水下无人系统学报

LEI Kai-zhuo, HUANG Jian-guo, ZHANG Qun-fei, CHEN Jian-feng, LI Ning, FANG Ming

2010, 18(3): 161-166. doi: 10.11993/j.issn.1673-1948.2010.03.001

[Abstract](2144) [PDF 334KB](1304)

Abstract:
The directed energy weapon ( DEW ), as a new concept weapon, has been developed in many countries in recent years.In this paper, several important DEWs are introduced, including laser weapon, particle beam weapon, microwave beam weapon, acoustic energy weapon, and solar energy weapon. The irprinciples, characteristics and functions are discussed. Some main directions of research and key technologies are pointed out based on the survey of DEW, and some suggestions are proposed for research planning.

Analysis of Abnormal Speed and Range of Lightweight Torpedo in Sea Trial with Solutions

XU X ing-qin, ZHONG Xiao-feng

2010, 18(3): 167-170. doi: 10.11993/j.issn.1673-1948.2010.03.002

[Abstract](1721) [PDF 164KB](702)

Abstract:
To address insufficient range and step speed variation of a lightweight torpedo in sea trial, the fault trees of insufficient range and step speed drop are established, and the causes of the abnorma l phenomena are analyzed relating to the power system,the homing system and the power supply system from the aspects of whole torpedo’s power supple switching, enery conservation,noise analysis and torque balance. The conclusions are drawn that the insufficient tange is owing to gas leakage of steam d istributing valve, and the step speed variation is due to power supply switching. Some corresponding counterm easures are suggested for the faults.

Reliability Evaluation Method of Torpedo in Development Phase

HU Bo

2010, 18(3): 171-176. doi: 10.11993/j.issn.1673-1948.2010.03.003

[Abstract](1568) [PDF 205KB](612)

Abstract:

Development of Torpedo’s Electrical Interface Information Design and Management System

HUANG De-min, YANG Jin-hou

2010, 18(3): 177-180. doi: 10.11993/j.issn.1673-1948.2010.03.004

[Abstract](1450) [PDF 150KB](695)

Abstract:
To raise the automation level of torpedo’s electrical interface information design, and ensure the standardization, accuracy and uniqueness of the output from the design and the management, we develop a torpedo’s electrical interface information design and management system based on database technology and the redevelopment tool in AutoCAD. Thus, the dynamic correlation and design, the dynamic updating and total data management, and the standardization and generalization of the input/output of the electrical interface information design of torpedo, are all realized. This system can improve the work efficiency of designers.

Architecture of Physical Layer for Underwater Acoustic Network Based on Time Reversal

YU Yang, ZHANG Xiao-min, XIANG Jing-lin, HE Ke

2010, 18(3): 181-185. doi: 10.11993/j.issn.1673-1948.2010.03.005

[Abstract](1117) [PDF 218KB](632)

Abstract:
The application of time reversal technique in underwater acoustic communication can significantly reduce the intersymbol interference (ISI) caused by multi-path propagation, and increase the communication rate by using multi-path propagation feature in the ocean channel. However, a vertical linear array is required in the traditional time reversal communication, which results in high complexity and high power dissipation of multi-node communication networks. This paper proposes a distributed time reversal communication scheme by using the hard ware resources of independent nodes of the underwater acoustic network instead of vertical linear array in traditional method. Simulation result reveals that the proposed distributed time reversal system can realize the focusing of multi-path signal, and reduce the ISI caused by multi-path propagation. Moreover, better system performance may be achieved by combining this technique with adaptive equalization.

Fast Algorithm and Test of Underwater High-Speed Moving Target Based on Positive and Negative HFM Signals

MING Xing, ZHANG Jian-chao

2010, 18(3): 186-191. doi: 10.11993/j.issn.1673-1948.2010.03.006

[Abstract](1321) [PDF 363KB](932)

Abstract:
According to the characteristics of underwater small high-speed moving target, a fast algorithm o f signal detection and parameter estimation is presented and simulated based on positive and negative hyperbolic frequency modulation (HFM) signals. A dynamic tank test of signal detection and parameter estimation of underwater small high-speed moving target is conducted by adding the time stretch factor in signal transmitting end. The echo of the high-speed moving target is sampled. A signal processing system with a core of TMS320C6701 is designed, and torpedo echo detection and parameter estimation at low signal to noise ratio (SNR) level are completed by the present fast algorithm. The results of the tank test exhibit well consistence with the simulation ones, and show that the digital signal processing (DSP) system and the fast algorithm can effectively complete the echo detection and parameter estimation of underwater small high-speed moving target at low SNR.

Experimental Study on Reflective Properties of Combined Underwater Targets

LIU Zong-wei, SUN Chao

2010, 18(3): 192-196. doi: 10.11993/j.issn.1673-1948.2010.03.007

[Abstract](1552) [PDF 305KB](734)

Abstract:
Acoustic scattering theory shows that acoustically soft reflectors provide higher target strength values than similarly sized hard reflectors. This study focused on the reflective properties of water bubbles and air cylinders, which show the resonance characteristics in low frequency and correspondingly provide larger target strength values. The reflective properties of the plane array of bubbles and cylinders were studied through water-tank experiment with physical models, and the bubbles or cylinders were found could be taken as a basic unit to form a combined underwater target in accordance with the requirements. The experiment demonstrated that when the wave length is much longer than the bubble spacing, the individual bubbles are not acoustically resolved, and the plane array of bubbles or air cylinders can be equivalent to a thin homogeneous air plate with reflectivity of -1.

Elimination of Direct Coupling Interference in Torpedo Electromagnetic Fuze Based on Adaptive RLS Algorithm

CHEN Guang, REN Zhi-Liang, ZHANG Tao, SUN Chang-cun

2010, 18(3): 197-201. doi: 10.11993/j.issn.1673-1948.2010.03.008

[Abstract](1549) [PDF 207KB](737)

Abstract:
In order to effectively reduce the direct coupling interference between the transmitting antenna and receiving antenna in torpedo electromagnetic fuze, and overcome the shortcomings of the conventional methods, a new interference elimination method is put forward based on the adaptive recursive least square (RLS) algorithm. The general principle of adaptive filter is firstly analyzed, and the filtering principle and implementation flow chart of the adaptive RLS algorithm are discussed. Simulation analysis of the algorithm is carried out in MATLAB environment by considering the representative hitting parameters of torpedo electromagnetic fuze and setting different intensity of direct coupling interference. Simulation results show that by using the present interference elimination method, the direct coupling interference can be eliminated in the condition where the amplitude of the direct coupling interference is 100 000 times of the target signal’s amplitude. In addition, the method has such advantages as low calculation amount, rapid convergence and real-time data processing

Development of Testing and Verification Techniques for Autonomous Underwater Vehicles

WANG Jin-hua, YAN Wei-sheng, LIU Xu-lin

2010, 18(3): 202-208. doi: 10.11993/j.issn.1673-1948.2010.03.009

[Abstract](1878) [PDF 444KB](915)

Abstract:
Autonomous underwater vehicle (AUV) is an unmanned integrating system without umbilical cord, which can carryout various missions in complex ocean environments. In recent years, new technologies for improving AUV performance appear continually, how ever, the new techniques for testing and verifying the technologies with low cost and high efficiency are insufficient. This paper introduces the new progress of the testing techniques for AUV in the world, including the prototype based verification, virtual environment (VE), hardware-in-the-loop simulation, numerical simulation, etc. In addition, some suggestions about future research and development of the testing techniques for AUV are offered, concerning reusability, generality and integration.

Integrated Navigation Method Based on SUKF Algorithm

LI Hou-quan, YUAN Bing-cheng, TANG Jin-song

2010, 18(3): 209-213. doi: 10.11993/j.issn.1673-1948.2010.03.010

[Abstract](1266) [PDF 204KB](664)

Abstract:
Synthetic aperture sonar (SAS) imaging is based on the straight track model with constant velocity. The motion error estimation for ascertaining the idea l track is usually achieved by the integrated navigation with high precision. For the larger attitude error angle, nonlinear error models of strap down inertial navigation system/acoustic Doppler current profiler (SINS /ADCP) based on quaternion error are established. The simulations are performed with the scaled unscented Kalman filter (SUKF) algorithm used in the nonlinear error models and the Kalman filter (KF) algorithm in the linear error models, respectively. The results indicate that the SUKF algorithm in the nonlinear models is superior to the KF algorithm in the linear error models in the respect of navigation accuracy.

Design and Simulation of a Trajectory Generator for Autonomous Underwater Vehicle

FAN Xin, ZHANG Fu-bin, LI X iao-hui

2010, 18(3): 214-217. doi: 10.11993/j.issn.1673-1948.2010.03.011

[Abstract](1645) [PDF 170KB](799)

Abstract:
To reduce the cost of hybrid simulation in development of navigation system for autonomous underwater vehicle (AUV), we design a trajectory generator for AUV, and present an algorithm of the trajectory generator. A general equation for generating trajectory parameters and inertial information is deduced, the control regulation is analyzed, and the input of the trajectory generator for AUV’s straight-running, turning, climbing and diving conditions is offered. Verification results show that the proposed trajectory generator can generate data for simulation in developing navigation algorithms.

Dynamic Balance of Shaking Force and Shaking Moment from Contrapositive Wobble-plate Engine

ZHU Yong-yong, ZHOU Qi-zheng, YANG Cheng-yu, WANG De-shi

2010, 18(3): 218-222. doi: 10.11993/j.issn.1673-1948.2010.03.012

[Abstract](1699) [PDF 341KB](685)

Abstract:
The shaking force and shaking moment from engine are the external factors that exciting vibration of torpedo shell. Based on the spatial mechanism principles, the structural and mechanical characteristics of the contrapositive wobble-plate engine were analyzed. Then the inertia force and inertia moment of the engine we re deduced, which are induced by axle shafts, wobble plates, links and pistons on right and left half parts of the engine, respectively. At last, the dynamic balance of the shaking force and shaking moment of the engine was investigated and compared with that o f the unilateral wobble-plate engine. This study may benefit the designs of engine structure and vibration/noise reduction.

Numerical Simulation of Flow Field in Scarfed Nozzle of Torpedo Turbine

YI Jin-bao, ZHAO Wei-bing, SHI H ai-chao, ZHAO Hai-tao

2010, 18(3): 223-227. doi: 10.11993/j.issn.1673-1948.2010.03.013

[Abstract](1549) [PDF 405KB](811)

Abstract:
A three-dimensional, viscous, steady computational fluid dynamics (CFD) analysis is performed for investigating the flow field in the scarfed nozzle of a torpedo turbine by solving RANS-Navier-Stocks equations and RNG turbulence model. The flow detail and performance of the nozzle are studied in varying pressure ratio conditions. Numerical simulation results show that the inner complex flow characteristics in the scarfed nozzle are predicted. When the nozzle is in over-expansion state, the shock wave and flow separation appear at nozzle outlet, and the performance is degraded rapidly with the pressure ratio increasing. This situation should be avoided in nozzle design. As the pressure ratio is larger than the one at critical mass flow rate, the mass flow rate of the nozzle keeps the maximum.

Temperature Field Analysis of Permanent Magnet DC Motor

LI Ke, HU Yu-li

2010, 18(3): 228-230. doi: 10.11993/j.issn.1673-1948.2010.03.014

[Abstract](1624) [PDF 217KB](693)

Abstract:
We established a mathematical model of heat exchange in a permanent magnet DC motor by analyzing its fever mechanism and using the heat transfer theory. Based on ANSYS, we built a physical model of this permanent magnet DC motor and a finite element model, determined and imposed loads and boundary conditions, and calculated the temperature field of the motor. Calculation results agree well with the test data to indicate the validity of the theoretical model and the calculation method.

Necessity and Technical Feasibility Analysis on the Missions of Unmanned Underwater Vehicles in US Navy

SUN Xian-you, MA Qi

2010, 18(3): 231-235. doi: 10.11993/j.issn.1673-1948.2010.03.015

[Abstract](1815) [PDF 171KB](1025)

Abstract:
Starting with the developmental history of unmanned underwater vehicle (UUV), we first discuss the necessity and technical feasibility of the nine missions defined in the 2004 master plan of UUV by US Navy with respect to developing cost, technical risk, application risk, and alternatives. Then we analyze the seven near-term military missions of UUV, which were recommended by the RAND, in view of the technical progress and military needs, and think the missions are rational and feasible.

Modeling and Simulation of Submarine’s Noise Jammer Countering Detection of Surface Ship’s Active Sonar

XIA Kui, ZHENG Yuan, HU Xian-feng

2010, 18(3): 236-240. doi: 10.11993/j.issn.1673-1948.2010.03.016

[Abstract](1364) [PDF 200KB](887)

Abstract:
To reduce the influence of sonar beam side lobe on interference effect of noise jammer, and improve the accuracy of the average acceleration turning model and the turning before acceleration model, which are adopted in the process of elusive maneuver of surface ship and submarine, we consider the influence of sonar beam side lobe on noise jammer in simulation, improve the maneuver models of surface ship and submarine, add the model of battery capacity consumption during submarine speed variation, and simulate the process of submarine’s noise jammer countering detection of active sonar by taking the countermeasure time and battery capacity as weighing indexes. Simulation results are consistent with test data

2010 Vol. 18, No. 3

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