水下无人系统学报

Review and Prospect of Equipment and Techniques for Unmanned Undersea Vehicle in Foreign Countries

ZHONG Hong-wei

2017, 25(新刊3): 215-225. doi: 10.11993/j.issn.2096-3920.2017.03.001

[Abstract](1171) [PDF 10161KB](1557)

Abstract:
An unmanned undersea vehicle(UUV) has become the research hotspot of navy in many countries. This paper analyzes the development process and planning of some typical types of UUV equipment in the foreign countries, including the USA, Russia, Japan, Republic of Korea, and major European countries. According to a large amount of literature, the major research institutes for UUV development in these countries are listed, the applications and key technical parameters of the typical UUV equipment are introduced, the foreign development status of the UUV technologies of energy, autonomous control, navigation, communication, and loading is discussed, and development trend of the UUV is forecast

Application and Prospect of Inverse Synthetic Aperture Imaging Technology for Torpedo′s True/False Target Identification

HE Xin-yi, GAO He, LU Jun, CHENG Shan-zheng

2017, 25(新刊3): 226-230. doi: 10.11993/j.issn.2096-3920.2017.03.002

[Abstract](1084) [PDF 5102KB](352)

Abstract:
Aiming at the application of inverse synthetic aperture imaging technology to torpedo′s true/false target iden-tification, the undersea acoustic countermeasure environment for torpedo operation, the imaging mechanism of inverse synthetic aperture, and some correlation factors with torpedo′s true/false target identification are analyzed, including resolution, range walk, Doppler walk, speed of torpedo, and acoustic image recognition. The further research topics on application of inverse synthetic aperture imaging technology to torpedo′s true/false target identification are discussed. This study may provide a reference for the engineering application of a torpedo.

Leader-Followers Formation Control of a Group of Biomimetic Robotic Fishes Based on Event-Triggered Strategy

ZHANG Shou-xu, WANG Bao-feng, YAN Wei-sheng

2017, 25(新刊3): 231-236. doi: 10.11993/j.issn.2096-3920.2017.03.003

[Abstract](1250) [PDF 4632KB](374)

Abstract:
For leader-followers formation control of a group of biomimetic robotic fishes, a dynamical equation of the biomimetic robotic fishes is built based on the Euler-Lagrange equation. An event-triggered control strategy is proposed for the formation of robotic fishes system with one leader and multiple followers. With the introduction of a general time triggering function, formation can be achieved without continuous communication. Since global information about the multiple robotic fishes system is not required, and the system only needs to update the communication and control input at triggering moment, thus energy consumption is reduced, which facilitates the applicability of the proposed control method. Numerical simulation verifies the effectiveness and efficiency of the method

Path Planning Method for Multi-AUVs Patrol in Restricted Multizone Area

YAN Zhe-ping, HE Jing-wen, LI Juan

2017, 25(新刊3): 237-242. doi: 10.11993/j.issn.2096-3920.2017.03.004

[Abstract](1129) [PDF 5521KB](329)

Abstract:
Conventional particle swarm optimization(PSO) may generate infeasible path due to lack of constraints during the particle swarm updating process when it is applied to cooperative path planning for autonomous undersea vehicle(AUV) in complex environment. In this paper, a cooperative path planning optimization method for multi-AUVs in complex environments is proposed. This method combines the predictive control with the particle swarm optimization by embedding the two-step prediction into the particle updating process, and the new particles are tested to avoid formation of infeasible particles. Moreover, the environment is modeled based on the grid method, and the coverage information and uncertainty of the environment are stored in the vector grid. Simulation is conducted to verify the improved algorithm in island monitoring scenario. The results show that the proposed algorithm achieves multi-AUV patrol path planning for complex environment, and different patrol frequency for the regions with different nature to increase the patrol efficiency

Structure Optimization Design for Underwater Glider with Blended-Wing-Body Based on Pareto Optimal Solution

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

2017, 25(新刊3): 243-249. doi: 10.11993/j.issn.2096-3920.2017.03.005

[Abstract](1333) [PDF 6018KB](334)

Abstract:
Multi-objective optimization of underwater glider with blended-wing-body(BWB) is carried out in terms of the mass and deformation of structure by employing the non-dominated sorting genetic algorithm(NSGA-II).The Maximum equivalent stress and bulking factor are taken as the constraint conditions. Parametric modeling of the BWB underwater glider structure is implemented using UG secondary development and finite element analysis is performed to obtain the structural performance of the underwater glider via the commercial computational structural mechanics software ANSYS. Finally, the Pareto optimal solution set of this multi-objective optimization problem is obtained by several iterations, and the technique for ordering preferences by similarity to ideal solution(TOPSIS) is used to obtain some trade-off optimum design points from Pareto fronts. This optimization process may provide a reference for structure optimization design of BWB underwater glider

Numerical Calculation of Additional Mass for Undersea Vehicle

MO Hui-xia, DANG Jian-jun, LUO Kai, HUANG Chuang, HUANG Biao

2017, 25(新刊3): 250-255. doi: 10.11993/j.issn.2096-3920.2017.03.006

[Abstract](1019) [PDF 6134KB](297)

Abstract:
Additional mass force on undersea vehicle is a fluid inertia force due to unsteady motion, which is difficult to obtain from experiment or numerical calculation. In this paper, an unsteady flow field calculation model of an undersea vehicle is presented in the moving coordinates system by making use of the 3D N-S equation and the k-epsilon turbulence model. The proposed model is verified by inertia force solutions of ellipsoid and circular cylinder models. Then, based on the present numerical method, the additional mass of an undersea vehicle is calculated. Simulation results show that the relative errors of the obtained additional mass are less than 10%. This numerical calculation method of additional mass may be helpful to the overall design and hydrodynamic calculation of an undersea vehicle

Statistical Modeling of Submarine Target Strength Based on Distribution Function

SUN Nai-wei, LI Jian-chen, WAN Ya-min

2017, 25(新刊3): 256-261. doi: 10.11993/j.issn.2096-3920.2017.03.007

[Abstract](1135) [PDF 5125KB](348)

Abstract:
Statistical modeling of benchmark submarine target strength(TS) is performed to cover the shortage of deterministic forecast model. A TS density function model is established by Parzen window estimation. Then to get an unified and succinct expression of the density function model, typical distribution function models are used for optimal fitting of TS estimation. Ultimately an improved χ² distribution model with three parameters is established. Errors comparison indicates that this improved χ²-distribution model can describe the submarine TS reasonably. This study may provide a reference for submarine target simulation

Experimental Study on Operating Range of Correlation Type Photoelectric Sensor in Simulative Ocean Environment

ZHAO Chao-wen, DUAN Jie, LI Hui

2017, 25(新刊3): 262-266. doi: 10.11993/j.issn.2096-3920.2017.03.008

[Abstract](650) [PDF 5648KB](318)

Abstract:
Correlation type photoelectric sensor has been widely applied to underwater special equipment, however few experimental researches on its performance have been conducted. In this study, current applications of the ergonomic sensor to underwater special equipment were analyzed, and a test system composed of transmitter module, receiving module and simulative ocean environment pool was constructed according to the application condition of the photoelectric sensor in ocean environment. Test results were analyzed, and the boundary conditions of the operating ranges of two kinds of mainstream photoelectric sensors, i.e., blue-green laser type and infrared type, were obtained in simulative ocean environment. And the working performances of these two kinds of photoelectric sensors in simulative ocean environment were compared. This study may provide a reference for type selection of photoelectric sensors for underwater equipment

Computation of Torpedo Shooting Parameter for Target with Predictable Trajectory

LI Chang-wen, CHU Lei, MAO Jun-chao

2017, 25(新刊3): 267-271. doi: 10.11993/j.issn.2096-3920.2017.03.009

[Abstract](681) [PDF 4783KB](261)

Abstract:
To compute torpedo shooting parameters for a straight running target with non-constant velocity, a general method for computing torpedo shooting parameter for a target with predictable trajectory is presented. For easy understanding and application, the torpedo trajectory is expressed in form of subsection increment, and a computation model of shooting parameter is established. Compared with the method for shooting a target with constant velocity, the proposed method needs to solve a system of nonlinear equations with two unknowns. For an ideal acoustic homing target, the numerical solution of a differential equation is used to compute the target state, and Newton iteration is adopted to compute the numerical solution of the system of binary equations. Numerical experiment indicates that this method can compute shooting parameter rapidly and accurately

An Evaluation Method for Damaging Efficiency of Blasting Torpedo Warhead to Warship

SHAO Jian-jun

2017, 25(新刊3): 272-277. doi: 10.11993/j.issn.2096-3920.2017.03.010

[Abstract](808) [PDF 6421KB](376)

Abstract:
The evaluation of damaging efficiency of torpedo warhead has direct influence on judgment of battlefield situation. In this paper, an evaluation method for damaging efficiency of blasting torpedo warhead is proposed, a corresponding mathematical model is established, and a quantitative method of damage indexes as well as evaluation steps is introduced. The relative weight for the bottom index of the damaging efficiency index system of blasting torpedo warhead to warship is given based on analytical hierarchy process and experts inquiry, and the comprehensive damage evaluation value is hence calculated. The gray evaluation theory is employed to calculate and judge the damage degree of blasting torpedo warhead to specific warship target, and the damage degree to warship can be evaluated according to the gray degree value. The proposed method may provide a reference for rapid evaluation of damaging efficiency of blasting torpedo warhead in sea battle

A Shaped Charge Warhead with Two Spherical Combined Liners for Torpedo

ZHOU Fang-yi, HUANG Xue-feng, ZHAN Fa-min, JIANG Tao

2017, 25(新刊3): 278-281. doi: 10.11993/j.issn.2096-3920.2017.03.011

[Abstract](1078) [PDF 5087KB](270)

Abstract:
With the development of protection technology, the anti-explosion and anti-shock ability of modern ship has been improved increasingly. However, the conventional shaped charge torpedo warhead with common liner is difficult to damage modern ship fatally. Therefore it is necessary to improve the power of torpedo warhead for damaging enemy ships. In this paper, a kind of shaped charge warhead with two spherical combined liners is proposed based on the shaped charge warhead with tapered and spherical combined liners. The structure of warhead is designed, its working mechanism is analyzed, and numerical simulation is performed with the finite element analysis software ANSYS/LS-DYNA. The stress contour of a cylindrical shell target with embedded water layer in its penetration zone is obtained. Simulation result shows that the warhead with two spherical combined liners can provide moving space for the latter explosively formed projectile(EFP) by making use of the former shaped charge jet, which leads to higher destructive effect on target than that of shaped charge warhead with tapered and spherical combined liners. This research may provide a reference for design of new high-powered torpedo warheads

Discussion on Drop Test of Undersea Weapons

HUANG Feng-jun, SU Xiao-lu

2017, 25(新刊3): 282-287. doi: 10.11993/j.issn.2096-3920.2017.03.012

[Abstract](1224) [PDF 6219KB](345)

Abstract:
Drop test is necessary for undersea weapons before approval. At present, there is no uniform standard or specification for drop test of undersea weapons in China, so the drop test has to accord with the testing experiences of initiating explosive devices, warheads or other weapons, and consider the requirements for certain undersea weapon. As a result, the prototype state, sample number, as well as simulation and settings of experimental conditions, are quite different. This paper reviews relevant national and international standards, considers the specific drop test processes of various undersea weapons, and presents the test principles, methods or requirements for prototype state, drop surface, drop direction, sample number, drop height, and pretreatment, in order to fully simulate and reflect the circumstances and events in applications of the equipment, and to provide a reference for carrying out undersea weapon drop test

Reliability Evaluation Method for Single Equipment

YANG Li-jian, ZHAO Min, LI Qiang

2017, 25(新刊3): 288-292. doi: 10.11993/j.issn.2096-3920.2017.03.013

[Abstract](1098) [PDF 4414KB](332)

Abstract:
Facing the current status that the development time of special support equipment of an undersea vehicle, the fund, the number of prototypes, and the test data are all insufficient for supporting reliability evaluation of the equipment, a reliability evaluation method for single equipment is proposed. On the basis of analyzing the data, which are available for evaluation from the development process of the equipment, it is suggested that the reliability prediction data and the data of similar equipment be taken as the priori data for the reliability evaluation. And the priori moment method is employed to determines the values of the super-parameters a and b in the conjugate priori distribution Ga(a, b) of failure rate. Then, the total equivalent test time and failure number of the equipment are determined for reliability evaluation. Finally, an example of single equipment data is analyzed to verify the feasibility and effectiveness of the proposed method

A Working Reliability Assessment Method for Electric Power Torpedo in Sea Trial

ZHU Wen-zhen, WANG Song-lin, WANG Hao

2017, 25(新刊3): 293-296. doi: 10.11993/j.issn.2096-3920.2017.03.014

[Abstract](1266) [PDF 3410KB](343)

Abstract:
Assessing working reliability of an electric power torpedo only by conventional reliability assessment method is not satisfactory because of the limitation that the primary power battery samples for sea trial are insufficient. This paper analyzes the reliability structure of an electric power torpedo, designs a test scheme of whole torpedo working reliability, and proposes a working reliability an assessment method for whole torpedo in sea trial. Practical example shows that this method is simple and applicable to make accurate working reliability assessment of an electric power torpedo at high confidence level

2017 Vol. 25, No. 新刊3

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