水下无人系统学报

Overview of Applications of Fiber Optic Micro-cable in Undersea Vehicle and Key Technologies

GAO Zhuo, TANG Wei-jiang, ZHU Yun-zhou, ZHANG Xi-shun

2017, 25(新刊5): 385-395. doi: 10.11993/j.issn.2096-3920.2017.05.001

[Abstract](1189) [PDF 2803KB](693)

Abstract:
Fiber optic micro-cable has the advantages of light weight and low cost, and it can realize high-capacity and long-distance information transmission of remote control, navigational status, video, and so on between undersea vehicle and mother ship. It has extensive applications in torpedo, submarine-to-air missile, unmanned undersea vehicle, and underwater fiber optic network. This paper introduces the applications of fiber optic micro-cable to various types of undersea vehicles, and analyzes the application-concerned key technologies, such as cable manufacturing technology, spool winding technology, wire releasing dynamic loss control and optical fiber transmission technology. In addition, specific solutions to these key technologies are offered. This study may provide a reference for development of undersea vehicle’s remote high-speed communication.

Review of Dynamic Response and Damage Mechanism of Ship Structure Subjected to Underwater Explosion Load

JIN Jian, ZHU Xi, HOU Hai-liang, CHEN Peng-yu, WU Lin-jie

2017, 25(新刊5): 396-409. doi: 10.11993/j.issn.2096-3920.2017.05.002

[Abstract](1074) [PDF 1483KB](646)

Abstract:
Research on dynamic response and damage mechanism of ship structure subjected to underwater explosion load is of great significance, including three aspects: the assessment of warhead lethality of underwater weapons, the assessment of ship structure′s damage resistance, and the prediction of warship survivability. The load characteristics and ship response as well as the damage mechanism are important parts in the research field. In this paper, the process of underwater explosion, the explosion load classification, and the load characteristics are introduced. Based on damage types of ship under different types of load, the classification of underwater explosion, the dynamic response process, and the damage mechanism are analyzed in detail. The current research methods and development tendency about ship response and damage under underwater explosion are reviewed. Finally, some suggestions and prospect are offered for the research on response and damage of ship subjected to underwater explosion load.

Mixture Surrogate Model Based Structural Optimization Design of Mul-tiple Intersecting Spheres for Automatic Undersea Vehicle

HE Yan-ru, SONG Bao-wei, CAO Yong-hui

2017, 25(新刊5): 410-417. doi: 10.11993/j.issn.2096-3920.2017.05.003

[Abstract](974) [PDF 957KB](449)

Abstract:
To solve the problem that the existing structural optimization designs of multiple intersecting spheres are simplified models and are lack of internal effective volume analysis, this paper uses the non-dominated sorting genetic algorithm II(NSGA-II) and the mixture surrogate model constructed by radial basis function, support vector regression function and Kriging function to perform multi-objective optimization of the tangent arc connective and ring-stiffened multiple intersecting spheres of an autonomous undersea vehicle(AUV) in terms of the buoyancy-weight ratio and the internal effective volume of the spheres. Parametric modeling of the two multiple intersecting spheres are implemented using UG secondary development. The Pareto front of this multi-objective optimization problem is obtained under the constraint of satisfying maximum equivalent stress and bulking factor. This research may provide a reference for optimization design of AUV shell.

Heterogeneous Multi-AUV Cooperative Task Allocation Based on Improved Contract Net Algorithm

LI Juan, ZHANG Kun-yu

2017, 25(新刊5): 418-423. doi: 10.11993/j.issn.2096-3920.2017.05.004

[Abstract](619) [PDF 642KB](412)

Abstract:
When traditional contract net algorithm is applied to heterogeneous multi-AUV collaborative task allocation, co-existence of a variety of bid inviters occurs in bid winning process, leading to difficulty for producing effective inviter, while in bidding process, potential bidders raise the number of invalid bids, and hence increase burden on the inviter for evaluating the bid, which is easy to result in unreasonable tasks. Aiming at the above two problems, this paper proposes a heterogeneous multi-AUV task allocation strategy based on improved contract net algorithm. This strategy combines the task load rate and the token ring network to solve the problems of selecting bid inviter and its unreasonable task. Three-dimensional environment simulation based on MATLAB shows that the improved contract net algorithm can effectively enhance the overall performance and make reasonable task allocation scheme for task allocation of heterogeneous multi-AUV.

Control of Imbalanced Shafting Transverse Vibration with Parallel Misa-lignment under Nonlinear Force Excitation

LI Yong-zhe, WANG De-shi, ZHOU Qi-zheng

2017, 25(新刊5): 424-431. doi: 10.11993/j.issn.2096-3920.2017.05.005

[Abstract](558) [PDF 985KB](326)

Abstract:
Reasonable control of propulsion shafting vibration can effectively reduce the structural noise radiation of an undersea vehicle. In this study, a differential equation of shafting transverse vibration in uniform motion process is established considering the coupling of nonlinear force, parallel misalignment and eccentric mass of rotating shaft. The influence of parallel misalignment amount on the shafting nonlinear vibration characteristics is analyzed via simulation. And the process control standard of the parallel misalignment amount is proposed according to the numerical calculation results. It is shown that: the coupling effect of parallel misalignment, nonlinear force and eccentric mass leads to the nonlinear dynamic behaviors of the shafting, such as chaos and bifurcation; the existing control theory is not applicable to the control of shafting nonlinear vibration due to the complex nonlinear vibration characteristics, while establishing the process control standard of the shafting parameters can achieve the purpose of restraining the nonlinear vibration. This work may provide a new method for controlling the propulsion shafting vibration and noise radiation of an undersea vehicle.

Optimized Benchmark Highlight Clustering Algorithm Based on Planar Element Method

CHEN Yuan, HAO Bao-an, WAN Ya-min, YANG Fu-zhou, LÜ Wei, FAN Ruo-nan

2017, 25(新刊5): 432-436. doi: 10.11993/j.issn.2096-3920.2017.05.006

[Abstract](918) [PDF 1185KB](773)

Abstract:
Aiming at the problem that the available highlight model of submarine target in torpedo homing simulation is not exquisite enough, the fundamental principle of planar element model and the main idea of k-means clustering algorithm are employed to propose optimized Benchmark highlight clustering algorithm. First, a more exquisite highlight model of submarine target was built for torpedo homing simulation. A three-dimensional Benchmark submarine model was divided into planar elements, and the acoustic potential functions of each element were computed. Then, the elements were disposed by using the primary clustering algorithm, and a Benchmark highlight model was built. At last, the influence of division quality of the elements on the result of simulation was analyzed and the secondary division method was discussed to optimize the algorithm. Simulation indicated that the highlight model of Benchmark based on the proposed clustering algorithm is more exquisite with longitudinal stability compared with the available method. This research may provide the reference for target recognition of a torpedo.

Performance Prediction of Contra-rotating Propellers for Undersea Vehicle

LIU Cheng-yong, LUO Kai, GUO Qing

2017, 25(新刊5): 437-442. doi: 10.11993/j.issn.2096-3920.2017.05.007

[Abstract](753) [PDF 1589KB](483)

Abstract:
A method for predicting actual performance of the contra-rotating propeller(CRP) for an undersea vehicle is proposed based on the match relationship among undersea vehicle, engine and CRP. A three-dimensional model of CRP is built according to projection principle and paddle coordinates. A structured hexahedral mesh is used to numerically simulate the contra-rotating propellers for an undersea vehicle in navigation state on the basis of the Reynolds-averaged Navier-Stokes (RANS) equation and the realizable turbulence model. The aft propeller's rotational speed is matched according to the engine bench test data and the torque balance, and the balance between CRP thrust and resistance to vehicle is gained by adjusting the calculated speed of the vehicle. The calculated values obtained by this method are in good agreement with the experimental values, which implies that the proposed method can be used to accurately predict the performance of the contra-rotating propellers for an undersea vehicle.

FEM Based Analysis on Target Signal of Phase Modulated by Pseudoran-dom Code for Torpedo Electromagnetic Fuze

AN Rui, HE Zhong-ping, SHI Xian-lin

2017, 25(新刊5): 443-447. doi: 10.11993/j.issn.2096-3920.2017.05.008

[Abstract](881) [PDF 702KB](308)

Abstract:
Phase modulated by pseudorandom code(PM-PC) signal has such advantages as strong anti-interference ability, concealment, and weak interaction with each other. In this paper, the software Ansoft is adopted to perform three-dimensional modeling of fuze passing target motion process in the scale of 1:1 and finite element calculation of the electromagnetic field. Consequently, the simulated waveform data of PM-PC target signal of electromagnetic fuze is achieved. The target signal amplitude and phase characteristics, especially the formation principle of phase jump, are analyzed in detail. According to the simulation results, obvious target signal envelope is successfully detected in land test, which verifies the correctness of the present analysis. This research may provide the basis for application of PM-PC signal to torpedo electromagnetic fuze and target detection.

Speed-Sensorless Control Method of Torpedo PMSM Based on RBF and MRAS

GUO Zhi-rong, GAO Feng, WANG Qi-lin

2017, 25(新刊5): 448-452. doi: 10.11993/j.issn.2096-3920.2017.05.009

[Abstract](620) [PDF 627KB](326)

Abstract:
To improve the performance of the permanent magnet synchronous motor(PMSM) control system, this paper presents a method based on model reference adaptive system(MRAS) and radial basis function (RBF) network for rotational speed estimation of torpedo PMSM speed-sensorless vector control system. This method selects PMSM as the reference model, and selects current model of PMSM as the adjustable model. It only needs the q-axis error signal between estimated current and actual current, then sends the error signal into the RBF network for adjustment, hence the estimated rotational speed is gained. Simulation indicates that the present method can obtain precise estimation of the rotational speed under the condition of low speed or speed regulation, and has good static and dynamic performances.

Study on Modal Characteristic of Torpedo's Wedge-ring Connection Structure

WANG Sheng, YIN Shao-ping, WANG Zhong, GUO Jun, ZHANG Zhi-min

2017, 25(新刊5): 453-458. doi: 10.11993/j.issn.2096-3920.2017.05.010

[Abstract](810) [PDF 2663KB](490)

Abstract:
To solve the problem that in the free modal test of whole torpedo, the wedge-ring connection stiffness imposes different influences on its modal frequencies, this paper studies the nonlinear characteristic in free boundary condition, and analyzes the modal characteristic based on modal sensitivity. Finite element simulation and free modal test under different exciting forces are conducted to reveal the modal characteristic. The result shows that with the increase of the exciting force, the torpedo cabin shell’s modal frequency and the contact stiffness of the wedge-ring connection structure decrease with obvious nonlinear characteristic; For the same order of modal frequency, the higher the sensitivity of modal frequency to connection stiffness is, the greater the influence of connection stiffness change on modal frequency becomes. This research may provide a reference for designs of torpedo′s shell structure and environmental adaptability.

Identification of Aerodynamic Parameter and Its Influence on Attitude Change of Rocket Assisted Torpedo in Parachute-Free Section

XING Guo-qiang, LIU Xu-hui, WANG Gai-di

2017, 25(新刊5): 459-463. doi: 10.11993/j.issn.2096-3920.2017.05.011

[Abstract](928) [PDF 451KB](436)

Abstract:
The motion characteristics of a rocket assisted torpedo in parachute-free section after separation of carrier and payload relate to its safety, so become an important factor affecting success of the flight test. And the aerodynamic characteristics associated with the motion characteristics are the main factors determining the flight stability. Due to the limitation of the wind tunnel test, it is difficult to obtain the aerodynamic characteristics of the torpedo in various flight attitudes, which leads to difficulty in the phenomenon analysis of torpedo navigation. In this paper, the aerodynamic layout and motion characteristics of the rocket assisted torpedo in parachute-free section are analyzed, and an aerodynamic parameters identification method based on real flight test data is proposed. Then the identification results are used in simulation of large attitude change of the torpedo in parachute-free section in real navigation test, and the change law of attitude angle consistent with that from real flight is reproduced, verifying the correctness of the proposed method. This method can also be applied to the study of motion characteristics of other air-dropped torpedoes in parachute-free section.

Initial Allocation Scheme of Spare Parts for Torpedo

WANG Xiao-bo, CAO Xiao-juan, KOU Xiao-ming, ZHANG Gong-yuan

2017, 25(新刊5): 464-469. doi: 10.11993/j.issn.2096-3920.2017.05.012

[Abstract](524) [PDF 474KB](432)

Abstract:
Reasonable allocation of spare parts is an important factor to improve the support capability of a torpedo. To balance the contradiction between demand rate and utilization rate of spare parts, a allocation model based on the initial spare parts allocation is built for the repairable and unrepairable spare parts with life cycles obeying exponential distributions. The single spare part satisfaction rate and the system satisfaction rate are taken as the constraint condition and the system utilization rate as the objective function to establish a configuration model. The marginal effect algorithm is used to solve the model. Examples verify the rationality and effectiveness of the proposed scheme. This research may provide the reference for quantity determination of torpedo's initial spare parts in organizational-level or depot-level maintenance.

Test Method of Storage Life for Torpedo Based on Operational Readiness Rate

YE Hao-jie, DENG Nan-ming

2017, 25(新刊5): 470-473. doi: 10.11993/j.issn.2096-3920.2017.05.013

[Abstract](546) [PDF 323KB](268)

Abstract:
To overcome the shortcomings in applications of the evaluation method and the natural storage test to storage life evaluation of a torpedo, an accelerated test method for torpedo storage life based on operational readiness rate is put forward. By introducing the operational readiness rate and the acceleration factor in the test method, the proportion of the torpedoes in the range of storage life, which can be put into normal use, can be obtained, meanwhile the test cost and test cycle can be reduced, so that the evaluation of torpedo storage life gets more timely and objective. This accelerated test method is of strong operability, and may provide a new idea for the evaluation of torpedo storage life.

An Evaluation Method of Loading Reliability for Undersea Weapons

YANG Li-jian, ZHAO Min, GAN Zu-wang

2017, 25(新刊5): 474-477. doi: 10.11993/j.issn.2096-3920.2017.05.014

[Abstract](981) [PDF 354KB](276)

Abstract:
The loading reliability is a key specification in the reliability evaluation of undersea weapons. In this paper, a method for evaluating the loading reliability of undersea weapons is proposed. This method utilizes the maximum likelihood theory to establish a maximum likelihood function based on test strategy and data, and to combine this function with the existing exponential distribution evaluation model. Hence, the existing loading reliability evaluation method is improved. This method neither assumes the fault point nor adds other assumptions and constraints, and it imposes no limitation on the increase of detec-tion interval time, so it is more objective and universal. At the same time, for different test strategies, the maximum likelihood function can be constructed by this method, and the corresponding evaluation method is formulated. This study may provide a reference for evaluation of weapon equipment loading reliability.

2017 Vol. 25, No. 新刊5

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