水下无人系统学报

New Development of Control Technique of Autonomous Underwater Vehicle

GE Hui, XU De-min, XIANG Qin-rui

2007, 15(3): 001-7. doi: 10.11993/j.issn.1673-1948.2007.03.001

[Abstract](3564) [PDF 1424KB](1571)

Abstract:
The autonomous underwater vehicle(AUV) is a complex intelligent electromechanical system to carry out different types of missions in the complex ocean environment. This paper introduces the new progress of the AUV control technique worldwide in recent years, including the modeling based on controller design, modeling and control of thruster, dynamic positioning, vector thrust control, and underactuated control, etc. It is pointed out that a continuous effort should be made to overcome such difficulties in the field of AUV control as uncertainties of modeling and disturbance, insufficient information from sensors, inherent characteristics of underactuated system (e.g. controllability) and its control technique.

Applications of Friction Stir Welding to Naval Weaponry

WANG Yue, WU Shi-Dong

2007, 15(3): 008-14. doi: 10.11993/j.issn.1673-1948.2007.03.002

[Abstract](2265) [PDF 1269KB](1197)

Abstract:
This paper introduces the principle and characteristics of friction stir welding(FSW), the materials and design of shoulder and pin of FSW, the fix of welded workpiece, the application of simulation and modeling techniques, as well as the feasibility of its applications to naval weaponry such as advanced amphibious assault vehicle(AAAV) and ships. The experimental results show that advanced solid phase FSW technology is a very suitable jointing method for ship aluminum alloys such as 5000, 6000 and 7000 series, 2195 aluminum alloy for AAAV armor, hull structural steels(e.g. DH/EH-36, HSLA-65 steel for future aircraft carrier and surface warship), non-magnetic stainless steel of AL-6XN for catamaran, Ni-Al copper alloy for marine propeller, etc. The experimental results of FSW are emphasized, and the important technical issues which need to be further solved are discussed.

Acquirement and Application of Information During Guidance of Active Wake Acoustic Homing Torpedo

DONG Chun-peng, ZHANG Yu-jie, SHI Xiao-long

2007, 15(3): 015-18. doi: 10.11993/j.issn.1673-1948.2007.03.003

[Abstract](2807) [PDF 810KB](1260)

Abstract:
During the process of guidance, active wake acoustic homing torpedo can get the information about target orientation and the relative orientation of the torpedo and target by entering and leaving the wake. Further processing of this information will be beneficial to reducing endurance loss and increasing hit probability via the trajectory optimization, especially to coping with the countermeasures such as evading maneuver target and wake bifurcation by means of trajectory design. An algorithm to obtain and apply the information is proposed and verified by mathematical simulation.

Lateral Sliding Mode Control of a New Type Long Distance Autonomous Underwater Vehicle

YAN Wei-sheng, ZHANG Fu-bin, GAO Jian

2007, 15(3): 019-21. doi: 10.11993/j.issn.1673-1948.2007.03.004

[Abstract](2436) [PDF 748KB](1204)

Abstract:
According to the structure and characteristics of the manipulators for a new type long distance autonomous underwater vehicle(AUV) experimented in Northwestern Polytechnical University, the nonlinear laterally kinematical equations of AUV are established and linearized. Based on these linearized equations and the sliding mode control theory, the low speed and high speed cruise sliding mode controls of the rudder, and the hover sliding mode control of the lateral cross-body thrusters at both bow and stern are designed. The simulation results show that the sliding mode controller adapts to the three control modes, and is robust to parameter uncertainty and non-modelled dynamic mode.

Preconditioned Dual-time Stepping Method and Its Application to Multi-component Flow with Cavitation

CAI Wei-jun, QIAN Jian-ping, YANG Biao, YIN Shao-ping

2007, 15(3): 022-26. doi: 10.11993/j.issn.1673-1948.2007.03.005

[Abstract](1851) [PDF 948KB](1109)

Abstract:
A preconditioned dual-time stepping method is developed for the multi-component flow regimes including the incompressible bulk liquid flow, low Mach number compressible vapor flow and transonic/supersonic mixture flow with cavitations. The governing equations involving liquid-gas phase change and/or gas phase chemical reaction as source terms are discretized with a multi-block structured grid via upwind flux difference scheme with flux limits(Roe-type). Several representative solutions are obtained to demonstrate the feasibility of the presented method.

Integrative Software Environment of Distributed Torpedo Trajectory Visualization Simulation Based on High Level Architecture

CHI Gang, WANG Shu-zong, LI Qing-min

2007, 15(3): 027-30. doi: 10.11993/j.issn.1673-1948.2007.03.006

[Abstract](1936) [PDF 884KB](1125)

Abstract:
For the purpose of improving torpedo trajectory simulation level,this paper introduces the method to associate 3D visualization simulation technology and high level architecture(HLA) distributed simulation standard with traditional torpedo trajectory simulation,and uses the softwares Creator and Vega as assistant tools.It develops the integrative software environment of distributed torpedo trajectory visualization simulation based on HLA by Visual C++.This integrative software environment can improve the man-machine interface of torpedo trajectory simulation,and enhance the visualization level of torpedo trajectory simulation.

Improved Azimuth and Pre-point Guidance Methods for Wire-guidance Torpedo

WANG Xin-yuan

2007, 15(3): 031-33. doi: 10.11993/j.issn.1673-1948.2007.03.007

[Abstract](2223) [PDF 678KB](1173)

Abstract:
The guidance effect of the typical azimuth and pre-point wire-guidance method is unsatisfactory because of the limited guidance principle and calculation precision of target parameter. In this paper, the precision of azimuth guidance is raised by introducing target motion parameter to the azimuth guidance method, and the influence of distance error on guidance is reduced by correcting and adaptively adjusting target distance in pre-point guidance method. The simulation results verify the improvement of wire-guidance precision of the two methods.

Comparative Simulation for Speed-varying Process of Torpedo Flux and Pressure Control Systems

MA Wei-Feng, ZHAO Wei-Bing, PENG Bo, WAN Rong-Hua, NIU Hong-Lei

2007, 15(3): 034-36. doi: 10.11993/j.issn.1673-1948.2007.03.008

[Abstract](2285) [PDF 726KB](1143)

Abstract:
Two simulation models of flux control system and pressure control system in thermal power torpedo are built up via the Simulink toolbox of Matlab based on the working principles and characteristics of the systems. The influences of speed-varying time, depth and time lag on the speed-varying characteristics are investigated. The conclusion is drawn that pressure control system excels flux control system in depth and response characteristics, and dynamic stability during the speed-varying process. This method can also be used for solving the match and stability problems of torpedo system.

A Data Transmission Approach for CAN-bus Experimental Platform of Autonomous Underwater Vehicle

FU Qing-hua, LIU Wei-dong, DING Yi-lin

2007, 15(3): 037-40. doi: 10.11993/j.issn.1673-1948.2007.03.009

[Abstract](2469) [PDF 819KB](1376)

Abstract:
The architecture and functions of the experimental platform for CAN-bus autonomous underwater vehicle(AUV) are introduced.The first-in-first-out(FIFO) data structure and its management method are presented,which effectively avoids data loss or data damage when multi-tasks compete each other to transfer data through same CAN bus transceiver.All the FIFO data management and CAN-bus transceiver programs are compiled in C language,in order that they are easy to be transplanted to the embedded system such as PC-104 or digital signal processor(DSP).The validity of the data transmission approach has been verified on the experimental platform and in practical AUV outfield test.

Simulation Research of Unloading Time of Dummy Torpedo

WANG Gai-di

2007, 15(3): 041-43. doi: 10.11993/j.issn.1673-1948.2007.03.010

[Abstract](2292) [PDF 743KB](1209)

Abstract:
Aiming at the recovery and reuse of a dummy torpedo in torpedo test, this paper discusses the unloading time to ensure the dummy torpedo against getting to the see bottom. By analyzing the parameters about torpedo’s entering water, weight and hydrokinetic parameters, practical simulation conditions are provided. Based on the precondition of ignoring unload impulsion and adaptability of hydrokinetic parameters to torpedo equation at low speed, the uncontrolled trajectory of dummy torpedo is simulated and analyzed. For the given reference sea, two depth curves of unloading and without unloading are calculated and compared. The resistance coefficient is empirically estimated to increase by two times after unloading, hence the unloading time for dummy torpedo not to sinking into the see bottom is eventually gained.

Implementation of Direct Torque Control of Torpedo Asynchronous AC Motor by TMS320F240

LI Hui-zhou, WU Han-song, HOU Chu-lin

2007, 15(3): 044-46. doi: 10.11993/j.issn.1673-1948.2007.03.011

[Abstract](2315) [PDF 760KB](1367)

Abstract:
A direct torque control(DTC) system of torpedo asynchronous alternating current(AC) motor is proposed based on the digital signal processor(DSP) TMS320F240, and the design of the system hardware structure is introduced through the analysis of the mathematical model of torpedo asynchronous AC motor and DTC principle. An experiment for this DSP system is also performed. The experimental results show that the system can implement rapid dynamic response of the motor.

Finite Element Analysis of Rotary Steam- distributing Valves

ZHAO Jin-feng, HU Yu-li, ZHOU Peng

2007, 15(3): 047-50. doi: 10.11993/j.issn.1673-1948.2007.03.012

[Abstract](1740) [PDF 978KB](1078)

Abstract:
Based on the analysis of contact stress between valve body and valve base, the temperature field and stress field of rotary steam-distributing valve for underwater vehicles are simulated by three-dimensional finite element method of thermomechanical coupling under the complicated boundary conditions including displacement, force and heat conduction, and the influences of different valve base materials on the temperature field and stress field are compared. The results show that the biggest stress in the valve body appears at the intake bore where temperature is the highest and strain is the largest;the biggest stress approaching to the allowable value in the valve base is located at the surface of the gas bore;and the strength of the valve base can be largely improved when the new carbon-graphite composite impregnated with silver is adopted as its material.

Finite Element Analysis and Dynamic Simulation of Cymbal Transducer

TIAN Feng-hua, CAI Jun, LV Lin-xia, QIAN Jian-ping

2007, 15(3): 051-54. doi: 10.11993/j.issn.1673-1948.2007.03.013

[Abstract](1856) [PDF 861KB](1131)

Abstract:
The Cymbal transducer was designed with the finite element method and ANSYS. Two potent methods for segmenting fluid elements were presented, and the influences of different endcap sizes on electromechanical coupling coefficient, mechanical factor, nodal displacement and resonance frequency were analyzed by means of ANSYS simulation. Moreover, the Cymbal transducer with optimum size was designed and dynamically analyzed via three vibration modes and resonance frequencies. Therefore, the difficulty in design of the Cymbal transducer due to jump stress and strain on the rotary symmetric face has been solved theoretically.

Feasibility Analysis of Salvo of Acoustic Homing Torpedoes Against Two Targets

CUI Guo-heng

2007, 15(3): 055-58. doi: 10.11993/j.issn.1673-1948.2007.03.014

[Abstract](2128) [PDF 869KB](1279)

Abstract:
In order to raise operational capability of a submarine via salvo of acoustic homing torpedoes, this paper investigates the issue of continuous firing at double targets, analyses the basic requirements of the torpedo application during attack process, and solves such problems as mutual guidance of the homing devices, mutual influence of torpedo explosion, and colliding with each other during torpedo running. Moreover, it proposes some tactics for a submarine to salvo enemy ships at different firing positions based on the analysis of the positions.

Damage Mechanism Analysis of Engine Cam after Torpedo Broaching and Free Running

ZHAO Jin-hong, WANG Qin-juan, YIN Mei-fang

2007, 15(3): 059-61. doi: 10.11993/j.issn.1673-1948.2007.03.015

[Abstract](2351) [PDF 725KB](1165)

Abstract:
The broaching and free running of torpedo might occur in test, which result in the damage of the external-combustion engine cam.This paper analyzes the engine cam damages due to torpedo broaching in lake or sea test and engine free running in stand test on land, and calculates the force and stress on the cam during the free running. When rotational speed of cam is three times higher than the rated one, the contact stress increases rapidly to two times of the normal stress, i.e. 21 617kg/cm2, which obviously exceeds the allowable value (18 000 kg/cm2). The anatomic, matallographic, and crack analyses of the damaged cam caused by free running are conducted, and it is found that the cam crack is due to fatigue under overload. The conclusion is drawn that the deformed cam after free running can no longer be used.

2007 Vol. 15, No. 3

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