水下航行器非正常超浅停车问题研究

李厚全; 冯潇涛; 张孝芳; 赵志博

doi:10.11993/j.issn.2096-3920.202112019

水下航行器非正常超浅停车问题研究

doi: 10.11993/j.issn.2096-3920.202112019

1.
海军潜艇学院, 山东青岛, 266199
2.
中国人民解放军92767部队, 山东青岛, 266102
3.
中国人民解放军91049部队, 山东青岛, 266102

详细信息

作者简介:
李厚全(1981-), 男, 博士, 主要研究方向为水下无人航行器及水声信号处理技术

通讯作者:
张孝芳(1981-), 男, 博士, 主要研究方向为水下航行器及武器系统

中图分类号: TJ67; U674.70; TP13
计量
- 文章访问数: 77
- HTML全文浏览量: 19
- PDF下载量: 17
- 被引次数: 0
出版历程
- 收稿日期: 2021-12-26
- 修回日期: 2022-03-22
- 网络出版日期: 2022-07-29

Research on Abnormal Ultra-shallow Shutdown of Undersea Vehicles

1.
Nary Submarine Academy, Qingdao 266199, China
2.
92767^th Unit, The People’s Liberation Army of China, Qingdao 266102, China
3.
91049^th Unit, The People’s Liberation Army of China, Qingdao 266102, China

摘要

摘要: 针对水下航行器在设定深度下航行时, 有时会出现航行深度未达超浅深度而出现非正常超浅停车的问题, 对可能导致水下航行器非正常停车的各种因素进行了分析。采用数值仿真分析了不同航速下流体压力对水下航行器不同位置的影响, 并结合海上试验数据分析了水下航行器非正常停车故障发生时的水动力误差分布规律。数值仿真和海上试验分析表明, 水下航行器航行深度临近最小航行深度时, 航行器前、后端深度传感器所受流体压力存在差异, 且随航速不同而不同, 当航行超过一定航速引起流体压力误差过大, 导致后部的深度传感器所处深度为正常设定深度而前部的深度传感器已处于超浅状态, 此时便会发生非正常停车故障。
- 水下航行器 /
- 深度控制 /
- 超浅停车
Abstract: Concerning the problem of abnormal ultra-shallow shutdown protection, undersea vehicles navigate at a set depth even if they are not navigating at ultra-shallow protection depths. Various factors that may lead to the abnormal shutdown of undersea vehicles are analyzed. The numerical simulation method is used to analyze the effect of fluid pressure on different positions of the underwater vehicle at different speeds. The distribution law of hydrodynamic errors, which are observed when an abnormal shutdown of undersea vehicles occurs, is obtained based on sea trial data. The numerical simulation and the trials indicate that, when the vehicle navigates near the minimum depth, there will be a fluid pressure difference between the front and back depth transducers on the vehicle, which varies with the speed of the vehicle. When the speed of the vehicle exceeds a certain value, the fluid pressure error will be so large that the back depth transducer will indicate a normal depth while the front transducer will indicate an ultra-shallow state, thus resulting in an abnormal shutdown.
- undersea vehicle /
- depth control /
- ultra-shallow shutdown

HTML全文

图 1 水下航行器周边流速图和压强图

Figure 1. Speed of flow and pressure around an undersea vehicle

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图 2 航行状态下水下航行器压强图

Figure 2. Pressure distribution around an undersea vehicle in navigation

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图 3 各航速下深度测量差值散点图

Figure 3. Scatter diagram of depth measurement errors at various traveling speeds

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表 1 不同攻角下深度测量差值

Table 1. Measurement errors of depth at various angles of attack

攻角 /(°)	前深度传感器测量深度/m	后深度传感器测量深度/m	差值/m
0	8.855 2	9.205 1	0.35
−1	8.824 9	9.225 4	0.40
−2	8.814 7	9.260 1	0.45
−3	8.933 8	9.240 7	0.31
−4	8.863 6	9.288 8	0.43

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表 2 不同航深下深度测量差值

Table 2. Measurement errors of depth at various depth

航深/m	前深度传感器测量深度/m	后深度传感器测量深度/m	差值/m
10	8.989 2	9.231 7	0.24
25	23.759 2	24.008 7	0.25
50	48.759 2	49.008 7	0.25
75	73.759 2	74.008 7	0.25
100	98.759 2	99.008 7	0.25

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表 3 不同航速下深度测量差值

Table 3. Measurement errors of depth at various speeds

航速	深度设定值/m	前深度传感器测量深度/m	后深度传感器测量深度/m	差值 /m	平均差值 /m
速度1	20	19.3	19.8	0.5	0.5
	20	19.3	19.8	0.5
	20	19.3	19.8	0.5
速度2	9	7.7	9.0	1.3	1.2
	9	7.7	8.8	1.1
	9	7.7	8.9	1.2
速度3	9	6.6	9.1	2.5	2.3
	9	6.6	8.7	2.1
	9	6.6	8.9	2.3

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表 4 水下航行器深度测量差值试验数据分析

Table 4. Analysis of measurement errors of test data for undersea vehicle depth

航次	深度测量差值的平均值/m
航次	速度1	速度2	速度3
1	0.57	1.17	2.20
2	0.40	0.97	2.00
3	0.87	1.43	2.37
4	0.50	1.03	2.20
5	0.40	1.00	2.00
6	0.53	1.20	2.33
7	0.40	0.77	2.33
8	0.57	1.20	2.37
9	0.47	1.03	2.33
10	0.43	1.33	2.37
11	0.60	1.30	2.47

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表 5 不同航速下深度测量差值统计学计算

Table 5. Statistical computation of measurement errors of depth at various speeds

参数	速度1	速度2	速度3
深度测量差值的平均值/m	0.52	1.13	2.27
深度测量差值的标准偏差	0.13	0.18	0.15
置信区间	(0.44, 0.60)	(1.02, 1.24)	(2.18, 2.36)

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