水下无人系统学报

Necessity and Key Technologies for Developing High Altitude Anti-submarine Torpedo

WANG Zhi-jie

2009, 17(3): 001-4. doi: 10.11993/j.issn.1673-1948.2009.03.001

[Abstract](1743) [PDF 561KB](775)

Abstract:
We analyze the necessity, and the development status and trend abroad of high altitude anti-submarine torpedo, emphatically discuss some key technologies in developing this kind of torpedo, such as operational application, overall design and experimentation, separation and link, accurate measurement and control, and analysis of high altitude environment adaptability and operational effectiveness for existing lightweight torpedoes. The research of these key technologies provides effective means and technical assistance for development of high altitude anti-submarine torpedo.

Study on Uncertainty of Multidisciplinary Design Optimization for Torpedo Overall Design Technologies

SONG Bao-wei, LIU Xu-lin, WANG Peng, LI Nan

2009, 17(3): 005-8. doi: 10.11993/j.issn.1673-1948.2009.03.002

[Abstract](1780) [PDF 448KB](719)

Abstract:
Most current designs are multidisciplinary and multi-objective. Certainty design usually ignores the uncertainty that exists in system, which causes difference between the design and the reality. In this paper, the design and propagation of uncertainty are discussed, the system uncertainty analysis method and concurrent subspace system uncertainty analysis method are compared, and the content and method of robust design are introduced. In addition, the fuzzy of system is also considered in robust design. It is concluded that introducing uncertainty into the multidisciplinary overall design technologies of torpedo is necessary.

An Leakage Detection Technique for Underwater Vehicle

LIU Hai-guang, ZHANG Ben-sheng, YANG Zhan-lu

2009, 17(3): 009-12. doi: 10.11993/j.issn.1673-1948.2009.03.003

[Abstract](1776) [PDF 351KB](771)

Abstract:
Conventional leakage detection of underwater vehicle needs heavy work, and depends largely on technicians′ experience. We present a new leakage detection method, with which detection can be conducted without water. We design an leakage detection system controlled by single-chip microcomputer for underwater vehicle by using the latest pressure sensor to real-timely measure the change of pressure. This system improves automation of leakage detection, simplifies the detection process, and enhances detection efficiency. The experimental results demonstrate the reliability, precision and convenience of the system.

Application of Morlet Combined Wavelets to Signal Process of Torpedo Electromagnetic Fuze

CHEN Guang, REN Zhi-Liang, LI Yao-Bo, ZHANG Xian-Wei

2009, 17(3): 013-17. doi: 10.11993/j.issn.1673-1948.2009.03.004

[Abstract](1650) [PDF 447KB](678)

Abstract:
Both infinite impulse response(IIR) and finite impulse response(FIR) digital filters are deficient in filtering the received signals of torpedo electromagnetic fuze. We therefore present a method to construct a band pass filter with Morlet combined wavelets. By appropriately selecting wavelet parameters, the band pass filter is designed with zero phase shift, flat-topped pass-band, and rapid attenuation in transition band. Moreover, the signal envelope can be demodulated by making use of the feature that the imaginary part of the combined wavelets is the Hilbert transform of its real part. According to the representative models of electromagnetic fuze target signal and ambient noise, simulation analysis is carried out in Matlab simulation environment. The results show that our method can effectively eliminate the ambient noise in a low signal to noise ratio(SNR) condition down to-5 dB, and can accurately achieve target signal envelope.

Wideband Signal Detection Algorithm in Local Stationary Colored Gaussian Reverberation Model Background

LIANG Hong, YANG Chang-sheng

2009, 17(3): 018-24. doi: 10.11993/j.issn.1673-1948.2009.03.005

[Abstract](2102) [PDF 637KB](677)

Abstract:
For wideband signal detection in the local stationary colored Gaussian reverberation model background, the effect of auto regressive (AR) model parameters on local stationarity of reverberation is studied, and the simulation data of reverberation are obtained. Block matched filter and block pre-whiten matched filter for detection of linear frequency modulation(LFM) and hyperbolic frequency modulation(HFM) wideband signals in reverberation environments are presented. It is found that the colored Gaussian reverberation model can exactly describe the real reverberations generated by LFM and HFM via analyzing their local stationarity. The results of simulation and detection of wideband signal show that the two filters can detect the wideband signal at low signal to reverberation ratio(SRR), specifically the block pre-whiten matched filter can detect HFM signal at SRR ＞-19 dB, and the performance of block pre-whiten matched filter is much better than that of block matched filter.

Method of Space-Time Adaptive Reverberation Suppression for Torpedo

ZHAN Hao-ke, CAI Zhi-ming, YUAN Bing-cheng

2009, 17(3): 025-28. doi: 10.11993/j.issn.1673-1948.2009.03.006

[Abstract](1428) [PDF 443KB](681)

Abstract:
Target detecting process of conventional torpedo sonar utilizes space steering beamform and Doppler frequency steering beamform, leading to part suppression of reverberation by themselves. The residual reverberation exists in a certain location of steering channel and frequency steering channel. Therefore, a method of space-time adaptive reverberation is presented in this paper. In this method, some assistant beamforms are set in the space and frequency channels. These beamforms perform adaptive processing together with target detecting beamform. Compared with other space-time adaptive processing approaches, this method needs smaller computation and makes real-time processing possible.

Bistatic Sonar Algorithms Based on Geometrical Dilution of Precision

ZHU Xiao-fei, CHEN Hang, LI Dao-jiang

2009, 17(3): 029-33. doi: 10.11993/j.issn.1673-1948.2009.03.007

[Abstract](1919) [PDF 499KB](721)

Abstract:
Six localization algorithms for bistatic sonar are presented, including launcher-only localization algorithm, receiver-only localization algorithm, time-only localization algorithm, launcher′time-receiver′bear algorithm, receiver′time-launcher′bear algorithm, and bear-only localization algorithm. Each error of geometric dilution of precision (GDOP) of the corresponding six algorithms is derived, and error distributions of the six algorithms are obtained by numerical simulation. By comparing the simulation results, the algorithm with best performance is respectively obtained when target is located in different area. By comparing the algorithms, the parameters, with which higher accuracy can be achieved, are selected. Simulation results show that the localization accuracy of bistatic sonar is higher than that of monostatic one, as long as appropriate algorithm is adopted for certain area.

Fault Diagnosis for Torpedo Turbine Based on Vibration Analysis

WANG Yan-kai , WANG Hong-hong

2009, 17(3): 034-38. doi: 10.11993/j.issn.1673-1948.2009.03.008

[Abstract](1758) [PDF 642KB](782)

Abstract:
A dynamic model of torpedo turbine is established based on vibration analysis for fault diagnosis of torpedo turbine. The common fault modes of torpedo turbine are discussed, such as unbalance, thermal bending of rotor, rubbing, directional vibration, ball bearing damage, eccentric fault of reducer gear, etc. The vibration characteristics and the possible harms of the faults are analyzed, and some preventions from these faults are suggested.

Resonant Matching Strategy of Soft-switching Inverter Control System for Torpedo Motor

YANG Ying-hua, XIE Shun-yi, GAO Hong-lin, WANG Xin-hua, HENG Hui

2009, 17(3): 039-42. doi: 10.11993/j.issn.1673-1948.2009.03.009

[Abstract](1188) [PDF 447KB](660)

Abstract:
To reduce the electromagnetic interference(EMI)effect of conventional hard-switching inverter on other internal devices in torpedo′s electric power system, we design a soft-switching pulse width modulation(PWM) inverter for torpedo motor, expound the inverter′s configuration and working principle, discuss the key problem how to combine soft-switching technology with PWM technology, and hence present a resonant matching theory. By analyzing generating mechanism of soft-switching zero voltage condition (ZVC),we put forward a method in which the auxiliary switches in resonant link start ahead of the main switches, namely, the main switch signals are shifted backward for a certain time to make the inverter switches under ZVC. Experiment verifies the rightness and feasibility of the method.

Numerical Simulation of Torpedo Centrifugal Atomizer Spray Field

XU Yin, LUO Kai, Huang Jian-guo

2009, 17(3): 043-46. doi: 10.11993/j.issn.1673-1948.2009.03.010

[Abstract](1390) [PDF 507KB](636)

Abstract:
The influence of background pressure of atomizer and spraying angle on spraying field are analyzed numerically. The open literatures are most based on qualitative analysis. We attempt to conduct a quantitative analysis with computational fluid method. We build a simplified model and grid of combustion chamber with Gambit software, then set all boundaries and conditions necessary for spraying and simulate spray field in different conditions. We study the influence of background pressure by simulating the spraying process in different instants when pressure is changed coordinately and other conditions are fixed. Then we discuss the most proper pressure for the best spray quality, and analyze the influence of spraying angel in the same way. Finally we gain the conclusion: 12 MPa of pressure and 90 degrees of angel are most suitable when diameter and distribution of droplets are most advantaged for combustion.

Application of Magnetic Navigation to Underwater Vehicle

DING Yong-zhong, WANG Jian-ping, XU Feng

2009, 17(3): 047-51. doi: 10.11993/j.issn.1673-1948.2009.03.011

[Abstract](2286) [PDF 575KB](759)

Abstract:
Magnetic Navigation technology is very suitable for underwater vehicles because of its features of good stealth, high stability and precision. This paper summarizes the current research and development trend of domestic and foreign magnetic navigation. The key technologies of magnetic data acquisition, magnetic navigation matching algorithm, magnetic anomaly information, and inertial navigation information fusion algorithm, as well as the development of high precision and fast response sensors, are analyzed to facilitate improving the navigation precision and self navigation capability of long range underwater vehicles.

Study on Trajectory of Electric Power Torpedo Launched by Battery Activated Outside Tube

DING Hao, WANG De-shi

2009, 17(3): 052-55. doi: 10.11993/j.issn.1673-1948.2009.03.012

[Abstract](1848) [PDF 392KB](816)

Abstract:
To investigate the effect of launch parameters on trajectory of electric power torpedo launched by battery activated outside tube, a model of torpedo movement in vertical plane is established, and initial condition is set according to activation condition outside tube. Simulation of the trajectory of electric power torpedo is conducted with Simulink. The results show that the rudder angle of torpedo, the battery activation time, and the initial velocity of torpedo all affect the trajectory of torpedo. The rudder angle ought to be set positive when torpedo is launched downwards,or set negative when torpedo is launched upwards to gain perfect trajectory. Meanwhile, shorter battery activation time and higher initial velocity of torpedo are necessary.

Evaluation of Anti-torpedo Operational Effectiveness with Acoustic Countermeasure

WANG Dong, ZHENG Yuan, SUN Fei-long

2009, 17(3): 056-60. doi: 10.11993/j.issn.1673-1948.2009.03.013

[Abstract](1670) [PDF 551KB](686)

Abstract:
The indexes for evaluating the influence of acoustic countermeasure on anti-torpedo operational effectiveness are analyzed under submarine operational application condition. Two methods are presented for evaluating anti-torpedo operational effectiveness based on dictionary order method and improved analytic hierarchy process (AHP) method. Acoustic countermeasure models and flow chart are established for simulation. Two examples are evaluated with the two methods, and the results conform to the law of operational application of acoustic countermeasure.

Salvo Implement Scheme of Surface Formation for Rocket-Assisted Torpedo

KOU Zhu, MA Ai-min

2009, 17(3): 061-64. doi: 10.11993/j.issn.1673-1948.2009.03.014

[Abstract](1768) [PDF 367KB](660)

Abstract:
According to the air trajectory of every rocket-assisted torpedo part, we establish an equation group of air vertical motion, improve the in-air trajectory model, and simulatively calculate the polynomials of firing distance and flight time,and firing distance and shut down time. Making use of the polynomials, we calculate the cooperative time of formation salvo of torpedoes, and determine command ways for different situations. The result may facilitate the research of operational application of rocket-assisted torpedo.

2009 Vol. 17, No. 3

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