水下无人系统学报

Some Thoughts on Independent Innovation and Industrial Development of Ocean CTD Sensor Technology

LI Hong-zhi, YAN Chen-yang, JIA Wen-juan

2021, 29(3): 249-256. doi: 10.11993/j.issn.2096-3920.2021.03.001

[Abstract](359) [PDF 918KB](170)

Abstract:
Temperature, salinity, and depth are the most basic ocean dynamic environmental factors, among others. An ocean survey is a survey of the temperature and salinity of seawater, as well as its distribution and change in depth. All ocean observation and monitoring platforms must integrate and use conductivity temperature depth(CTD) sensors, which have been widely used in stations, ships, buoys, submersible beacons, base types, towed types, and underwater motion platforms. This paper analyzes the global application demand and technology development trend of ocean CTD measurement sensors, and reviews the development of CTD sensors technology in China. The reasons for the “neck sticking” pain in the application of CTD sensors in China are analyzed, and finally, aiming at the situation that China has been dependent on imports and subjugation for many years, some suggestions for achieving independent innovation and industrial development of this technology are proposed in this paper. The findings may point in the right direction for future independent innovation and industrial development of ocean CTD sensor technology.

A Review of Ultrasonic Coupled Contactless Energy Transfer Technology

ZHANG Lin-sen, NING Xiao-ling, HU Ping

2021, 29(3): 257-264. doi: 10.11993/j.issn.2096-3920.2021.03.002

[Abstract](250) [PDF 551KB](154)

Abstract:
Ultrasonic coupled contactless energy transfer (UCCET) is a relatively new type of contactless energy transfer technology. Based on the analysis of the application and advantages of UCCET, the fundamental principle of UCCET was analyzed, and the technical characteristics of UCCET are summarized in this paper. Then, the research status of UCCET in the fields of bio-implantable medical device power supply, device power supply through the metal medium, device power supply through air, and device power supply through the water medium using UCCET was reviewed for low-power and high-power applications. Finally, the technical challenges of UCCET in acoustic impedance matching, transmission mechanism research, and transducer design theory are presented in this paper.

Propulsion Efficiency Analysis of Passive Flapping Foil Mechanism of Wave Glider

SUN Xiu-jun, LIU Jin-cheng, SANG Hong-qiang, LI Can

2021, 29(3): 265-271. doi: 10.11993/j.issn.2096-3920.2021.03.003

[Abstract](190) [PDF 689KB](202)

Abstract:
The passive flapping foil mechanism of a wave glider is the key module that provides forward driving, and its propulsion efficiency directly affects the wave glider’s forward speed and position control accuracy. In this study, a complete analysis framework of the passive flapping foil propulsion efficiency was built, and a computational fluid dynamic(CFD) simulation model of the passive flapping foil propulsion motion is established. Simulation research on the passive flapping foil loaded with torsion spring under second-level sea state was conducted, and some simulation data were verified by experiments. The CFD simulation results show that the torsion spring stiffness has a significant impact on the propulsion performance of the passive flapping foil, and the passive flapping foil had a higher propulsion efficiency and speed when the torsion spring stiffness was 6 N·m·rad^-1 in the second-level sea state. This study shows that the CFD simulation and experimental data follow the same trend, and the reliability of the CFD simulation model is high, which has guiding significance for the design of the wave glider’s passive-flapping foil mechanism.

Anti-saturation Control Design for Remote Operated Vehicle Considering Model Error

XUE Nai-yao, LIU Kun, WANG Dong-jiao, YE Jia-wei

2021, 29(3): 272-277. doi: 10.11993/j.issn.2096-3920.2021.03.004

[Abstract](125) [PDF 1009KB](100)

Abstract:
To investigate the trajectory-tracking problems of a new open-frame remote operated vehicle(ROV), a new variable gain anti-saturation auxiliary system is proposed, which is based on the radial basis function neural network sliding mode control law and considers thrust constraints. The stability of the control law was proved using the Lyapunov stability theory. A simulation was built using MATLAB Simulink, and modeling errors, ocean current disturbances, and cable action force are considered during the trajectory-tracking study, which is similar to the actual working environment of a ROV. The results show that after incorporating the anti-saturation system, the thrust saturation duration of the propulsion system decreased by 27% during the ROV track tracking, the cumulative tracking error of each degree of freedom decreased, and the tracking error of the roll and heave degrees decreased significantly, demonstrating the reliability of the new control law.

Application of FCM-CV Level Set Algorithm in Sonar Image Segmentation of Small Sinking Target

HAN Ting-ting, WANG Lu-yao, ZHOU Tian, XU Chao, ZHANG Li-hong, LI Hai-sen

2021, 29(3): 278-285. doi: 10.11993/j.issn.2096-3920.2021.03.005

[Abstract](133) [PDF 1062KB](125)

Abstract:
Aiming at the problem that the signal-to-mix ratio of the small sinking target is low, and it is difficult to separate from the background, this study proposes a segmentation method to use the fuzzy c-means(FCM) algorithm to coo- perate with the Chan-Vese(CV) level set. This method automatically sets the initial evolution position of the level set model curve by using the membership function obtained from the FCM algorithm, which solves the problem that the CV-level set segmentation cannot obtain accurate segmentation results because of the incorrect initial position setting. Simultaneously, the control parameters of the level set evolution are estimated according to the results of fuzzy clustering, which makes the segmentation process more robust. Using outfield test and simulation data, compared with the algorithm of FCM segmentation and Markov random field segmentation, the algorithm in this study is not sensitive to speckle noise and cansegmenta complete boundary. Compared with the conventional CV-level set algorithm, the algorithm in this study can obtain more accurate segmentation results with feweriterations.

Trajectory Tracking of Unmanned Surface Reconnaissance Vessel Based on Improved ADRC Algorithm

WANG Xiao-hui, HUANG Gang, DING Jie, YUE Guang, PAN Yu-tian

2021, 29(3): 286-292. doi: 10.11993/j.issn.2096-3920.2021.03.006

[Abstract](171) [PDF 494KB](78)

Abstract:
To solve the problems of slow response, poor stability, and complex parameter adjustment of current unmanned surface reconnaissance vessels in complex water environments, a trajectory-tracking method for unmanned surface reconnaissance vessels based on the improved active disturbance rejection control(ADRC) algorithm. By studying the control system of an unmanned surface reconnaissance vessel, an improved ADRC controller architecture is constructed. Then, genetic mutation and particle swarm optimization are introduced into the algorithm to initialize the parameters of ADRC and optimize global parameters. Compared with the traditional algorithm, the proposed method has the advantages of fast response speed, small overshoot, low error, and high trajectory-tracking accuracy. It is verified that the improved ADRC algorithm has a good trajectory-tracking effect and runs smoothly in a complex water environment.

Optimal Control of Chaos in Permanent Magnet Synchronous Motor Based on LMI Algorithm

DAI Lei, LI Yang-yang, YOU Qian-liang, WEI Hai-feng, ZHANG Yi

2021, 29(3): 293-298. doi: 10.11993/j.issn.2096-3920.2021.03.007

[Abstract](144) [PDF 498KB](82)

Abstract:
Permanent magnet synchronous motors(PMSMs) are an important part of undersea vehicles. Its complex nonlinear behavior will form a chaotic motion, reducing the control performance of the motor and seriously affecting its working efficiency. In this study, Hopf bifurcation and chaotic behavior analysis and control of its operating system are studied. First, the physical model of the PMSM is dimensionalized, and a simplified chaos-like mathematical model is obtained. After the external input is determined, the Hopf bifurcation of the system is analyzed. It is found that the Hopf bifurcation point of the system is determined by the external input parameter ud and uncertain parameter σ of the system. When the system reaches the critical bifurcation point, with a change in the bifurcation parameter γ, the system produces a continuous Hopf bifurcation phenomenon and finally enters the chaotic state, and each state of the system will show the phenomenon of irregular motion. Aiming at the parameter uncertainty of the PMSM operating system, an adaptive chaos controller based on the linear matrix inequality(LMI) algorithm is proposed to control the chaotic behavior of the system. The simulation results show that the original chaotic state of the system can effectively return to a stable equilibrium point after the addition of the control.

Relative Position and Attitude Precise Control of Underwater Robot Based on Monocular Vision

WANG Xiao-ming, WU Gao-sheng

2021, 29(3): 299-307. doi: 10.11993/j.issn.2096-3920.2021.03.008

[Abstract](133) [PDF 1137KB](93)

Abstract:
Aiming at the characteristics of underwater robots in actual operation, which they need to be relatively stable relative to specific operation objects and have certain anti-interference abilities, and a method for stability control of underwater robots based on monocular visual position and attitude measurement is proposed; the key technique of this method is to measure the three-dimensional position and attitude of the underwater robot using the method of re-projection. The “GuanHai ROV” is adopted for experimental verification, and the observation target is placed in the experimental pool. The forward camera of the underwater robot is used as a monocular vision sensor to establish an experimental verification system. The experimental results show that the position and attitude measurement principle based on the monocular vision control method of underwater robots can relatively specific objects under constant water flow remain stable, and can meet the needs of the underwater robot in the actual work environment; therefore, the method proposed in this study is effective for the precise control of underwater robot position and attitude. This research has greatly improved the stability of underwater robots in a working environment.

Dynamic Fluid Simulation of Bionic Ray Undersea Vehicle

SHENG Zhao-hua, YANG Shuo

2021, 29(3): 308-312. doi: 10.11993/j.issn.2096-3920.2021.03.009

[Abstract](198) [PDF 803KB](157)

Abstract:
Bionic undersea vehicles with median and/or paired fin(MPF) propulsion modes have obvious application advantages in marine research, marine resource development, and military research owing to their excellent mobility and stability. The contour and motion equations of bionic ray undersea vehicles are established as a typical model of the MPF propulsion mode to analyze the influence of bionic parameters on the motion. The motion equation is written using Fluent UDF to realize dynamic fluid simulation of bionic rays, and the simulation results show that the bionic fin undulates to form a vortex that spins in opposite directions and constantly pulls back, providing forward thrust. This paper provides a technical reference for the design of bionic rays underwater vehicles.

Six-Degree-of-Freedom Ballistic Simulation of Underwater Anti-Frogman Rocket

WANG Jin-yun, WANG Meng-jun, ZHOU Hui-jie

2021, 29(3): 313-319. doi: 10.11993/j.issn.2096-3920.2021.03.010

[Abstract](113) [PDF 1071KB](103)

Abstract:
As a new type of preset weapon for coastal port defense, underwater rockets have the advantages of high speed, high lethality, and convenient use, which can effectively resist the invasion of the enemy frogman. To deeply explore its underwater ballistic-navigation characteristics, taking a certain type of underwater rocket as the research object, a hydrodynamic ballistic motion model was established, and the six-degree-of-freedom ballistic-navigation characteristics of the underwater rocket were simulated based on VC++ language self-programming, and its navigation stability was verified through of the underwater launch test. The results show that the rocket with an initial velocity of 100 m/s decreases to 65 m/s within 4.3 s and tends to be stable under a certain initial angle of attack, the ballistic horizontal range reaches 660 m, and the rocket height breaks through 37 m, the pitching angle of the rocket changes from 12° to -7° within 4s, the pitching angular velocity fluctuates from 5° to -8° in 3 s, the angle of attack changes from 5° to -6°, the trajectory tilt angle changes from initial -10° to -12°. This study can provide a reference for the ballistic design of a new generation of underwater anti-frogman preset weapons.

Influence of Molten Pool Temperature on the Jet Structure of Submerged Reaction

YAN Can, KONG Liang

2021, 29(3): 320-325. doi: 10.11993/j.issn.2096-3920.2021.03.011

[Abstract](108) [PDF 1044KB](46)

Abstract:
The closed-cycle power system, which treats the submerged gas-liquid reaction jet as an energy source, has broad application prospects in underwater propulsion and aerospace. In this study, a numerical simulation of the influence of molten lithium molten pool temperature on the submerged reaction jet structure is conducted based on Lee’s phase change model and eddy dissipation reaction rate model. The results show that the simulation results agree well with the experimental results, and the numerical model used in this study can predict the submerged reaction jet process well. The core region of the steam plume of gaseous oxide is not affected by the molten pool temperature, whereas at a high molten pool temperature, as more liquid metal would be evaporated, and with the reduction of condensation driving potential, the condensation rate of the metal vapor would also decrease accordingly, which indicates that the evaporation rate and condensation rate jointly determine the macroscopic size of the steam plume of the metal vapor. The research results can guide the design and safe operation of gas-liquid jet reactors.

Study on Parameter Effect of the Boiler Reactor Steam Generation Process under Asymmetric Heating

MA Wei-feng, LU Jun, WAN Rong-hua, HAN Yong-jun

2021, 29(3): 326-332. doi: 10.11993/j.issn.2096-3920.2021.03.012

[Abstract](86) [PDF 609KB](69)

Abstract:
To solve the small stability domain problems caused by the coupling of parameters and the time-varying parameters in the complex physicochemical process of a boiler reactor used in a torpedo Li/SF6 closed-cycle power system, based on heat transfer theory, the heat transfer model of a helical exchange tube in a boiler reactor was established using segment processing. A numerical simulation of the heat transfer was conducted, and the influence of inlet-working fluid temperature, outlet-working fluid temperature, outlet-working fluid pressure, and outlet-working fluid flow on the boiler reactor steam generation process under asymmetric heating conditions was explored. The results can provide support for the system performance simulation, control optimization, and stability domain improvement, and provide a theoretical reference for regulation control for the design, optimization, and experimental verification of boiler reactors, and have certain reference values for the research and design of similar devices.

Study on the Methods and Technics of Preventing Biological Attachment of Underwater Acoustic Transducer

LUO Song, SONG Jian, LIU Bao-jun, ZOU Yi-hui, LIANG Li

2021, 29(3): 333-337. doi: 10.11993/j.issn.2096-3920.2021.03.013

[Abstract](137) [PDF 804KB](91)

Abstract:
To meet the demand preventing biological attachment for underwater fixed installed acoustic transducers, the living habits and growing environment characteristics of marine organisms are analyzed, and common methods for preventing the biological attachment of underwater acoustic transducers are introduced. From the perspective of establishing not conducive to the living and the growth environment of marine organisms, a comprehensive prevention of the biological attachment technique of coating and environmental protection outside the underwater acoustic transducer is proposed. By implementing the relevant measures and process methods on underwater fixed installed acoustic transducer in an offshore area, the acoustic transducers of the underwater high-frequency 430 kHz detection sonar can stably detect the signal for more than three years, which verify the feasibility of the proposed method.

Analysis and Improvement of Electromagnetic Compatibility for Torpedo

KANG Kai, WANG Kai-Guo, PAN Jin, YANG Jin-hou, ZHANG Jing

2021, 29(3): 338-343. doi: 10.11993/j.issn.2096-3920.2021.03.014

[Abstract](138) [PDF 561KB](77)

Abstract:
In an electromagnetic compatibility(EMC) test of torpedo according to the standard GJB151A-1997, the test curves of CE102 and RE102 exceed the prescribed limit value. In order to solve this problem and to better match the weapon platform with torpedo, this study analyzes a case of EMC improvement of the whole torpedo system under the condition of multi-platform operation, investigates and locates the interference sources of the electronic components in the torpedo, obtains the frequency characteristics of the electromagnetic radiation and conduction in the torpedo, and separately improvements the cable, power supply, electronic components and shell structure of the torpedo by means of the measures, such as shielding, filtering and grounding. Finally, the torpedo successfully passes these two test items. This study may facilitate the EMC design of torpedo.

Analysis of Acoustic Homing Torpedo Searching Threat Area

ZHANG Xiang-tao, KOU Zhu, WANG Jia-jing, SHI Zhi-jun

2021, 29(3): 344-349. doi: 10.11993/j.issn.2096-3920.2021.03.015

[Abstract](142) [PDF 537KB](89)

Abstract:
Against the background of acoustic homing torpedo attacks on surface ships, this study presents a definition of an acoustic homing torpedo searching the threat area, and then solves the threat range using an iteration method and an estimated method. From the perspective of surface ship defense, in the brief estimation of torpedo position and speed, the intuitively gives acoustic homing torpedo effective attack course range, to determine the threat area of torpedo, and provides a theoretical basis for torpedo defense decisions of surface ships. Compared to the experience estimate, the method in this study can effectively reduce the scope of the torpedo threat area, and embedding the algorithm in the ship fire control system can judge and display the threat area of the incoming torpedo in real time, increasing the efficiency of the surface ship undersea interception.

Simulation and Test Analysis of Impact of Parachute Open on Torpedo Stern Shaft

SHA Qi, XU Xin-dong, GUO Jun

2021, 29(3): 350-356. doi: 10.11993/j.issn.2096-3920.2021.03.016

[Abstract](92) [PDF 2259KB](109)

Abstract:
To solve the design problem of a high-strength stern shaft in a narrow torpedo space, with the light torpedo stern shaft assembly as the research object, Abaqus finite element software was used to perform static strength and vibration impact analysis, to obtain the maximum stress area of the torpedo stern shaft assembly on the parachute-opening moment at the latestage of rocket-assisted torpedo flight, and determine the weakest point. Accordingly, to improve the structural design and process optimization, the optimized products are then tested to verify the effectiveness of the optimized design. The test results show that the iterative improvement method with finite element analysis and land test can enhance design accuracy and efficacy, especially for complicated structures such as torpedo stern shaft assembly, and to meet the complicated use requirements.

Simulation Analysis on Two Methods for Incoming Torpedo Trajectory Prediction

CHEN Yan-hui, ZHANG Yong

2021, 29(3): 357-362. doi: 10.11993/j.issn.2096-3920.2021.03.017

[Abstract](114) [PDF 1395KB](86)

Abstract:
In order to plan a sufficient defense strategy for surface ships, it is important to consider the threat of torpedoes. By obtaining incoming torpedo motion parameters, the trajectory of an incoming torpedo can be predicted. First, according to torpedo defense characteristics, the principle of solving target motion parameters is analyzed based on a two-bearings, one-distance, and one-velocity (2B1D1V) model. The algorithm simulation of the actual trajectory prediction method is described and discussed. And then, the azimuth guidance model for a wire-guided torpedo and the trajectory prediction models for a straight-running torpedo, acoustic-homing torpedo, and wake-homing torpedo are generalized. The algorithm simulation of the estimated trajectory prediction method is also described and discussed. Finally, synthetic environment simulations based on two types of trajectory algorithms are compared, and solutions of torpedo trajectory dispersion are extracted. The accuracy and objectivity of torpedo trajectory dispersion prediction is improved, and the torpedo defense response of a surface ship can be supported by the synthetic application of either type of trajectory algorithm.

Method of Field Calibration for Torpedo Accelerometer Zero Bias

RUAN Wei, HAO Zhe, SONG Xi-fa, ZHANG Qin-nan, WANG Li-wen, GUO Lin-na

2021, 29(3): 363-367. doi: 10.11993/j.issn.2096-3920.2021.03.018

[Abstract](115) [PDF 401KB](77)

Abstract:
To solve the problem in which a torpedo inertial measurement unit is required to disassemble for calibration regularly. In this study, a disassembly free calibration method for a torpedo inertial measurement unit is proposed. By using velocity errors as observations to establish the Kalman filtering model on a stationary base, first, the misalignment angle is estimated; second, vertical accelerometer zero bias is estimated, and the attitude matrix of three positions and upward accelerometer zero bias are used to solve the accelerometer bias of the inertial measurement unit. Simulation results show that this method is effective and feasible for torpedo-field disassembly free calibration.

2021 Vol. 29, No. 3

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