水下无人系统学报

Development Status and Trend of Energy and Power Technology for Underwater Attack and Defensive Weapon

SHI Xiao-feng, DANG Jian-jun, LIANG Yue, HU Li-min, LU Jun, QIAO Hong

2021, 29(6): 634-647. doi: 10.11993/j.issn.2096-3920.2021.06.001

[Abstract](451) [PDF 3530KB](449)

Abstract:
As the heart of underwater attack and defensive weapons, energy and power systems have a significant impact on mission scope and operational effectiveness. In this study, the requirements of underwater attack and defensive weapons on energy and power systems are analyzed. The development progress of energy and power technology is summarized with emphasis on the torpedo and unmanned undersea vehicle(UUV). The technical expertise of the USA, Russia, Japan, and European countries is introduced. Finally, the trends of the energy and power technologies are discussed in terms of thermal propulsion energy, electrical propulsion energy, thermal engines, and electrical motors. In general, modern underwater attack and defensive warfare involve unmanned and systematized operations, which require a long cruise range, wide speed range, and large diving depth of underwater weapons. Accordingly, energy and power technologies are being developed with an emphasis on high energy density and high power density

Investigation of Organic Rankine Cycle for Underwater Power System

QIN Kan, ZHANG Jia-nan, LUO Kai, DANG Jian-jun

2021, 29(6): 648-658. doi: 10.11993/j.issn.2096-3920.2021.06.002

[Abstract](238) [PDF 854KB](122)

Abstract:
The closed steam Rankine cycle is typically employed as a power system for unmanned undersea vehicles, but with low system efficiency. In this paper, a closed-organic Rankine cycle is proposed as an alternative, where the required output power is on the order of 10 kW. The working conditions and associated sizing constraints for a power cycle operating in underwater environments are detailed. The small-scale axial turbine is specifically designed for different operating conditions and incorporated into the thermodynamic model of the system. Using the established thermodynamic model for turbine and heat exchangers, various organic fluids are scrutinized to maximize system efficiency and to ensure the sizing constraint encountered in an underwater environment. Numerical results show that the high-temperature dry fluid with trans-critical cycles can significantly enhance the system efficiency. System efficiencies of 24.38% and 22.29% are obtained using cyclohexane and toluene, respectively, while the sizing constraints are also satisfied. This corresponds to an increase of 6.77%~8.86% in terms of system efficiency compared to conventional steam Rankine cycles. This work provides insights into the potential applications of the organic Rankine cycle for undersea vehicles

Optimization for Design of SOFC and Helium Xenon Brayton Double-Closed Cycle Combined Power System Based on Metal Fuel

WANG Jia-bin, XU Hu, DONG Ping, GUO Zhao-yuan, ZHENG Qun

2021, 29(6): 659-666. doi: 10.11993/j.issn.2096-3920.2021.06.003

[Abstract](206) [PDF 606KB](99)

Abstract:
To improve the thermal efficiency and duration of an air-independent propulsion power system, a double-closed cycle combined power system is proposed, which is based on the aluminum–water reaction and consists of a closed helium-xenon Brayton cycle and a closed solid oxide fuel cell(SOFC) system. A mathematical model of the system is established, and the output power is fixed at 100 kW. By analyzing the sensitivity influence of the main parameters of the system, it is found that the working temperature and pressure of the SOFC and the compressor pressure ratio of the Brayton cycle have a certain promotion effect on the output power of the system. The research found that increasing the working temperature and pressure of the SOFC increases the thermal efficiency and power sharing ratio of the SOFC system, and also influences the same parameters of the Brayton system. The research also found that increasing the pressure ratio increases the power sharing ratio of the Brayton cycle, increases the thermal efficiency of the SOFC system first and then decreases it, and the thermal efficiency peaks through variations in the compressor ratio. After optimization of the genetic algorithm, the thermal efficiency of the double-closed cycle combined power system is 2.53% higher than that of the prototype design, and the exergy efficiency is 2.55% higher than that of the prototype design. The thermal efficiency of the system is effectively improved.

Current State and Development Trend of Non-Cryogenic Green Hydrogen Peroxide Power Technology

SHAN Ji-hong, WANG Xiao-dong, ZHANG Tao

2021, 29(6): 667-673. doi: 10.11993/j.issn.2096-3920.2021.06.004

[Abstract](247) [PDF 1069KB](87)

Abstract:
Hydrogen peroxide is a typical non-cryogenic green propellant. This paper outlines the intrinsic characteristics of hydrogen peroxide and the characteristics of its power technology for the mission requirements of equipment power nontoxicity, multi-tasking, and high efficiency, analyzes the current technical status and development trend of hydrogen peroxide power technology in Europe and America, and summarizes the development of hydrogen peroxide power technology in China since the “10th Five-Year Plan”. Combined with the advanced aerospace combined power, new solid-liquid hybrid power, reusable liquid-liquid rocket power, and other emerging technology development directions, this paper presents a breakthrough in the research of advanced power of hydrogen peroxide, and expounds the progress and existing problems of key hydrogen peroxide power technologies such as catalytic decomposition and gelation

Start-up Technology of Lithium/Sulfur Hexafluoride Heat Source

LI Wei-wei, MA Wei-feng, HAN Zhi-ya, ZHANG Qiang, ZHU Qiang, FU Ying-jie

2021, 29(6): 674-679. doi: 10.11993/j.issn.2096-3920.2021.06.005

[Abstract](227) [PDF 415KB](108)

Abstract:
The start-up technology of a lithium/sulfur hexafluoride heat source is one of the key technologies restricting the application of closed-cycle power systems in unmanned undersea vehicles. According to the characteristics of the lithium/sulfur hexafluoride start-up process, the basic composition of the start-up reagent is determined, the small-size start-up reagent sample is prepared, and the ignition performance test of the start-up reagent and the fast start-up experiment of the small-power boiler reactor are carried out. The test results show that the heat released by the start-up reagent liquefied lithium metal in a few seconds and the lithium liquid temperature exceeded 400℃. Reasonable control of the entry time sequence and flow matching mode of the oxidant and cooling water after ignition can realize continuous and stable operation of the boiler reactor.

Architecture of Underwater Semi-closed Cycle Power System Based on Exhaust Booster

GUO Qing, LUO Kai, DANG Jian-jun, QIN Kan, CHEN Meng

2021, 29(6): 680-689. doi: 10.11993/j.issn.2096-3920.2021.06.006

[Abstract](191) [PDF 950KB](100)

Abstract:
Two semi-closed-cycle power system configuration schemes are presented in this paper to promote the depth adaptability of underwater turbine power systems. The exhaust gas is first condensed by mixing with the cooling water, and then the gas-liquid mixture is separated and pressurized using a single-phase pump; this is the first scheme (separa-tion-pressurization scheme). In the second scheme(mixture pressurization scheme), the condensed gas-liquid mixture is pressurized directly by multiphase pumps. Theoretical models for an underwater turbine open-cycle power system and compression part of a semi-closed system are established, and the underwater turbine open-cycle power system model is verified using the computational fluid dynamics method. A performance analysis is conducted, and the results show a significant reduction in the combustion chamber pressure and gas consumption in the semi-closed systems under depth water conditions. At a depth of 600 m, the gas consumption in semi-closed systems is approximately 60% of that of the open system. The operating parameters of the semi-closed systems at a depth of 1 000 m are equivalent to those of the open system at a depth of 200~300 m. Compression efficiency has a direct impact on the system operation. A higher compression efficiency contributes to improving system performance. The proposed two semi-closed systems can effectively improve the depth adaptability of the power system, but their applicability needs to be further discussed according to the operating conditions and component performance.

Nonlinear Dynamic Characteristics Analysis of Torpedo Turbine Rotor-Rolling Bearing System

SONG Wen, YANG Cheng-shi, CHEN Zhi-wei, SUN Yan, REN Xin, LI Gang, CHAI Xiao-shuai

2021, 29(6): 690-694. doi: 10.11993/j.issn.2096-3920.2021.06.007

[Abstract](210) [PDF 837KB](70)

Abstract:
To investigate the dynamic response of a torpedo turbine rotor, a dynamic model of a cantilever rotor-rolling bearing system is established, and the effect of the radial clearance of the bearing, nonlinear Hertz contact stiffness, and unbalance of the rotor are considered. The numerical simulation of the dynamic model of the system is carried out based on the variable step-size Runge-Kutta method. The maximum Lyapunov exponential spectra of the two-parameter plane are calculated, and the distribution of periodic and aperiodic motions of the rotor system with the change in the two parameters is obtained. The time-domain, frequency-domain, and periodic characteristics of the system under specific parameters are also studied. The analysis results show that the minimum speed in the chaotic region decreases with an increase in the bearing radial clearance. This study provides a useful reference for the design of torpedo-turbine systems.

Analysis of Structural Integrity for the Hydro-reactive Metal Fuel Motor Grainl

WANG Zhi-long, HAN Xin-bo, QIAO Hong, YIN Shao-ping, HAN Ai, LEI Ming

2021, 29(6): 695-701. doi: 10.11993/j.issn.2096-3920.2021.06.008

[Abstract](245) [PDF 1084KB](74)

Abstract:
To study the structural integrity of a high-inclusion ratio grainl for a torpedo hydro-reactive metal fuel motor under local limit conditions, the mechanical properties of the grainl sample are tested, and the mechanical parameters are obtained. The numerical analysis model for the grainl sample is established using finite element software, and the simulation results are compared with the test results, which verified the rationality of the established constitutive model of grainl. The structural integrity of the hydro-reactive metal fuel motor grainl is analyzed using the constitutive model, and the force displacement curve, stress distribution, and displacement contour of the grainl are obtained. The simulation results indicate that the grainl is not damaged under typical working conditions, and the radial and axial deformation of the grainl can meet the requirements of the structure for a hydro-reactive motor.

Review of Exhaust Disposal Technologies for AIP Power System of Underwater Equipment

LI Tian-hui, LI Xin-dian, LI Hong-xiang, HUANG Run-wu, WANG Ao, LIU Qiang

2021, 29(6): 702-708. doi: 10.11993/j.issn.2096-3920.2021.06.009

[Abstract](251) [PDF 706KB](89)

Abstract:
The air-independent propulsion(AIP) power system of underwater equipment is an important research field that concerns new technologies and concepts for modern naval equipment. Exhaust disposal technology for underwater equipment has become an important measure index because of the continuous upgradation of concealing ability, submersible depth, and endurance. Exhaust disposal technologies for AIP power systems of four types of conventional underwater equipment, such as chemical adsorption, seawater washing, direct dissolving discharge, and liquid/solidification storage methods, are introduced, and the key technologies as well as their development are discussed. Combined with representative AIP submarines, the advantages and disadvantages of four types of exhaust disposal technologies and their application scope are analyzed. This study may provide guidance for the rational selection of exhaust disposal technology for underwater equipment.

Study on Wear Behavior and Mechanism of Two Friction Pairs in Water Medium

CAO Si-long, WANG Ling-qian, XU Wei-qi, ZHOU Jian-song

2021, 29(6): 709-715. doi: 10.11993/j.issn.2096-3920.2021.06.010

[Abstract](182) [PDF 2219KB](59)

Abstract:
In view of the friction and wear problems of key components of underwater weapons, research on friction pair materials suitable for water media and their tribological properties is carried out. Co-based alloy coatings are prepared by laser cladding technology. The tribological behavior of Co-based alloy coatings and Co-based alloy-PEF composite coatings sliding against two kinds of alloys in water is studied and compared with that of a 38CrMoAl-tin bronze friction pair. The results show that the 38CrMoAl-tin bronze friction pair has the highest friction coefficient and wear rate in water, with values of 0.420 and 1.503×10^–5 mm³/N·m, respectively. The wear mechanism mainly involves severe adhesive wear and abrasive wear. The Co-based alloy coating exhibits high microhardness and resistance to plastic deformation. When the Co-based alloy coating slides against GH2130 and GH4169, the friction coefficients are 0.209 and 0.306, while the wear rates are 2.321×10^–6 mm³/N·m and 4.283×10^–6 mm³/N·m, respectively. The wear mechanism mainly involves abrasive wear. The friction coefficient of the friction pair, Co-based alloy-PEF composite coating and GH2130, is 0.079, and the wear rate is 1.257×10^–8mm³/N·m, which shows the best friction and wear performance among the four friction pairs.

Research on Key Technologies of Undersea Vehicle Multi-Motor Propulsion System

CHANG Wen, WEI Hai-feng, ZHANG Yi, LI Yuan-jiang, WANG Wei-ran, LIU Wei-ting

2021, 29(6): 716-724. doi: 10.11993/j.issn.2096-3920.2021.06.011

[Abstract](235) [PDF 406KB](110)

Abstract:
The body balance of an underwater vehicle under complex ocean current interference is of great significance for subsequent navigation and path planning. Under nonlinear, time-varying, and coupled flow disturbances, there are three key technical difficulties in the multi-motor propulsion system of undersea vehicles that have become the current research focus: coordinated distribution of multi-motor thrust with the lowest total energy consumption; multi-motor cooperative drive with high dynamic and robustness; and fault diagnosis and fault-tolerant control of multi-motor cooperative drive. In this regard, this paper summarizes the research status of each difficult problem and elaborates on the current typical control strategy. Finally, the future development trend of the undersea vehicle multi-motor propulsion system is summarized from two perspectives: propulsion motor selection and multi-motor propulsion system topology.

Thermal Simulation and Experiment of Small UUV Battery Pack

SHENG Zhao-hua, LIU Ya-bing, YANG Jun

2021, 29(6): 725-732. doi: 10.11993/j.issn.2096-3920.2021.06.012

[Abstract](177) [PDF 1778KB](101)

Abstract:
Small unmanned undersea vehicles(UUVs) generally use 18650 lithium-ion battery packs, whose thermal characteristics directly affect the service performance and thermal safety of the UUVs. To design a heat dissipation system and develop a safety strategy for this battery pack, it is crucial to study its heat generation characteristics. In this study, an equivalent circuit-thermal coupled model of the cylindrical lithium-ion battery is established, and the equivalent circuit parameters and thermal parameters of the 18650 battery are identified. Further, a thermal simulation and experiment are performed on a small UUV battery pack, and the simulation results are in good agreement with the experimental results; thus, the validity of the equivalent circuit-thermal coupled model is proved. This study provides a technical reference for the thermal management of battery packs of undersea vehicles.

Fault Diagnosis Method of PMSM Inter Turn Short Circuit Based on Deep Reinforcement Learning

LI Fang-li, LIU Jie, WANG Yan-bo, WEI Hai-feng, LI Yuan-jiang

2021, 29(6): 733-738. doi: 10.11993/j.issn.2096-3920.2021.06.013

[Abstract](170) [PDF 417KB](74)

Abstract:
Permanent magnet synchronous motors(PMSMs) have been widely used in the field of underwater navigation and propulsion due to their advantages of strong stability, low loss, high efficiency, small size, and wide speed range. In this study, the deep Q network(DQN) algorithm in the deep reinforcement learning method is used to diagnose the inter turn short circuit fault of the PMSM. First, Maxwell software is used to establish the PMSM model and analyze the relevant changes in the three-phase domain current, minimum magnetic density, and electromagnetic torque under different states, and the five dimensional characteristic components are collected to construct the characteristic data set and form the motor fault samples. Then, the DQN algorithm is used to train and analyze the data of the sample and test sets. By adjusting the number of neuron nodes, iteration, learning rate, and number of experience playbacks, the accuracy rate obtained of the algorithm for PMSM fault diagnosis is as high as 99.61%, which verifies the effectiveness of the algorithm in the diagnosis of PMSM faults.

Phase Current Phase Correction of PMSM in Low Speed Section Based on Hall Sensor

CHEN Ze-ping, SHI Yan-xia, WEI Hai-feng, MIAO Kui-xing

2021, 29(6): 739-746. doi: 10.11993/j.issn.2096-3920.2021.06.014

[Abstract](206) [PDF 674KB](58)

Abstract:
The three-phase current of a permanent magnet synchronous motor(PMSM) in an undersea vehicle propulsion system lags after reconfiguration due to the software delay within the system. To address this issue, the angles of the three-phase current synthesis vector and the rotor position estimation angle during the low-speed operation of the PMSM are analyzed in principle, and a method is proposed to fuse the data of the two angles to obtain the optimal estimated angle to correct the phase current phase. First, the Kalman filtering of the three-phase current is performed during the low-speed operation of the motor; subsequently, the angle of the synthesized vector is calculated using the three-phase current amplitude, and the position bias of the Hall sensor itself is reduced by using the average speed compensation method; next, the rotor position is estimated using the rotor position estimation method; finally, the optimal angle is obtained by fusing the synthetic vector angle and the rotor angle and correcting the three-phase current phase to reconstruct the three-phase stator current value. The experimental results show that the phase correction method based on the Hall sensor can enhance the interference resistance of the conventional PMSM control system, reducing the difference between the reconstructed three-phase current values and the real values.

Influence of Route Planning of Underwater Wire-guided Vehicle on Reliability of Wire Deployment

TANG Wei-jiang, LIU Wei-dong, GAO Zhuo, ZHANG Kai

2021, 29(6): 747-753. doi: 10.11993/j.issn.2096-3920.2021.06.015

[Abstract](202) [PDF 431KB](73)

Abstract:
Due to the limitation of the wire that is deployed out of the vehicle, the underwater wire-guided vehicle has the risk of wire breakage at the intersection of the route during the vehicle navigation process. In this paper, the boundary conditions of wire deployment with tension constraint and variable wire length on both sides are proposed, and a dynamic model of wire deployment is established using the lumped-mass method. The influence of route planning on the reliability of the wire deployment is analyzed. The underwater shapes of wires that have been deployed are simulated under the conditions of different gyration running times and deployment resistances. A method to reduce the probability of wire breakage at the intersection of the vehicle route is proposed, in which the gyration running time should be longer than the wire sinking time corresponding to the flow field influence area of the underwater vehicle. The method is proven to be effective through the gyration running experiments of underwater vehicles, and setting a reasonable gyration running time can reduce the probability of wire breakage at the intersection.

Magnetic Field Measurement Method Based on Remotely Operated Vehicle

CAO Jun-hong, LIU Fei

2021, 29(6): 754-759. doi: 10.11993/j.issn.2096-3920.2021.06.016

[Abstract](196) [PDF 3033KB](159)

Abstract:
The existing magnetic field measurement method of a ship has the problems of low measurement flexibility and poor maneuverability. To address these problems, this study proposes a method for measuring the magnetic field of ships based on an underwater remotely operated vehicle (ROV). In this study, an overall integration scheme of the ROV magnetic measurement system is designed. That is, the ROV module, magnetic measurement module, and acoustic positioning module are integrated into one system. The magnetic measurement module uses two magnetic field sensors to measure simultaneously for improved measurement accuracy. In order to achieve precise positioning of the ROV, a multi-point underwater acoustic positioning method is adopted. The software of the ROV magnetic measurement system is designed and debugged, including receiving magnetic field information and acoustic information, calculating the ROV position, and storing measurement data. Finally, an iron platform with electromagnetic coils is used to simulate a surface ship to test the designed ROV magnetism measurement system in water. Before and after the electromagnetic coil on the platform is energized, the characteristics of the total magnetic field of the platform’s keel obtained via the measurement had the same changing trend. The measurement error of the Z-component magnetic field measurement value of the electromagnetic coil relative to the theoretical value is 5.66%, which indicates that the ROV magnetic field measurement system proposed in this paper has high reliability in the magnetic field measurement of the surface ship.

Effect of Spinning Motion on Cavitation and Trajectory Characteristics of Projectile during Water Entry

HE Si-che, LUO Kai, HUANG Chuang, GU Jian-xiao, REN Xin

2021, 29(6): 760-768. doi: 10.11993/j.issn.2096-3920.2021.06.017

[Abstract](183) [PDF 1304KB](71)

Abstract:
A tailless supercavity projectile is launched by ship-borne artillery to kill underwater targets, such as torpedoes and frogmen, and the projectile spins at a high speed to maintain a stable trajectory in air. To study the effects of spinning on cavitation and trajectory characteristics of the projectile during water entry, a numerical model of the projectile flow field when entering water at a small angle and high spinning speed is established using the multiphase flow model and the overlapping grid technology. The supercavitation flow field and hydrodynamic characteristics of the spinning projectile and projectile without spinning motion entering water at different attitudes are calculated. The results show that the numerical models are in good agreement with the experimental results for the water entry load, rolling moment, and cavitation. The spinning motion promotes the occurrence of natural cavitation at the initial stage of water entry, the supercavity is asymmetric, and the spinning motion has no significant effect on the center of mass motion of the projectile during the water entry stage; the spinning motion restricts the pitch angle of the projectile, and is helpful in enhancing the horizontal motion stability.

Identification of Sweep Jammer Based on Energy-azimuth Feature for Acoustic Homing Torpedo

WANG Dan, YANG Xiang-feng, ZHAO Wei, XIAO Lin

2021, 29(6): 769-774. doi: 10.11993/j.issn.2096-3920.2021.06.018

[Abstract](184) [PDF 412KB](80)

Abstract:
A sweep jammer is one of the main jammers that countermeasures underwater acoustic homing torpedoes during target identification. To improve the identification ability of the sweep jammer for acoustic homing torpedoes, the jamming mechanism of the sweep jammer in target detection is analyzed according to the particular sweep signal in its energy and azimuth feature parameters, which are received by the torpedo. Based on the analysis, a method combining the energy and azimuth features to identify the sweep jammer is proposed, and the energy and azimuth features are extracted through the digital processing of signals received by the torpedo, and jammer identification is performed based on the result of weighted fusion with these two feature parameters. This is an active detection method that overcomes the disadvantage of using a single parameter to identify and increases the reliability of jammer identification with the combined judgment of these two feature parameters. The effectiveness of this method is verified by establishing a model to simulate real signals received by an acoustic homing torpedo.

Low Frequency Coupling Sound Absorption Mechanism and Regulation Law of Underwater Acoustic Coating

WANG Jia-bei, ZHOU Hao

2021, 29(6): 775-781. doi: 10.11993/j.issn.2096-3920.2021.06.019

[Abstract](149) [PDF 1488KB](79)

Abstract:
The underwater acoustic coating has a significant influence on the acoustic stealth performance of underwater vehicles. To enhance the low-frequency sound absorption performance of the underwater acoustic coating, a composite model with a local resonance structure embedded into the cavity-type coating is established based on the finite element method, and its sound absorption performance is studied in the 10-2 000 Hz band. The structural vibration mode of the film quality of the composite model is analyzed using local resonance theory. The sound absorption mechanism of the composite model is analyzed in combination with the vibration displacement contour of the cavity-type coating. In addition, by adjusting the geometric parameters of the model, the law affecting the change in sound absorption performance is obtained. The results show that: 1) the coupling between the cavity-type coating and the local resonance structure can improve the low-frequency sound absorption effect and widen the sound absorption band; 2) the sound absorption mechanism of the composite structure is as follows: the cavity in the lower part deforms to realize the transformation of P-wave to S-wave and the upward vibration of the local resonance structure consumes sound energy, which work together to improve the sound absorption coefficient; 3) the sound absorption peak generated by coupling mainly increases with the increase in the loss factor of the coating, and the frequency of the sound absorption peak mainly moves to a high frequency with an increase in the film area.

2021 Vol. 29, No. 6

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