rong-xin

2007, 15(1): 019-21. doi: 10.11993/j.issn.1673-1948.2007.01.006

[Abstract](1171) [PDF 123KB](345)

Abstract:
An integrated navigation system for underwater vehicles is designed, which integrates gyrocompass, Doppler and GPS. The unscented Kalman filter(UKF) model for the system is built up, and a numerical simulation is performed with the software Matlab. The simulation results show that GPS can implement the high accuracy position correction, and can estimate the stochastic error of gyrocompass by rule and line. The system can meet the requirements of underwater vehicles for navigation and position.

Research on Li-ion Battery Charging

ZHANG Chao-ming, LIU Ming, ZHANG Yan

2007, 15(1): 022-25. doi: 10.11993/j.issn.1673-1948.2007.01.007

[Abstract](571) [PDF 152KB](310)

Abstract:
Proper control and charging equalization are two key technologies in Li-ion battery charging system. This paper in troduces the importance of the control and equalization method in Li-ion battery charging process by the Matlab simulation and charging examples, and presents apractical equalization circuit and its principle, which has been applied well in a charging system. As a controller, the traditional proportional integrative derivative(PID) has many shortcomings in Li-ion battery charging process, accordingly, a new control method based on fuzzy PID algorithm is presented. The simulation results proves that the compound fuzzy PID controller is better than the traditional PID controller in Li-ion battery charging system.

Research on Bend Insensitive Optical Fiber for Fiber Optical Guidance

CHENG Yu, LEI Dao-yu, WANG Qing-yang, ZHANG Qiang, YANG Wei-ming

2007, 15(1): 026-28. doi: 10.11993/j.issn.1673-1948.2007.01.008

[Abstract](918) [PDF 125KB](308)

Abstract:
To meet the technical requirements of fiber optical guidance (FOG), the influence laws of such structural parameters as fiber optical wave guide coredelta, core diameter, dentclad and inner coating on the bend loss of bend insensitive optical fiber are discussed. A bend insensitive optical fiber is manufactured by plasma chemistry vapour deposition(PCVD) process with authors' patent, and the relevant parameters are tested. The test result shows that the bend loss of the new optical fibermeets the requirement for FOG. Through the discussion about the optical cable design scheme, the feasibility o f this optica l fiber/cable application to underwater vehicles is forecasted.

Research on Vibration Isolation for Torpedo Power Based on Four-end Parameter Analysis Method

GAO Ai-jun

2007, 15(1): 029-32. doi: 10.11993/j.issn.1673-1948.2007.01.009

[Abstract](645) [PDF 157KB](348)

Abstract:
Vibration isolation of torpedo power is very important to control vibration and noise of torpedo. By means of four-end parameter analysis method, a simplified vibration transfermodel of isolator is established based on the force analysis of the vibration isolation ring of torpedo power. The vibration transfer loss is analy zed, and the influence factors such as the ring structure, rubber hardness and rubber damping on vibration transfer are also discussed. The conclusion in dicates that the four-end parameter analysis method is suitable to the vibra tion isolation analysis of the complicated structure of vibration isolation ring, and the vibration isolation can be obviously improved with this method by reducing rubber hardness, and increasing rubber dam ping and rubber length.

A Comparison of Controlled Area Network Protocol with Time-Triggered Protocol

DING Yi-lin, LIU Wei-dong, JI Yan-peng, XU Jian-ning

2007, 15(1): 033-37. doi: 10.11993/j.issn.1673-1948.2007.01.010

[Abstract](529) [PDF 173KB](286)

Abstract:
The applications of typical controlled area network (CAN) protocol and time-triggered protoco l(TTP) are summarized to provide a bus framework for autonomous underwater vehicles(AUV), and some methods are suggested for the bus connection and data transmission of the future AUV. According to the application of AUV, the operational principles, reliability mechanisms, extensibilities, error treating tactics, and the system level properties of the distributed real-time systems based on CAN protocol and TTP are compared. The results show that CAN protocol is well suited for the soft real-time systems where flexibility is important, while TTP is most appropriate for the integrated hard real-time systems with higher reliability requirement.

Estmiation of Course Angle and Distance for High Speed Underwater Vehicles

ZHOU Dian-bao, ZHANG Kui, YI Hong

2007, 15(1): 038-41. doi: 10.11993/j.issn.1673-1948.2007.01.011

[Abstract](613) [PDF 153KB](345)

Abstract:
It is important for anti-torpedo torpedo(ATT) to estimate the course angle and distance of high speed underwater vehicles so as to enhance the probability of successful interception. This paper discusses an estimation method for both active and passive sonar to detect incoming high speed underwater vehicles. The initial axial alignment method, the straight run of detection device and the two cycles method are adopted to precisely and quickly estimate course angle and distance. The presented formulae for describing the estimation process indicate that the mean square deviation of detection accuracy of target bearing from detection device should be no more than 0.1 degree. The simulation tests for the course angle and distance estimation under different speeds and distances are performed, and the results show that the ideal values are obtained when the course angle is less than 35 degree and the distance is greater than 700 meters. This estimation method could be a valuable reference for the research on the design of ATT detection device, the detection of underwater vehicle parameters, and development of interception me thod.

Measurement Error Analysis of Torpedo Magnetic Moment

HONG Xian-dong, REN Zhi-liang, YU Wei, YU Hong-jian

2007, 15(1): 042-44. doi: 10.11993/j.issn.1673-1948.2007.01.012

[Abstract](565) [PDF 255KB](317)

Abstract:
Based on the measuring method of torpedo radiant electrom agneticfield, an error model for measuring the magnetic moment is set up. The influence of there lative factors on measurement error is calculated with the model via Matlab, and hence the selection principle of measuring sensor size and measured distance is presented. The relations of magnetic moment measurement error with measuring distance, sensor length and diameter are analyzed. Under the given measuremen t conditions, the curves of measurement error versus the above factors are obtained, which are helpful to determine the proper sensor diameter and measuring position, and there fore to reduce the measurement error of magnetic moment effectively. This research is expec ted to be a reference for the design of parameter measuring device for torpedo electro magnetic field.

Simulation Research on Relation Between Underwater Explosive Parameters and Water Pressure Under a Typical Charge

LU Zhong-bao

2007, 15(1): 045-47. doi: 10.11993/j.issn.1673-1948.2007.01.013

[Abstract](1005) [PDF 395KB](498)

Abstract:
When a charge explodes in water, differentwater pressure exerts different in fluences on the explosive parameters. Using the finite element analysis software ANSYS/LS-DYNA, a simulation model of a typical charge explosion under different water pressure is established. The blastwave pressure at different points under different water pressure is calculated, and the blastwave pressure changing with water pressure is analyzed. The basic law of the in fluence of water depth on blastwave pressure is concluded. This research will be valuab le to these fields, such as the assessment of warhead lethality of underwater weapons, and the design of fuze range, etc.

Application of PXI Measurement and Control System to Torpedo Support Equipment

CHEN Gang, DING Yong-zhong

2007, 15(1): 048-50. doi: 10.11993/j.issn.1673-1948.2007.01.014

[Abstract](479) [PDF 95KB](273)

Abstract:
The development of digital measurement and control technique in the world is reviewed, and the current status of Chinese torpedo support equipment is analyzed. The technical characteristics of the PCI extensions for Instrumentation(PXI) measurement and control system, such as higher reliability, stronge rextensibility and efficient integration, are compared with the original peripheral component interconnect(PC I). Moreover, the application of PXI measurement and control system to Chinese torpedo support equipmentis prospected in orde r to provide a reference for the further development of domestic torpedo support equipment.

Discussion on Torpedo Advantageous and Disadvantageous Attacking Areas

WU Xiao-hai, SHI Ping-an, CHEN Guo-bin

2007, 15(1): 051-53. doi: 10.11993/j.issn.1673-1948.2007.01.015

[Abstract](1015) [PDF 140KB](350)

Abstract:
The area where our ship can attack target by torpedo but the target cannot attack our ship by torpedo is named torpedo advantageous attacking area of ship, or the torpedo disadvantageous attacking area of target. The research into the torpedo advantageous and disadvantageous attacking areas is to solve the problems of underwater threat judgment and torpedo defense for submarine and surface ship. Based on the analysis of torpedo hitting factors, it is concluded that there is torpedo advantageous and disadvantageous attacking areas around ship. By the further analy sis for the advantageous and disadvan tageous attack ing areas of a straight running torpedo, it is found that the seareas are directly correlated with the mutual speeds, torpedo speed and effective hitting range. The research result is expected to lay the foundation for eliminating the enemy torpedo advantageous attacking area.

2007 Vol. 15, No. 1

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