水下无人系统学报

Introduction to Development and Applications of Marine Laser Welded Lightweight Sandwich Panel in the US Navy and European Countries

YUE Can-Fu, WU Shi-Dong

2007, 15(4): 001-5. doi: 10.11993/j.issn.1673-1948.2007.04.001

[Abstract](2442) [PDF 1073KB](1301)

Abstract:
The laser welded lightweight sandwich panel ( LASCOR) structure has many advantages , including weight saving ,smaller space , lower noise and vibration , improved fireproofing , enhanced thermal insulation , improved impact resistance , lower manufacturing cost with precise prefabricating method , easy and quick assembling. Utilizing laser welding can reduce welding distortion and increase productivity , as well as improve corrosion resistance of the weld. It has widely been used for deck , bulkhead, elevator door , hangar door ,and jet deflector panel in a naval ship ,deckhouse and platform of an offshore platform , bridge faceplate ,car ,train ,and construction etc. The results obtained in the US Navy and the shipbuilding industry of European countries are summarized in order to provide a reference to Chinese researchers in this field.

Defense Technologies Against Wake Homing Torpedo

YI Hong, HE Chen, CHEN Chun-yu

2007, 15(4): 006-10. doi: 10.11993/j.issn.1673-1948.2007.04.002

[Abstract](3019) [PDF 1051KB](1337)

Abstract:
A long wake with lots of bubbles is fo口ned behind a sailing ship , which provides a target feature of the ship. A wake homing torpedo detects target through wake to severely threaten surface ships. Since there is no effective countermeasure against the torpedo on a surface ship , it is imperative to develop the technology for countering wake homing torpedo. Based on wake features and operational principle of wake homing torpedo , this paper introduces some methods of soft kill , hard kill and non-kill ,such as gas generator , magnetic wake , torpedo net defense( TND) , depth bomb , anti-torpedo torpedo( ATT) , stealth , and evasive maneuver. We summarizes three key points in the defense against wake homing torpedo , including high perfo口nance torpedo alarm system , rapid response acoustic countermeasure system , and multi-functional acoustic countermeasure device , to provide approaches to effectively countering wake homing torpedo.

Underwater Trajectory Design of Rocket-assisted Torpedo

ZHANG Xue-feng, PAN Guang, WANG Peng

2007, 15(4): 011-13. doi: 10.11993/j.issn.1673-1948.2007.04.003

[Abstract](2537) [PDF 776KB](1505)

Abstract:
In order to launch rocket-assisted torpedo with submarine torpedo tube , the general scheme and trajectory plan of the submarine-launched rocket-assisted torpedo carrier were presented , and the underwater trajectory mode of this torpedo inclining to leave water and yawing to elude submarine was designed. A model of the rocket-assisted torpedo carrier with six degrees of freedom was built based on the momentum and momentum moment theorem , the control rule of the underwater trajectory was put forward, and a trajectory simulation with MATLAB/Simulink was conducted. The simulation results show that the general scheme and the trajectory plan of the rocket-assisted torpedo carrier are feasible to meet the design requirements for inclining to leave water and yawing to elude submarine via controlled rudders.

Digital Simulation of Torpedo Turbine

NIE Wei-dong, ZHAO Kuan-ming, SUN Kai-feng, ZHAO Chang-li

2007, 15(4): 014-17. doi: 10.11993/j.issn.1673-1948.2007.04.004

[Abstract](2393) [PDF 896KB](1007)

Abstract:
Torpedo turbine engine has higher performance than piston engine in many aspects. Since higher speed and range is needed for torpedo to play it’ s role in the future combat , turbine engine will be a better choice for heavyweight thermal power torpedo.Digital simulation is an important step for torpedo turbine engine design. This paper investigates the modeling and simulation of unclosed cycle and partial flow two-stage impulse torpedo turbine in design condition and two non-design conditions. The control modes of turbine in non-design conditions are discussed. A simple control method for adjusting the switch nozzle during transition processes is presented. The simulation results show the reliability of the models. The proposed method can be used for designing , validating and optimizing torpedo turbine.

Design of Nonlinear Guidance Law for Torpedo

DING Hao, WANG De-shi, WANG Hui

2007, 15(4): 018-21. doi: 10.11993/j.issn.1673-1948.2007.04.005

[Abstract](2594) [PDF 763KB](1143)

Abstract:
The key for torpedo to implement target pursuit is to design high performance guidance law. Based on equations of relative movements between torpedo and target , some state equations are built and a appropriate evaluation output signal is selected.Then using the H∞ control theory , a nonlinear H∞ guidance law for torpedo and the normalload are obtained by solving HamiltonJacobi inequation. Simulation is performed to verify the above research , and the result shows that the guidance law can help torpedo overtake target in a short time with light normalload. So the guidance law is effective for torpedo pursuit with high robustness. Therefore it can be used in design of guidance law for torpedo and anti-torpedo torpedo.

Model and Algorithm for Attacked Target Optimization in Underwater Multi-targets Tracing System

WANG Bai-he, HUANG Jian-guo, ZHANG Qun-fei

2007, 15(4): 022-25. doi: 10.11993/j.issn.1673-1948.2007.04.006

[Abstract](2087) [PDF 976KB](1265)

Abstract:
Target optimal decision is an important component of the underwater multi-target tracing( MTT) system. Imprecise information of target leads to a fuzzy optimization. The classical methods such as the analytic hierarchy process ( AHP) and the technique of order preference by similarity to ideal solution ( TOPSIS) require high precision and provide unstable result, so they are not applicable to the system of underwater MTT. A model for attacked target optimization in underwater MTT system was established based on gray relation optimal decision( GROD), to resolve the problems of target optimal decision in the process of underwater MTT and a miscarriage of justice of attacked target because of the imprecise information. An example was utilized to explain the application of GROD in underwater MTT system and compare the system effectiveness of AHP and TOPSIS methods.The results show that the effectiveness of GROD is improved by about 15 lJ毛compared with AHP, and about 10% with TOPSIS.The proposed model is simple, intuitive, feasible, and its result is more objective, stable, and effective.

Coning Error Analysis of Strapdown Inertial Navigation System

CHEN Tao, LI Jian-chen, WANG Xin-long

2007, 15(4): 026-30. doi: 10.11993/j.issn.1673-1948.2007.04.007

[Abstract](2010) [PDF 894KB](1118)

Abstract:
Coning motion is a geometric effect of rigid motion , and coning error from coning motion is an essential error source of strapdown inertial navigation system (SINS). The kinematic mechanism of generating coning error indicates that coning error can be reduced through system design and compensatory algorithm , but can not be eliminated. The magnitude of coning error which is affected by the fixing error , gyro’ s quantizing error and frequency band , and so on is deduced based on the analysis of kinematic mechanism of coning error generation. Moreover , the Goodman-Robinson theory of rigid coning motion is introduced , and an effective correction algorithm of coning error is deduced with this theory. Simulation result shows that the effect of coning error on system precision can be reduced via improved hardware precision and software compensation.

Differential Structure Analysis of Mlechanical Position Limiter for Remote Depth Setting Unit of Torpedo

JIN Gao-sheng, ZHAO Chang-han

2007, 15(4): 031-33. doi: 10.11993/j.issn.1673-1948.2007.04.008

[Abstract](2453) [PDF 668KB](1283)

Abstract:
Aiming at the requirement for mechanical limiting position of remote depth setting unit of a torpedo , this paper analyzes the structure and working principle of the mechanical position limiter of transmission gear in the remote depth setting unit.This structure is designed to use worm gear transmission mode. Based on kinematic analysis and mathematically modelling , the movement attitude and tracks of the diagnostic parts are described quantificationally , and the important parameters which affect the limiting position of the diagnostic pa时s are analyzed. The result shows that this structure can meet the requirement for the mechanical limiting position of torpedo setting depth calibration. The research can provide a reference for design and application of similar structures.

Modeling and identifying of Fiber Optic Gyro Random Drift Data Based on Time Series Analysis Method

WANG Xue-ping, LI fun, ZHANG Fu-bin

2007, 15(4): 034-37. doi: 10.11993/j.issn.1673-1948.2007.04.009

[Abstract](1996) [PDF 794KB](859)

Abstract:
In order to effectively and quickly identify the parameters of random drifts (startup, slow and fleet) of fiber optic gyro( FOG) , the random drift of FOG is modeled as a equation of state with unknown model parameters (correlation coefficient of slow drift) , the unknown model parameters and white noise covariance of slow and fleet drifts are identified based on the time series analysis , and the coupling among three items of the random drift is computed with Kalman filter/ smoother. The real data of random drift of FOG is identified with the model to verify its applicability , and the result suggests that this method accurately compute all of the random drifts and the parameters of FOG. The present method could be used for revising navigation error of FOG as it works alone or in combination with other equipment.

Cavitating Flow Characteristics of 2D Wedge-shaped Fin

CAl Wei-jun, QIAN JIan-ping, Yin Shao-ping, YANG Biao

2007, 15(4): 038-41. doi: 10.11993/j.issn.1673-1948.2007.04.010

[Abstract](2227) [PDF 818KB](1142)

Abstract:
Flow characteristics of underwater vehicle are directly related to their control surfaces. In order to enhance the stability of a vehicle during its wetted and supercavitating stage , the cavity profiles and the lift/drag force acting on the fins are numerically analyzed under different flow regimes (e. g. different flow angles , with and without rear body , and cavitation number effects).The obtained results show that drag coefficient descends firstly and then ascends with the increased flow angle. The fin with rear body could provide higher efficiency at small cavitation number , while the fin with or without rear body provides similar performance as the cavitation number increases. These basic characteristics of different fins show the importance of reasonable shape to the stability of motion projectile.

Leader-Follower Formation Control of Autonomous Underwater Vehicles

CUI Hai-ying, SHI Xiu-hua, CUI Rong-xin

2007, 15(4): 042-44. doi: 10.11993/j.issn.1673-1948.2007.04.011

[Abstract](2159) [PDF 681KB](1286)

Abstract:
Cooperation of multiple autonomous underwater vehicles (AUVs) has become a hotspot of current AUVs , in which formation control is the typical problem , and a basis of other cooperative control problems. A mathematic model of the formation control for AUVs was established , the feedback linearization was then used to simplify the model to a one order dynamic system , and the control law was derived. Stabilization of the control law and the inner dynamic system were proved. Furthermore , the formation errors of two leader-follower formation controls under different topologies were compared. Simulation results show validation of the algorithm , and the formation error in parallel connection mode is smaller than that in serial connection mode.

Modelling Taking-up Position Capability of Submarine Based on Markov Chain

SONG Bao-wei, JIANG Jun, WANG Peng, CHANG Ming

2007, 15(4): 045-48. doi: 10.11993/j.issn.1673-1948.2007.04.012

[Abstract](2065) [PDF 856KB](889)

Abstract:
Taking-up position capability of submarine is a capability to take up favorable firing position to ensure certain hitting or acquisition probability of torpedo. Based on the analysis of the key factors ( including the stealth capability and anti-strike capability of submarine , and the detection capability ,attack capability and time of taking up position of target , etc. ) , taking-up position feasibility is discussed with a conclusion that different positions lead to quite different taking-up position capabilities affected by the key factors. Based on Markov chain , a new model of taking-up position capability is established , where the stealth capability , the anti - strike capability , the detection capability , the attack capability , the time of taking-up position , and the relations among all key factors are all considered. This model makes up for the deficiency due to ignoring the influence of each key factor on the taking-up position capability and the relations among the key factors in the conventional model. An example verifies the feasibility of the new model.

Control System of Launcher Centrally Managed by Command Control System

MU Lian-yun, LIU Yong, PANG Hong-zhao

2007, 15(4): 049-52. doi: 10.11993/j.issn.1673-1948.2007.04.013

[Abstract](1951) [PDF 913KB](1125)

Abstract:
The launcher control system has important influence on the battle system. Its main aim is to realize central remote control and integrate with the command control system , which can reduce command levels , improve efficiency , and benefit supervision of lunching process. Based on the new mode of distributive control and concentrated management in battle system , the basic frame , the validation of the basic function , the control and information flow , the design principle and thinking of software and hardware of the launcher control system are investigated. The way to improve system reliability is also discussed. The conclusion can give a reference in the function plan and engineering design of new command control system.

Area Shooting Method of Homing Torpedo

CUI Shao-Bo, JIA Yue, Xu Yi-Rang, Chen Xiao-Feng

2007, 15(4): 053-56. doi: 10.11993/j.issn.1673-1948.2007.04.014

[Abstract](2316) [PDF 796KB](975)

Abstract:
In order to effectively shoot homing torpedo at a submarine with available original position and course , this paper puts forward a concept of area shooting method of homing torpedo in which the fixed lead angle along a equal speed straight-running submarine is employed , and subsequently establishes a game model. An example is given to explain the determination of the fixed lead angle , and to verify that this method is effective when shoot homing torpedo at the equal speed straight-running submarine in a close or middle distance. The simulation results show that for the submarine sailing in fixed direction with a speed less than 20 kn , the hit probability is 0.8 within the range of 500~4 000 m and the fixed lead angles of 7~15 degrees.

System of Maintenance Assistant Decision-making and Information Management for Torpedo

CHENG Wen-xin, YANG Ce

2007, 15(4): 057-59. doi: 10.11993/j.issn.1673-1948.2007.04.015

[Abstract](2176) [PDF 728KB](1182)

Abstract:
To solve the problems such as low efficiency in the torpedo maintenance and information management , this paper presents the concept and scheme of database integrated system , which is based on Web and serves the grass-roots units of army , confirms the configuration of the system , and describes the functions of the key modules. The system can realize digital and visual support and improve the maintenance capability for torpedoes in order to satisfy the requirement of "timing , accuracy and right quantity" .

2007 Vol. 15, No. 4

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