水下无人系统学报

Development and Key Technologies of Submarine-UUV Cooperative Operation

ZHANG Xin-ming, HAN Ming-lei, Yü Yi-rui, HUANG Tian-li, CHEN Qian, WU Ming

2021, 29(5): 497-508. doi: 10.11993/j.issn.2096-3920.2021.05.001

[Abstract](2265) [PDF 1842KB](187)

Abstract:
The cooperative operation of submarines and unmanned undersea vehicles(UUVs) is an important aspect of modern naval operational capabilities. It is also the most widely investigated field in terms of new operational concepts and new technologies in naval armaments. This study introduces the development of submarine-UUV cooperative operation, and mainly analyzes the developing strategies of undersea warfare system architecture, cooperative battle system and new undersea combat force in United States, Russia and United Kingdom; focuses on armament system technologies of undersea cooperative operation, including underwater multimedia transmission, network collaborative detection, multi-source heterogeneous information fusion, and operational application technologies, including control architecture, collaborative mission planning and allocation, autonomous decision-making with a lack of information, to provide technical reference for the coordinated development of armament technology and operational applications and the rapid formation of new underwater operational forces.

Review of Diver Detection Sonar System

SUN Yu-chen, WANG De-shi, LI Zong-ji, JIANG Bin, ZHANG Kai, SUN Yu-xiang, YU Wen-qiang

2021, 29(5): 509-523. doi: 10.11993/j.issn.2096-3920.2021.05.002

[Abstract](555) [PDF 6592KB](93)

Abstract:
Detecting a diver is difficult because of the low strength of underwater acoustic signals, which can secretly sneak into water bodies such as ports, islands, and reefs for reconnaissance and destruction, which is one of the key aspects of underwater early warning. In this study, first, the difficulties of underwater diver detection are discussed, and the principle and acoustic signal characteristics of active and passive sonar to detect divers are introduced. Then, the technical status of diver detection sonar(DDS) equipment is overviewed, including signal processing technology, remote transmission and power supply, installation and distribution, environmental adaptive ability, system reliability, multi-sonar combination, and multi-system collaboration. Key technologies for the development of DDS equipment, such as new material, matching layer, detection probability improvement, target automatic tracking and identification, vertical phased emission, and arraying technologies, are proposed to provide a reference for the research on DDS equipment in the industry

Numerical Simulation of Hydrodynamic Characteristics of Double-Revolving Bodies in Underwater Salvo

SHI Yao, GAO Shan, PAN Guang

2021, 29(5): 524-532. doi: 10.11993/j.issn.2096-3920.2021.05.003

[Abstract](99) [PDF 3347KB](27)

Abstract:
To study hydrodynamic characteristics in the underwater salvo process of double-revolving bodies, a three-dimensional underwater salvo model is built in this study based on the homogeneous multiphase flow theory, standard RNG k-ε model, Singhal cavitation model, and overlapping mesh technique. Numerical simulations of the evolution of an unsteady cavity are conducted to determine the movement attitudes of double-revolving bodies at different launching velocities. The flow structure evolution, motion characteristics, and salvo velocity during the salvo process under a typical condition are analyzed. The results show that the maximum development of the cavity is observed during the early stage of water navigation. As the revolving bodies move towards the free surface, the cavity gradually sheds from its end towards its top. The structure collapses owing to a flow interference region in the salvo process, because the evolution of the cavity in the shoulder of the double-revolving bodies is from asymmetric to symmetric, causing mass center deflection of the revolving bodies from the inside to the outside. As the salvo velocity increases, the length of the cavity increases at the outlet of the tube moment, the intersection point of the deflection of the center of mass from the inside to the outside is delayed backward, and the angle of deflection decreases.

Robust Adaptive Detection Algorithm of Underwater Targets under Range Cell Migration

SONG Qiong, YAN Sheng, HAO Cheng-peng, HOU Chao-huan

2021, 29(5): 533-540. doi: 10.11993/j.issn.2096-3920.2021.05.004

[Abstract](83) [PDF 567KB](22)

Abstract:
The performance of target adaptive detectors decreases owing to range cell migration(RCM), which is caused by a target moving at high speed. When the detection occurs underwater, this environment also results in a lack of auxiliary data. To solve this problem, this study presents a new adaptive detection algorithm. First, the sonar echo is modeled as multiple time-domain sequences based on the model order selection theory. Then, the multiple hypothesis testing model of the target under RCM is improved by using the persymmetric structure of the covariance matrix of the symmetric array. Finally, a new detection algorithm based on the persymmetric generalized information criterion adaptive matched filter(PM-AMF) is developed. Simulation results show that the PM-AMF detection algorithm reduces the dependence on auxiliary data and accurately estimates the position of the target echo under RCM, achieving a good performance on target detection

Motion Control Method of Autonomous Surface Vehicle Based on the PILCO Algorithm

ZHANG Shang, YANG Rui, CHEN Zhen, LI Ming

2021, 29(5): 541-549. doi: 10.11993/j.issn.2096-3920.2021.05.005

[Abstract](99) [PDF 1177KB](26)

Abstract:
A highly autonomous, flexible, and reconfigurable autonomous surface vehicle(ASV) must be developed to fulfill the needs for ocean exploration. In this study, an ASV composed of four thrusters is analyzed by establishing the dynamic model of the ASV, designing its controller based on the probabilistic inference learning to control(PILCO) algorithm, and conducting simulation experiments of fixed-point control and trajectory tracking. The simulation results show that the ASV model can autonomously learn the control strategy in a small number of experiments and realize motion control during a water flow disturbance or when using an approximate dynamic model, thereby verifying the effectiveness of the proposed algorithm

Simulation and Test of Wet Modal of a Torpedo

ZHAO Qi, GUO Jun, CAO Dong, WANG Hong-rui, SHAN Zhi-xiong

2021, 29(5): 550-555. doi: 10.11993/j.issn.2096-3920.2021.05.006

[Abstract](85) [PDF 2734KB](23)

Abstract:
The finite element model of a typical torpedo structure is first modified by conducting a dry modal test and simulation analysis. Then, the LMS Virtual Lab boundary element fluid-solid coupling analysis method is used in the wet modal simulation analysis of the entire torpedo. The analysis results show that the inherent frequency of torpedo structure is reduced in all orders in water, with the first 3rd order decreasing by approximately 35% compared to that in air. New methodologies for solving complex fluid-solid coupling problems are achieved through the dry and wet modal simulation analysis, which can be used as a reference for torpedo structure optimization and noise reduction design

Quantized Feedback Sliding Mode Control for AUV Based on Nonlinear Disturbance Observer

WU Jian-guo, CHEN Kai, CHEN Wu-jin, ZHAO Xiao-yu, ZHANG Tong-rui, CHENG Tao

2021, 29(5): 556-564. doi: 10.11993/j.issn.2096-3920.2021.05.007

[Abstract](1950) [PDF 809KB](40)

Abstract:
In a practical engineering application of autonomous undersea vehicles(AUVs), state variables must be quantified and transmitted to a controller because of a digital loop. Consequently, the stability of the system is significantly affected. To achieve AUV trajectory-tracking control, a quantized feedback sliding mode control(SMC) method based on a nonlinear disturbance observer(NDO) is proposed by considering the influence of state and control input quantization. First, NDO is used to estimate and compensate for external and unknown interference to suppress buffeting, which is a common step in traditional SMC. Then, an SMC scheme is proposed, in which the state variables and the upper bound of the quantization error of the input are added to the switching term of the SMC to overcome the influence of quantization on the stability of the system. In the first step, the trajectory is proved to be driven to a small strip area regardless of the initial value. In the second step, the sliding surface, s, converges to zero by dynamically adjusting the quantization parameter. Finally, the stability of the system is proved by applying the Lyapunov function. The simulation results show that the designed quantized sliding mode tracking controller allows the AUV to successfully track the expected trajectory

Tracking Control for AUV by Combining Q Learning and a PID Controller

YAN Jing, LI Wen-biao, YANG Xian, LI Xing-long, LUO Xiao-yuan

2021, 29(5): 565-574. doi: 10.11993/j.issn.2096-3920.2021.05.008

[Abstract](1429) [PDF 2524KB](57)

Abstract:
In this study, a tracking control algorithm for autonomous underwater vehicles(AUVs) is developed by combining Q learning and a proportional-integral-derivative(PID) controller. First, a PID-based tracking control algorithm based on the tracking error of the AUV is presented. To improve the static and dynamic tracking performances, the adaptive adjustment of the parameters of the PID controller is described by utilizing a Q learning problem; then, an action update strategy is employed to iteratively optimize the Q values in different states until the Q value corresponding to each state action is stabilized. Compared with the traditional PID controllers, the proposed control algorithm can preserve the simple and practical characteristics of PID controllers and adaptively adjust the parameters according to the changes in the environment information. Finally, the simulation and experimental results confirm the effectiveness of the proposed algorithm

Modeling and Simulation of Roll Control for a Wide-Speed-Scope Torpedo Based on ADRC

ZHENG Wei, Lü Rui, TIAN Xin

2021, 29(5): 575-579. doi: 10.11993/j.issn.2096-3920.2021.05.009

[Abstract](82) [PDF 419KB](19)

Abstract:
To overcome the difficulties of a large range of variations in the velocity of a wide-speed torpedo on precise control, a linear active disturbance rejection control(ADRC) method is designed. First, the mathematical model of rolling control is derived for a wide-speed torpedo for a convenient design. Next, the proposed ADRC is used for the rolling control of the torpedo to estimate and compensate for the total disturbances in real time. Simulation results show that the designed controller can adapt to a wide speed range of 28~70 kn. Furthermore, it can accurately estimate and compensate for the total disturbances and account for the uncertainty of the torpedo parameters. Thus, the proposed controller fulfills the requirements of a controller of the roll channel for a wide-speed-scope torpedo and its performance is superior to that of a proportional-integral-differential control

Method for Estimating the Target Distribution Area in AUV Call Search Based on a Rayleigh-uniform Distribution

CUI Dong-hua, JI Xiu-mei, DAI Zhi-heng, WANG Tuan-meng

2021, 29(5): 580-585. doi: 10.11993/j.issn.2096-3920.2021.05.010

[Abstract](55) [PDF 700KB](29)

Abstract:
In the process of autonomous undersea vehicle(AUV) call search, the distribution area of the target is an important basis for guiding the platform for AUV path planning. Error distributions produced from the initial position and motion parameters of the target of information acquisition cause the position distribution function of the target to exhibit the characteristics of a non-normal, nonuniform distribution at any moment. However, the existing methods are often considerably simple or even unreasonable for describing the problem, resulting in phenomena that are inconsistent with reality. To solve the problem of estimating the target distribution area in an AUV call search, based on the estimation model of the target initial position distribution area, a Rayleigh-uniform joint estimation model is established according to the error distribution rules, such as target velocity and navigation. The simulation results show that the proposed method is more reasonable and practical than the traditional two-dimensional normal distribution method, providing a more accurate estimation of the target distribution area and facilitating convenient numerical analysis and engineering applications

Demagnetization Fault Diagnosis Method for a Permanent Magnet Synchronous Motor Based on Limited Samples

MO Yu, LI Yuan-jiang, WEI Hai-feng, ZHANG Yi

2021, 29(5): 586-595. doi: 10.11993/j.issn.2096-3920.2021.05.011

[Abstract](54) [PDF 775KB](17)

Abstract:
Aiming at the demagnetization identification problem of permanent magnet synchronous motor due to the sparse sample data, low availability, weak feature and complex structure, this paper proposes a demagnetization fault diagnosis method combining sparse self-encoding and least squares generative countermeasure network. This method first collects the electromagnetic torque and magnetomotive force distribution data of the permanent magnet synchronous motor to form a limited sample set. Secondly, the least squares generative confrontation network is used to label and expand the sample while maintaining the same feature distribution, and finally use sparse The self-encoding network and Soft max classifier train and classify the samples to realize the diagnosis and identification of demagnetization faults. In the process of model training and fault identification, on the one hand, the parameters that affect learning efficiency such as the hidden nodes of the deep network, the training algorithm and the number of layers are rationally designed; on the other hand, the optimized network is trained and tested and verified to improve the fault diagnosis performance. After many tests, the effective diagnosis of permanent magnet synchronous motor demagnetization fault was finally realized

New Design Method for an Asynchronous Motor Full-Order Flux Observer

JIAGuo-tao, ZHANG Wei-quan, LIU Guo-qing

2021, 29(5): 596-600. doi: 10.11993/j.issn.2096-3920.2021.05.012

[Abstract](38) [PDF 596KB](21)

Abstract:
New technologies for electric underwater mixed-flow pump launch power are increasingly becoming an active research topic in the underwater attack and defense field, in which the reliability design of equipment is the key feature. However, the traditional design method of an asynchronous motor full-order flux observer leads to a positive real part of the poles of the system, resulting in a speed sensorless control system that is not stable in low-speed regions, and, thereby, in the failure of the start-up of the device. This study, therefore, proposes a new design method for an asynchronous motor full-order flux observer, which is designed based on a full-order flux observer while ensuring that the real part of the pole of the observer and the real part of the zero point of the estimated speed transfer function are less than zero. As a result, the stability of the observer is ensured while the speed is estimated. Finally, the effectiveness of the method is verified experimentally

Influence of Rotor Parameters on Response Characteristics of a Torpedo Turbine during the Start-up Process

ZHANG Pan-pan, SONG Wen, SHI Xiao-feng, YI Yin

2021, 29(5): 601-608. doi: 10.11993/j.issn.2096-3920.2021.05.013

[Abstract](49) [PDF 785KB](19)

Abstract:
To analyze the influence of rotor parameters on the response characteristics of the startup process, a simplified single-disk cantilever rotor model of a torpedo turbine rotor system is established, and its transient differential equation is derived by using the Riccati transfer matrix method. Moreover, the Newmark-β method is used to solve the startup process response of the rotor. The influence of the law of angular acceleration, damping coefficient, and other parameters on the response of the rotor during the startup process is analyzed. The results show that an increase in the angular acceleration leads to a decrease in the resonance amplitude and a slight increase in the resonance speed. Furthermore, an increase in the damping coefficient results in a decrease in the resonance amplitude and a slight decrease in the resonance speed. The results can be used as a reference and have theoretical significance for the research on transient dynamic balance and rational design of elastic ring structures of a rotor.

Simulation Analysis of the Whipping Response of a Submarine Subjected to the Torpedo Explosion

GUO Zhi-rong, LU Wen-jun, JIN Xiao-yu

2021, 29(5): 609-615. doi: 10.11993/j.issn.2096-3920.2021.05.014

[Abstract](56) [PDF 657KB](27)

Abstract:
To improve the damaging effect of a near-field underwater explosion caused by a torpedo on a submarine, the whipping response law of a submarine structure under an explosive load is analyzed. In this study, based on the energy superposition relationship, the explosive load can be divided into three stages: shock wave stage load, bubble pulsating load, and bubble low-pressure load; these can be arranged according to the explosive levels. The particle-spring system is established to analyze the energy superposition between each load stage and submarine structure vibrations. The submarine whipping response based on different energy constructions is simulated based on load disassembly. The simulation results are in good agreement with the sea trial data, indicating that the particle-spring system has significant advantages in a qualitative analysis of the submarine energy superposition owing to the torpedo near-field underwater explosives. The proposed method can be used as a theoretical reference for analyzing the damaging effect of a submarine structure whipping response of near-field underwater explosions caused by a torpedo

Optimization Design of Interior Trajectory Parameters of Fully-Immersed Artillery

GUO Ying-hua, LI Rui-jing, LIU Wei, DONG Yan-cheng

2021, 29(5): 616-620. doi: 10.11993/j.issn.2096-3920.2021.05.015

[Abstract](36) [PDF 525KB](20)

Abstract:
The interior trajectory optimization design of underwater artillery has become an active topic in underwater attack and defense research owing to the increasing threat to underwater security. The launching process of artillery in water is more complicated than that in the air environment, especially regarding small-caliber artillery in the presence of a variable burning rate propellant. In this study, the optimization design of internal ballistic parameters is conducted using a multi-island genetic algorithm, based on the classical interior ballistic model, to investigate the launching process of fully immersed artillery. Some parameters such as the insensitive propellant, work of a projectile on the water column in a barrel, water resistance of the muzzle, and the influence of water depth are considered to establish the interior ballistic equations. The loading and propellant parameters, such as chamber volume, projectile travel length, propellant web size, insensitive depth, surface burning rate coefficient correction, and mass of charge, are set to achieve the maximum bore pressure and muzzle velocity. Engineering analysis of the optimization results shows that the proposed method can quickly achieve reasonable parameter indicators to greatly reduce the workload of interior trajectory design

General, Serial, and Combinatorial Designs and Its Application in the Exercise Section of Light Torpedo

XIAO Ying, HAO Xiao-zhe, ZHA Li, ZHAO Xiao-wei, ZHANG Cun-xin

2021, 29(5): 621-627. doi: 10.11993/j.issn.2096-3920.2021.05.016

[Abstract](32) [PDF 416KB](24)

Abstract:
As a standardized design method, general, serial, and combinatorial designs have been widely used in all aspects of industrial design, particularly in the development of new products. The exercise section of torpedoes can be completely interchanged with the warshot section. It has independent functions and structures and has the innate conditions suitable for general, serial, and combinatorial designs. Consequently, it has always been the pilot part of the general, serial, and modular designs in the torpedo industry. In this study, the concept and design methods of generalization, serialization, and combination are introduced. The exercise section of a light torpedo is taken as an example for discussing the application of design methods such as eigen generalization, redundancy generalization, variable generalization, and numerical serialization in the general, serial, and combinatorial designs of the exercise section to provide a reference for its design

Torpedo-Sampling Inspection Issues

LI Wei-min

2021, 29(5): 628-632. doi: 10.11993/j.issn.2096-3920.2021.05.017

[Abstract](36) [PDF 357KB](19)

Abstract:
Affected by the armament order numbers and torpedo quality construction level, torpedo-sampling inspection is still in the exploratory phase. Unified thinking and scientific approaches are not employed in the selection of an acceptable quality level(AQL) and conditions of sampling inspection, thereby restricting further development of torpedo-sampling inspection. In this study on torpedo-sampling inspection, a method for identifying AQL parameters is established on the basis of reliability and test data, a method for determining the conditions of sampling inspection is developed based on reliability and Ｘ2 and U inspection, the torpedo general standard content is improved, evaluation and improvement of the quality management of sampling inspection are performed, and more effective support for torpedo-sampling inspection is provided

2021 Vol. 29, No. 5

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