水下无人系统学报

Development and Key Technologies of Autonomous Underwater Glider

CHENG Xue-mei

2009, 17(6): 001-6. doi: 10.11993/j.issn.1673-1948.2009.06.001

[Abstract](2575) [PDF 842KB](711)

Abstract:
Autonomous underwater glider(AUG)is a new autonomous underwater vehicle(AUV) without external active propulsion.It relies on internal actuator to adjust the gravity center and the net buoyancy for motion control, and can be used to monitor large area ocean environment for a long time. In this paper, the concept, characteristics and main function of AUG are briefly introduced. The current researches of AUG both at home and abroad are summarized. Some key technologies in AUG design are discussed, including design of gravity center adjusting mechanism, accurate control of buoyancy variation, hydrodynamics, and low power consumption design.In addition, the developmental trend of AUG is forecasted.

Multidisciplinary Design Optimization of Torpedo General Design Based on Collaborative Optimization

SONG Bao-wei, DU Wei, GAO Zhi-yong, CAI Wei-jun, WEN Zhen

2009, 17(6): 007-11. doi: 10.11993/j.issn.1673-1948.2009.06.002

[Abstract](1616) [PDF 582KB](893)

Abstract:
In order to solve the problems such as coupled state variable and parallel design in torpedo general design using the method of multidisciplinary design optimization(MDO), we take the maximum range as objective function, and comprehensively analyse torpedo ′s range, shape,propulsion and fuel supply system. The collaborative optimization (CO) algorithm is adopted to optimize the design of shape and propeller.Simulation results show that the proposed optimization method can prolong torpedo range.

Multiobjective Optimization Demonstration of Concept Design for Torpedo Weapon System

XU Zhen-guo

2009, 17(6): 012-14. doi: 10.11993/j.issn.1673-1948.2009.06.003

[Abstract](1748) [PDF 313KB](591)

Abstract:
According to the multiobject optimization model of effectiveness and cost for torpedo weapon system concept design,the Pareto optimum solution is achieved by using the multiobjective genetic algorithm (MOGA), and final compromise solution in Pareto sets is obtained via the nearest to ideal solution approach.A numerical example of torpedo optimization demonstration illustrates that the MOGA can be applied to comparing different effectiveness and cost schemes for torpedo weapon system, and the obtained schemes set exhibits good diversity and uniform distribution.

Performance Simulation of a High-Speed Water Jet Device

SHI Zhi-hong, LIAN Yong-qing, WANG Shu-zong

2009, 17(6): 015-18. doi: 10.11993/j.issn.1673-1948.2009.06.004

[Abstract](1862) [PDF 411KB](575)

Abstract:
To investigate the water jet noise of high-speed underwater weapon, we design a high-speed water jet device for experiment,and establish four models,including gas state model of supplemental cylinder,gas flow model of connecting pipe,gas state model of pneumatic-hydraulic cylinder, and hydrodynamic model of nozzle.We obtain the change rules of pressure from gas cylinder and pneumatic-hydraulic cylinder and water jet speed by numerical simulation.The results show that the device can keep stable high-speed water jet at nozzle within a certain period, and satisfy the demand of the experiment.

Application of Response Surface Methodology Based on Uniform Test to Shape Optimization Design of Torpedo

SONG Bao-wei, WEN Qing-guo, MAO Zhao-yong, MA Ji

2009, 17(6): 019-23. doi: 10.11993/j.issn.1673-1948.2009.06.005

[Abstract](1219) [PDF 576KB](653)

Abstract:
We need couple disciplines each other, and put all of the disciplines in a optimal process of repeated iteration together in the process of torpedo shape optimization design, which is difficult to practice by conventional optimization strategy because of the high cost of calculation. To reduce computation task, we adopt response surface methodology based on uniform design in shape optimization design of torpedo. We select suitable point in design space, built response surface model with given accuracy, and conduct optimization design. The calculation results of an example show that the proposed method can reduce calculation task and improve operational efficiency. Comparison between the optimized and existing torpedo head shows that the method can significantly reduce the analyzing time and calculation steps, and the optimal result approaches to the engineering application.

Acoustic Model and Implementation of Multi-Target Homing System for Torpedo

CHU Fu-zhao, HUANG Jian-guo, ZHANG Qun-fei, HU Fang

2009, 17(6): 024-30. doi: 10.11993/j.issn.1673-1948.2009.06.006

[Abstract](1378) [PDF 751KB](691)

Abstract:
We analyze the function and structure of multi-target homing system (MTHS), and discuss the key technologies of MTHS at the level of system. The MTHS is divided into 11 independent modules based on the principle of hierarchy and modularity. An acoustic simulation system of MTHS for AUV is established at the level of acoustic signal by using the platform of Visual C++ ,and the relative acoustic models are given. Moreover, 100 simulations are conducted to compare the signal-target homing system(STHS) with MTHS in same decoy environment,and statistical result shows that the hitting probability and range loss of MTHS are respectively 38.5% higher and 17.6% lower than those of STHS.

A Novel Constant False Alarm Rate Detector Based on Ordered Data Variability

ZHONG Xiao-feng

2009, 17(6): 031-34. doi: 10.11993/j.issn.1673-1948.2009.06.007

[Abstract](1509) [PDF 391KB](606)

Abstract:
In order to make full use of reference cell information and decrease constant false alarm rate(CFAR) loss, a new CFAR detector (named MOSODV-CFAR) based on ordered statistics(OS) and ordered data variability (ODV) is proposed. Its leading window and lagging window use OS method and ODV method to create two local noise estimations respectively, then the sum of the two estimations is taken as a global noise power estimation.Assuming type of target is Swerling II and noise has Gaussian distribution,an analytic expression of false alarm rate for MOSODV under homogeneous background is derived. In Comparison with mean ordered statistics MOSCM and MOSAC methods, simulation results show that the MOSODV is endowed with better detection performance under homogeneous environment and multi-target interference,and it exhibits better performance of false alarm control against clutter edge situations.

Simulation and Experimental Study of a High-Resolution Method for Torpedo Vertical Highlights

XU Feng, YAN Bing, WANG Hai-lu, YANG Bao-ming

2009, 17(6): 035-40. doi: 10.11993/j.issn.1673-1948.2009.06.008

[Abstract](1325) [PDF 591KB](743)

Abstract:
In order to reduce calculation in the process of vertical scale identification of torpedo acoustic image,we present an improved decoherent multiple signal classification (MUSIC) method based on quadrature complex sampling which suits to estimating the vertical highlights of submarine with the characteristics of near distance and coherent signals .By the improved method, we process the high frequency signal received on the array with quadrature complex sampling to decrease sampling rate, and estimate the direction of the low frequency signal by the decoherent MUSIC method. A small-scale model experiment conducted in water tank for two coherent signals. Simulation and experimental results show that the present method can estimate accurately the direction of two coherent signals.

A Broadband Correlative Ectypal FFT Algorithm Based on Anti-Confusion Chirp Z Transform

MING Xing, YUAN Bing-cheng, LIU Jian-guo

2009, 17(6): 041-45. doi: 10.11993/j.issn.1673-1948.2009.06.009

[Abstract](1293) [PDF 493KB](621)

Abstract:
During signal processing, a large number of correlative ectypes with different scales are prestored in system,especially for high-speed target and high precision estimation of velocity. The storage of ectypes burdens hardware system heavily.In order to solve the problem that the multi-velocity sampling is difficult to calculate the broadband correlative processing ectypes, a calculation method based on the anti-confusion chirp Z transform (CZT) is presentedfor broadband correlative ectype fast Fourier transform (FFT) in this paper. However, the broadband correlative ectype FFT will bring transform confusion when ectypal scale a>1,therefore a fast algorithm based on anti-confusion CZT is proposed. Simulation results indicate that the proposed algorithm can calculate the broadband correlative ectype FFT efficiently and accurately.

Shallow Water Acoustic Channel Multi-path Analysis Based on Cyclic-Correlation Detection

ZHANG Xue, WANG Hai-yan, BAI Jun

2009, 17(6): 046-48. doi: 10.11993/j.issn.1673-1948.2009.06.010

[Abstract](1284) [PDF 387KB](666)

Abstract:
Based on shallow acoustic communication channel model, we establish a multi-paths model of linear frequency modulation(LFM) with cyclic-correlation characteristics,and calculate the theoretical value of intrinsic sound ray using Runge-Kutta method, and detect the result with the copy correlation testing method.For contrast, a new method combining with cyclic-correlation detection is presented for shallow water channel multi-path analysis through estimating cyclic-frequency characteristics.The number of multi-path and the corresponding time delays can be precisely estimated with this method, and the detection performace of the present method is improved compared with the copy correlation testing method. Adopting the sound propagation parameters from trials in reservoir and sea, the peak value and time delays in shallow water communication are estimated with the present method,and the results coincide well with the theoretical ones,which indicates that the present method is effective and better than copy correlation detection.

Researches on Fabrication Techniques and Underwater Experiment for Cymbal Transducer

DU Yi-qun, WANG De-shi

2009, 17(6): 049-53. doi: 10.11993/j.issn.1673-1948.2009.06.011

[Abstract](1620) [PDF 603KB](634)

Abstract:
Base on the conventional fabrication technique of piezoelectric ceramic and the design rule of cymbal transducer,forming dies for metal caps of cymbals including low frequency cymbal transducers are developed, the characteristics of different glues and metal materials are compared respectively. Following the method for making cymbal transducers and the key fabrication technique, a series of cymbal transducers are developed. Then the resonance frequency, transmitting voltage response(TVR),free field voltage sensitivity(FFVS) of the low frequency cymbal transducer are tested in an anechoic tank.The results show that the low frequency cymbal transducers have better effect of reception.The FFVS of single cymbal transducer with 5 kHZ frequencyis in the range of -170 ~-150 dB for the working frequencies from 0 to 40 kHz.Also TVR gets to 135 dB,which can be enhanced by cymbal transducer array.This study may provide a refrerence for developing new cymbal transducer.

Course Control of Superspeed Underwater Vehicle

LUO Kai, DANG Jian-jun, WANG Yu-cai, ZHANG Yu-wen

2009, 17(6): 054-57. doi: 10.11993/j.issn.1673-1948.2009.06.012

[Abstract](1919) [PDF 440KB](1414)

Abstract:
In order to correct the course error caused by the thrust deflexion of a rocket engine, a motion model of superspeed underwater vehicle in horizontal plane is built considering the supercavitation motion characteristics and the unique restriction of the vehicle control in horizontal plane. The underdamping motion characteristics of the vehicle are analyzed.A course control method of the vehicle is presented by adopting the ‘bang-bang’ rudder operating control based on a proportional integral(PI) algorithm. This control method can keep both right course and stable supercavitation. Simulation verifies the simplicity,robustness and efficiency of the present control method.

Communication Conversion Between UART and Ethernet Based on VxWorks

DUAN Pei-xian

2009, 17(6): 058-61. doi: 10.11993/j.issn.1673-1948.2009.06.013

[Abstract](1772) [PDF 452KB](581)

Abstract:
Most of the existing weapons can not communicate with vessel′s fire control system in naval vessels because of their simple serial communication interfaces.Especially in some weapons, one Ethernet interface needs to communicate with four RS232,which can not be implemented with common converter. Therefore, an embedded conversion system is designed based on VxWorks in the environment of advanced RISC machine(ARM). The system can transfer between universal asynchronous receiver/transmitter(UART) data of four weapons and user datagram protocol(UDP) package of FCS.Software design using real-time task schedule ensures the reliability and real-time of communication.Test results show that the system can meet the demands of reliability and real-time, and can enhance operational capability of weapon system.

An Initial Alignment Method of Large Azimuth Misalignment Angle in Strap-down Inertial Navigation System Based on Particle Filter

LI Hui-ping, ZHANG Fu-bin, XU De-min, LU Shu-juan

2009, 17(6): 062-66. doi: 10.11993/j.issn.1673-1948.2009.06.014

[Abstract](1975) [PDF 545KB](644)

Abstract:
The non-linear error model of strap-down inertial navigation system (SINS) on stationary base with large azimuth misalignment angle is analyzed. A method of initial alignment based on the sequential importance sample particle filter (SIS-PF) using optimal importance distribution function is presented. Simulation results show that the initial alignment precision of SIS-PF is one magnitude higher than that of the unscented kalman filter (UKF) in case of large heading error. Compared with the sequential importance resample particle filter (SIR-PF), SIS-PF achieves higher precision with less computation cost.

A New Design Method of Deceleration System for Torpedo Turbines

ZHU Yun-jin, QIAN Zhi-bo, WU Lei

2009, 17(6): 067-70. doi: 10.11993/j.issn.1673-1948.2009.06.015

[Abstract](1454) [PDF 424KB](627)

Abstract:
In order to overcome the shortcomings in conventional design of deceleration system of torpedo turbine, the drive type and drive series of deceleration system are determined, and a mathematical model is deducted to describe the relation between gear volume and speed ratio according to the operational characteristic of a certain type of torpedo turbine engine. By using a new method of coupling structural parameters and space layout, a space layout optimization model of a multi-gear drive system is established, and optimization design of space layout is completed by using the non-dominated sorted genetic algorithm-II(NSGA-II). Structural parameters and space layout coordinates of a gear system are obtained under the restrictive conditions. Calculation results show that the proposed method applicable for deceleration system design of torpedo turbines.

Design of Simulation System for Torpedo Operational Capability Based on MFC

GONG Guo-tian, ZHANG Jiang, PAN Xun

2009, 17(6): 071-74. doi: 10.11993/j.issn.1673-1948.2009.06.016

[Abstract](1403) [PDF 604KB](649)

Abstract:
An microsoft foundation class(MFC) based simulation system of operational capability for acoustic homing torpedo is designed and implemented.According to the design specification of a general software, the whole design is completed,including system requirements analysis,project design,detail design and system tests.The simulation system can take torpedo hit probability as assessment index to investigate the optimization and integration of homing searching strategy and trajectory in torpedo design,and to resolve relative issues in torpedo operational application for enhancing torpedo operational capability.In addition,the visual interface of the system make data input convenient,and the output can be displayed in the forms of datasheet and graph,which exhibit convenience and higher efficiency in application.

Simulation of Submarine′s Optimal Course After Using Noise Jammer to Elude Acoustic Homing Torpedo

LI Ben-jiang, LI Gui-bin, WEI Jing-guang

2009, 17(6): 075-78. doi: 10.11993/j.issn.1673-1948.2009.06.017

[Abstract](2050) [PDF 397KB](676)

Abstract:
After using noise jammer,submarine′s course relate to the effect of acoustic countermeasure against torpedo and the successful elusion probability of submarine.To enhance the elusion probability,we establish a model for torpedo′s snake search trajectory,analyze the influence of target strength and course of submarine on active sonar detection of torpedo after using noise jammer based on the principles of noise jammer and torpedo active sonar detection.Simulation results show that the optimal course varies sectionally with initial distance between submarine and torpedo, and the optimal board angle ranges from 110. to 130. .This result may offer a reference to the submarine maneuvering in acoustic countermeasure.

2009 Vol. 17, No. 6

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