水下无人系统学报

Application of Dual-Euler Control Method to Water-Trajectory Design of Missile Carrier

WANG Ya-dong, YUAN Xu-long, ZHANG Yu-wen

2013, 21(6): 401-405. doi: 10.11993/j.issn.1673-1948.2013.06.001

[Abstract](866) [PDF 334KB](25)

Abstract:
When a sub-launching missile carrier takes horizontal launch and vertical water-exit, the traditional water trajectory control system fails to work normally due to the singularity of Euler angles. In this paper, two Euler angle systems with their own singularity features are adopted to design a new control method. In initial stage of trajectory, positive Euler angles are used to accomplish the evadable and ascending motions, while the reverse Euler angles are employed to control pitching angle to 90° precisely at the water-exit stage. Simulation results show that the proposed dual-Euler control method can make the trajectory data intuitive and clearly improve the precision of water-exit pitch angle. This method can be applied to control scheme design of missile carrier water trajectory, and can also be extended to related control system design concerning large attitude maneuver.

Analysis on Motion Stability of High Speed Underwater Vehicle in Longitudinal Plane

ZOU Qi-ming, WANG Gai-di

2013, 21(6): 406-409. doi: 10.11993/j.issn.1673-1948.2013.06.002

[Abstract](1128) [PDF 1200KB](466)

Abstract:
In order to study cavitation drag reduction of a high speed underwater vehicle, we establish a longitudinal motion model of the vehicle in supercavitation condition, analyze the step responses of attack angle and pitch angular velocity of the vehicle under turbulence in the balance state of cruise phase, and also analyze the motion stability through the root locus method. The results show that the vehicle can exhibit static stabilization under given balanceable attack angle and rudder angle, which is beneficial to keeping stability of a high speed underwater vehicle with straight running trajectory.

Multistate Reliability Growth Analysis Method for Torpedo

LIAO Fu-kui, ZHOU Chun-ming, ZHAO Min

2013, 21(6): 410-413. doi: 10.11993/j.issn.1673-1948.2013.06.003

[Abstract](826) [PDF 1108KB](373)

Abstract:
This paper proposed a multistate reliability growth analysis method for a torpedo to identify and resolve prob-lems existing in the development process of a torpedo. In this method, the failure number is replaced by accumulation failure degree, and the method is presented based on the 0-1 type AMSAA-BISE reliability growth analysis model. The correctness of the approach is verified by experiment. This method is simple and easy to practice, and it can be used in the torpedo′s reliability growth.

Tracing and Laser Detecting Ship Wake Based on Depolarization Effect

TIAN Jing, CHEN Hang, WANG Pei-nan

2013, 21(6): 414-417. doi: 10.11993/j.issn.1673-1948.2013.06.004

[Abstract](1279) [PDF 1095KB](450)

Abstract:
The purpose of this paper is to find a method for accurately detecting and tracing ship wake by making use of the difference of depolarization states due to laser scattering of bubbles with different scale and seawater. Imitating acoustic wake guidance mode, ship wake edge region is recognized through identification of the bubbles with different density and scale from sea water. Experiment results show that this method clearly distinguishes these echo signals, and displays the sensitiveness of bubble density to depolarization effect of scattered light. These results show certain regu-larity, which infers that this method can be used to accurately and clearly distinguish ship wake.

Applications of Time-frequency Analysis and Curve Fitting to Fuze Signal Detection

SHI Xiao-hai, CHEN Bin-qiang, BAI Zhi-ke, XIAO Su-juan, ZHANG Zhou-suo

2013, 21(6): 418-421. doi: 10.11993/j.issn.1673-1948.2013.06.005

[Abstract](1130) [PDF 1120KB](494)

Abstract:
A method for extracting effective information in the echo signal based on the short-time Fourier transform and the theory of curve fitting for estimation is put forward in order to realize the fuze burst point selection and control and to improve the performance of fuze warhead coordination. The method demodulates electromagnetic fuze echo signal envelope by using short-time Fourier transform, and fits the envelope curve by using three times of polynomial, which greatly suppresses the noise in the original curve and highlights the characteristics of the signal in frequency domain. Thus, the nearest time point of torpedo-target intersection can be accurately estimated. Simulation results show that the proposed method has higher estimation precision.

Combined Disposition Mode of Receiver-Transceiver Antenna for Electromagnetic Fuse

WANG Wei, ZHU Jian

2013, 21(6): 422-424. doi: 10.11993/j.issn.1673-1948.2013.06.006

[Abstract](1334) [PDF 930KB](367)

Abstract:
To obtain a torpedo electromagnetic fuse with axial directivity along torpedo′s longitudinal axes, we analyze the combined disposition mode of receiver-transceiver antenna with vertical transmission, calculate the radiant electro-magnetic field and the reflect electromagnetic field by a simplified model, and give a receiving directivity diagram. Furthermore, we propose a combined vertical/parallel disposition mode with the characteristics of both disposition modes to improve the receiving directivity. The proposed disposition mode can meet the requirement for anti-ship/anti- submarine action area.

Multi-target Tracking Method of Torpedo in the Environment of Soft Kill Weapons

LIU Jian-xin, CHENG Yong-mei, YU Liang, CHEN Ke-zhe

2013, 21(6): 425-430. doi: 10.11993/j.issn.1673-1948.2013.06.007

[Abstract](913) [PDF 1701KB](442)

Abstract:
Target tracking error and target tracking loss exist during multi-target tracking process of a torpedo in complex environment of acoustic countermeasure. We analyze the countermeasure approach of underwater soft kill weapons, and present an integrated multi-target tracking method of a torpedo, in terms of recognition, tracking, and optimization. The method eliminates the effect of interference weapon via recognition to track multiple targets of submarine and acoustic decoys, then determines torpedo’s attacking target via optimization. Simulation results show that this method can efficiently solve the problem of temporary data loss during the tracking process of a torpedo, and realize torpedo’s anti-acoustic countermeasure by combining soft kill weapons.

Multi-AUV Leader-Follower Formation Control in Obstacle Environment

CHEN Wei, YAN Wei-sheng, CUI Rong-xin

2013, 21(6): 431-435. doi: 10.11993/j.issn.1673-1948.2013.06.008

[Abstract](1130) [PDF 1016KB](419)

Abstract:
When obstacles exist in the environment, the follower in a leader-follower formation may collide with the obstacles. To solve this problem, we put forward a multi-AUV leader-follower formation control method for obstacles environment to avoid obstacle by changing multi-AUV formation target, and establish a corresponding mathematical model. For the leader-follower formation control, the underactuated multi-AUV formation control is analyzed based on cascading method. The follower tracking system is decomposed into mutually cascaded position tracking system and heading angle tracking system. The control parameters that make system global uniform and asymptotic stable are de-rived. Simulation results show that the proposed formation control is effective in obstacle avoidance, and the control design can guarantee asymptotic stability of closed loop system.

A Consensus Data Fusion Algorithm for Dynamic Multi-sensors

LIU Yang, JIANG Li-Ping

2013, 21(6): 436-439. doi: 10.11993/j.issn.1673-1948.2013.06.009

[Abstract](686) [PDF 1060KB](522)

Abstract:
Existing consensus fusion algorithms can not accurately measure the consensus and reliability of sensor in state estimation of time-varying system, and ‘data saturation’ and ‘waste of history information’ exist in measurement of sensor′s consensus mean value and reliability. In this paper, the calculation of consensus mean value and variance is transformed into the estimation of time-varying parameters, the consensus attenuation factors and variance attenuation factors are employed to measure the consensus and reliability of sensor more objectively, and the dynamic adjustment of sensor fusion weight is realized. Simulation results show that the present approach can reasonably distribute the fusion weights of sensors to optimize the fusion algorithm.

Design of Ship Course Controller Based on Digital Redesign Method

XU Fei, LIU Ming-yong

2013, 21(6): 440-444. doi: 10.11993/j.issn.1673-1948.2013.06.010

[Abstract](645) [PDF 1181KB](308)

Abstract:
The ship course motion system has typical nonlinearity and uncertainty, and it is sensitive to wind, wave and current interferences. Considering the manipulation features of ship course, this paper presents the description of the nonlinear system model, deduces a discretization model based on Takaigi-Sugeno(TS) fuzzy ship course in the condition of parameter perturbation and environment disturbance, and designs a digital controller of ship course by using digital redesign method. The designed robust controller is compared with the traditional proportional-integral-derivative(PID) controller in dynamic performance by using computer simulation technology. The results show that the present ship course controller performs better than the traditional PID controller.

The New Type of Dual-rotor Permanent Magnet Motor for Underwater Propulsion: a Review

ZHANG Lin-sen, XU Hai-zhu, WANG Song-lin, ZHANG Jiang-ping

2013, 21(6): 445-449. doi: 10.11993/j.issn.1673-1948.2013.06.011

[Abstract](1418) [PDF 1730KB](702)

Abstract:
To further improve efficiency and power density of propulsion motor, a new type of permanent magnet (PM) motor with a stator in center and double contra-rotating rotors at both sides is introduced. The origin and evolvement of the new dual-rotor PM motor are described in detail, its key characteristics are analyzed, and the research status of the motor is summarized. Moreover, the main advantages are summarized with respect to the improvements in motor torque density, motor efficiency, mechanical stability, heat radiating effect, etc. The difficulties in the researches of this new dual-rotor motor are analyzed, and it is found that the problems about electromagnetic field coupling and rotor speed synchronization are more difficult to be solved.

Inconsistency Analysis of Vibration Measuring Results for a Power System

SUN Tao, WANG Jin-Zhong, LI Liu-cheng, WANG Yong

2013, 21(6): 450-453. doi: 10.11993/j.issn.1673-1948.2013.06.012

[Abstract](1451) [PDF 1333KB](462)

Abstract:
Two vibration measuring systems attached to a power test stand have output inconsistent measuring results for a long time, so the exchange and the one-third octave analysis method are employed to investigate the inconsistency. Accordingly, countermeasures are offered against the inconsistency by eliminating the electromagnetic interference and guaranteeing the mounting sites of two systems in accordance with one another. Validation experiments show that the maximal absolute difference of vibration levels measured by the two systems reduces from about 10 dB to 1.6 dB. This study may help to correctly evaluate the power system vibration and to perfect the vibration measurement standard.

Modeling Method of Target Echo in Underwater Near Field Based on Highlight Zones-Hightlights Model

GUAN Zhen-yu, LI Jie, NIU San-ku

2013, 21(6): 454-459. doi: 10.11993/j.issn.1673-1948.2013.06.013

[Abstract](780) [PDF 1557KB](340)

Abstract:
To meet the demand for target characteristics modeling of acoustic detection system for underwater weapon in near field, we propose a modeling method of target echo in underwater near field based on the highlight zones-highlights model. Firstly, the target is divided into a series of surface elements in order to ensure each element is located in the far field region of a transducer. Then, the directivity function of the transducer is used to determine the surface elements which are located in the highlight zones of target. Finally, a highlights model is established to achieve the information of target echo by predicting and accumulating the echo of each surface element in highlight zones. A tank experiment is carried out to analog the echoes of an ellipsoidal target in 90°and 30°incidences at side board, and a group of real echoes is achieved. In addition, a simulation is also carried out to compare the results with the experimental ones. It is concluded that the proposed model can simulate the amplitude, time delay and pulse width of the echo effectively, and it can simulate the echo waveform with certain accuracy.

Design of Measuring System of Magnetic Field with Full Information

ZONG Fang-yong, WU Zhi-dong

2013, 21(6): 460-463. doi: 10.11993/j.issn.1673-1948.2013.06.014

[Abstract](1084) [PDF 1214KB](457)

Abstract:
A measuring system of magnetic field with full information is designed based on the magnetoresistive mag-netometers of HMC1001 & HMC1002 type. It is adapted to the ocean test environment. The design project and imple-mentation are offered. Signals from magnetic sensors′s three components and from the two-axis inclinometer are syn-chronously sampled through the MSP430F5438 controlled multicenter analog to digital device with high resolution. The implementation of the key circuit and the design flow chart of the system software are presented. The data sampled by the system is stored in the mass storage SD card module. Testing results show that the noise of the system is within 5 nT, and the key techniques about low power, high resolution, and mass storage have been solved in this design. The present measuring system can be applied to measurement of underwater magnetic field with full information

A Shift Point Shooting Method of Anti-submarine Torpedo Against Maneuverable Target

JIANG Tao, RUI Li

2013, 21(6): 464-468. doi: 10.11993/j.issn.1673-1948.2013.06.015

[Abstract](1339) [PDF 1359KB](405)

Abstract:
A shift point shooting method of an anti-submarine torpedo is proposed to effectively attack a maneuverable submarine, i.e., when an anti-submarine torpedo is launched to imaginary point, the point has shifted certain range and angle relative to the expected hit point. Accordingly, mathematical models of lead angle, torpedo movement, and sub-marine maneuver are established, and the solutions to the shift range and shift angle are offered. Further, the optimized shift ranges and shift angles for different warfare states are calculated.

Performance Simulation of Rocket-Assisted Anti-Torpedo Torpedo

WANG Guang-yu, PENG Pei

2013, 21(6): 469-473. doi: 10.11993/j.issn.1673-1948.2013.06.016

[Abstract](713) [PDF 1364KB](501)

Abstract:
Some models of typical operations of a rocket-assisted anti-torpedo torpedo(RATT) are established to simu-late the intercept trajectory of a RATT. Simulation results show that the speed and range impose significant influences on the interception probability of a RATT, and the RATT can gain higher interception probability when homing range is no less than the underwater range.

Design of Dynamic Management Database for Spare Parts of Torpedo

WANG Lan, YANG Jin-hou, DENG Li-tao

2013, 21(6): 474-478. doi: 10.11993/j.issn.1673-1948.2013.06.017

[Abstract](1241) [PDF 1464KB](388)

Abstract:
Database technology is applied to the torpedo weapon equipment maintenance support system considering the features of use, management and maintenance of torpedo spare parts during customer′s maintenance support process after delivery. Taking informatization of torpedo spare parts and visual management as the object, function and process designs of dynamic management database system of torpedo spare parts based on database technology are achieved. This system provides a basis for subsequent systems software development.

2013 Vol. 21, No. 6

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