水下无人系统学报

Hydrodynamic Layout and Design of Flapping-Wing and Glide UUV

PAN Guang, MA Qi-chao, LIU Guan-shan, CAO Yong-hui, HUANG Qiao-gao

2011, 19(2): 081-085. doi: 10.11993/j.issn.1673-1948.2011.02.001

[Abstract](1432) [PDF 311KB](943)

Abstract:
A new-style of flapping-wing and glide unmanned underwater vehicle (UUV) combining the advantages of an underwater biomimetic flapping-wing UUV and an autonomous underwater glider (AUG) was proposed. Through analying the movement of sea turtles and the purposes of the vehicle’s front and end flapping-wings, the hydrodynamic layout and design criteria with a large lift-drag ratio and low-drag were obtained. Numerical simulation was conducted to four kinds of installation location and three kinds of flip angle design of the front flapping-wing using computational fluid dynamics (CFD). Simulation results show that the flapping-wing and glide UUV has the better hydrodynamic capability of large lift-drag ratio and low-drag when the front flapping-wing is chosen at the position where the longitudinal distance between installation location and the forefront of main hull UUV is 30% of the entire longitudinal length and the flip angle is 10°. Besides, the relationship among the flapping-wing’s different installation location, the flip angle and the lift, drag and lift-drag ratio of UUV are achieved.

UUV Bow Profile Optimization Design Based on Adaptive Simulated Annealing Algorithm

PEI Xuan, ZHANG Yu-wen, WANG Ya-dong, YUAN Xu-long

2011, 19(2): 086-090. doi: 10.11993/j.issn.1673-1948.2011.02.002

[Abstract](1540) [PDF 256KB](633)

Abstract:
Based on the theory of global searching in the multi-objective domain, this paper presents a method of optimizing an unmanned underwater vehicle (UUV) bow profile by adopting the simulated annealing algorithm. This method takes UUV bow fullness, hydrodynamics and flow noise as the goal function. An integrated UUV bow shape optimal design model is established by utilizing the classical viscous flow theory and the computational fluid dynamics (CFD) algorithm. The principle of choosing the complex shape parameters and design variables is described according to the optimization of UUV shape. The optimization design of an UUV bow profile is simulated, and the result shows that with the present method, we can effectively achieve the desired goals of UUV optimization design, and get the optimal solution from the domain composed of various objective functions which are restricted each other. The method greatly improves the acoustic performance and the hydrodynamic characteristic of UUV bow.

A Torpedo Software Reuse Technology Based on Eclipse

WU Xu-guang, NIU Yun, WU Xiang

2011, 19(2): 091-096. doi: 10.11993/j.issn.1673-1948.2011.02.003

[Abstract](1159) [PDF 253KB](648)

Abstract:
To improve the development efficiency of software used in torpedo system, it is necessary to transform a traditional individual mode of software development into a product line mode based on software reuse technology. In this paper, the necessity of the software reuse technology is discussed, and torpedo software is divided into reusable tasks according to the functions and the characteristics of torpedo software. Then, the key technologies in developing reusable torpedo software about software component, code generator, remote debugger, etc. are discussed. Moreover, a scheme of integrated development environment for torpedo software product line is proposed based on Eclipse platform. This scheme can provide a high performance and extendible integrated development environment to support the reusable torpedo software development.

Measurement of Torpedo Running Self-Noise under Active Homing Mode

YI Hong, CHEN Chun-yu

2011, 19(2): 097-100. doi: 10.11993/j.issn.1673-1948.2011.02.004

[Abstract](1409) [PDF 188KB](758)

Abstract:
The effect of reverberation makes it very difficult for a torpedo to acquire its self-noise under active homing mode, therefore, a measurement method of torpedo self-noise with reverberation during torpedo running under active homing mode is presented in this paper. The principle of the method is introduced, and computations are conducted. Experimental result verifies its feasibility. Both the noise received by transducer elements and the noise in transmitted beams can be measured by this method with flexibility, real-time, and low cost. And the self-noise while performing the task of torpedo trial can also be measured by this method.

Application of MVDR Beamforming to Noise Source Identification

WU Ya-jun

2011, 19(2): 101-103. doi: 10.11993/j.issn.1673-1948.2011.02.005

[Abstract](1749) [PDF 176KB](821)

Abstract:
To identify the main noise sources and the related acoustic properties of the radiated noise from the underwater vehicle, a beamforming method of minimum variance distortionless response (MVDR) was proposed based on array signal processing for locating underwater radiated noise source. Noise signals are received by a receiving array of 16 hydrophones, and the data are analyzed with the beamforming method of MVDR. Simulations and experiments verify the validity and efficiency of the proposed method.

A Path Planning Method Based on Artificial Vector Field for Autonomous Recovery of AUV

XUE Yuan, YAN Wei-sheng, GAO Jian, SHI Shu-wei

2011, 19(2): 104-108. doi: 10.11993/j.issn.1673-1948.2011.02.006

[Abstract](1605) [PDF 149KB](724)

Abstract:
To solve the path planning problem of autonomous underwater vehicle (AUV) in the process of underwater autonomous recovery, an artificial vector field method is adopted. The whole autonomous recovery process is divided into the homing guidance stage and the docking stage. In the homing guidance stage, the preparatory point for docking is taken as the goal, and an obstacle-free path is planned for AUV by the artificial vector field method. In the docking stage, the three virtual goal points at the recovery entrance of the dock are defined with a fuzzy variable-coefficient vector field method. Taking the distance between dock axis and AUV as the input, the coefficients of vector field are adjusted by a fuzzy control method, and the gradient direction of artificial attraction force field is pointed to the entrance of dock by calculating the attraction force coefficients of the virtual target points by fuzzy rules. Hence, AUV can dock into the recovery entrance along the smooth path in the desired posture. Simulation results verify the effectiveness of the presented method.

An Accuracy Assessment Method of Water Entry Point for Rocket Assisted Torpedo

NING Yong-cheng, HOU Dai-wen, XING Guo-qiang

2011, 19(2): 109-113. doi: 10.11993/j.issn.1673-1948.2011.02.007

[Abstract](1597) [PDF 212KB](625)

Abstract:
A circular error probable (CEP) assessment method based on priori information is presented to estimate water entry point accuracy for solving the problem of fewer test samples in evaluation of rocker assisted torpedoes. This method redefines the producer′s risk in compatibility check to improve the risk-based credibility calculating technique which has strong subjectivity, thus the objectivity of a priori information credibility is enhanced. The application of the present method indicates that the test samples can be reduced without evidently increasing consumers′ and the producers′ risks, and the efficiency of evaluation test can be increased.

Modeling and PID Control of Underwater Glider Motion

ZHANG Fu-bin, WANG Gang, CHEN Yu-hang, BAO Hong-jie

2011, 19(2): 114-119. doi: 10.11993/j.issn.1673-1948.2011.02.008

[Abstract](1452) [PDF 306KB](863)

Abstract:
Underwater glider is a new kind of autonomous underwater vehicle driven by buoyancy force, however its special drive mode and structural characteristics increase the complexity of modeling and control analysis. To obtain an accurate and efficient control strategy for underwater motion, a complete three-dimensional mathematical model is built by analyzing kinematics and dynamics of the glider via some reasonable assumptions and simplification, thus a small disturbance vertical plane linear model is achieved. On this basis, a proportional integral differential (PID) controller is designed. In addition, the vertical plane motion of the glider is simulated. The simulation results verify the vertical plane motion characteristics of the glider using the PID controller, and demonstrate its better disturbance resistance and tracking performance.

An Automatic Recognition Method of Vibration Frequency for Underwater Vehicle Power System

SUN Tao, GAO Ai-jun, WANG Yi

2011, 19(2): 120-123. doi: 10.11993/j.issn.1673-1948.2011.02.009

[Abstract](1549) [PDF 240KB](680)

Abstract:
To satisfy the timely demand of vibration spectrum analysis for underwater vehicle power system in vibration test, on the basis of the signal spectrum feature and discrete Fourier transform(DFT)principle, an automatic vibration fre- quency recognition method is presented via zoom-FFT(fast Fourier transform)combining with peak search algorithm, and the corresponding modularized program is coded. The method uses zoom-FFT to calculate the exact measuring frequency of the power system periodic motivation, and utilizes peak search algorithm to extract the dominant frequency component in order to confirm the vibration source with the consistent degree of two kinds of frequencies. The application of the present method to simulated signal and real signal shows the analysis efficiency and accuracy are improved markedly.

Modeling and Simulation of On-line Intelligent PID Controller for Torpedo PMBDCM

WANG Ding, XIE Shun-Yi, GUO Zhi-rong, ZHANG Lin-sen

2011, 19(2): 124-128. doi: 10.11993/j.issn.1673-1948.2011.02.010

[Abstract](1200) [PDF 280KB](660)

Abstract:
An on-line intelligent proportional integral differential(PID)controller is proposed to suppress the torque ripple in permanent magnetic brushless DC motor(PMBDCM). A self-tuning regulator is established by employing artificial neural network, and combined with PID controller. The parameter of PID controller is tuned on-line to get the best control. Then, the model of on-line intelligent PID controller is built by Simulink. The simulation results show that the controller achieves better adaptability and robustness, moreover the system gains good dynamic performance.

Effects of Submarine′s Maneuverability on Evading Active Acoustic Homing Torpedo with Jammer

YANG Zhen-yong, ZHENG Yuan, Lü Hai-ping

2011, 19(2): 129-133. doi: 10.11993/j.issn.1673-1948.2011.02.011

[Abstract](1816) [PDF 325KB](688)

Abstract:
Aiming at the effects of submarine′s maneuverability on its survival probability while evading torpedo，acoustic model of an active homing torpedo and maneuver model of entity are established. And a detection range model of torpedo is also built up when the acoustic jammer is working. The survival probabilities of submarine under different maximum speed and acceleration capability are gained through simulation. The effects of submarine′s different maneuverability on its survival probability are analyzed. The conclusion is drawn that the submarine′s anti-torpedo defense capability can be enhanced via improving maneuverability of submarine.

Simulation Study on Fire Efficiency of Rocket Assisted Torpedo Based on Noise Jammer Countermeasure

DING Hong-yan, SONG Bao-wei, ZHOU Ming, JIANG kai-feng

2011, 19(2): 134-139. doi: 10.11993/j.issn.1673-1948.2011.02.012

[Abstract](1441) [PDF 288KB](764)

Abstract:
In order to understand fire efficiency of rocket assisted torpedo under countermeasure, we take hit probability as an indicator of fire efficiency and build a hit probability model according to the torpedo’s typical anti-submarine course. We analyze the model in which noise jammer is used by submarine to counter incoming torpedo and discuss the counter- countermeasure strategy of the torpedo. According to simulation and calculation, the effects of the major factors on hit probability are quantitatively analyzed based on noise jammer countermeasure. Simulation results indicate that both firing distance and navigational velocity of submarine are the main factors. Completeness of target information imposes great effect on hit probability. This study may redound to surface ships in effectively using rocket assisted torpedoes and enhancing anti-submarine capability.

Standardization Management Mode of Torpedo Technical Support Unit Based on 6S

HUANG Bo, ZHANG Yong, LI Wen-long, KE Yong-min

2011, 19(2): 140-143. doi: 10.11993/j.issn.1673-1948.2011.02.013

[Abstract](1080) [PDF 117KB](635)

Abstract:
The standardization management level of torpedo technical support unit influences the capability and level of the unit directly. This paper introduces the background and connotation of 6S, describes the implementation of 6S on torpedo technical support unit for different actual characteristics，and analyzes the effectiveness. The practice proves that 6S mode redound to reducing accident，enhancing work efficiency，improving working condition, and inspiring one’s enthusiasm. This scientific and highly efficient management mode improve the quality and support capability of the personnel for torpedo technical support unit, and promote overall development of torpedo technical support unit scientifically.

Modeling and Simulation of Interior Trajectory for Torpedo Expansionary Swim-out Launching

LIU Hai-ming, ZHANG Zhen-shan, CHENG Guang-tao

2011, 19(2): 144-147. doi: 10.11993/j.issn.1673-1948.2011.02.014

[Abstract](1237) [PDF 157KB](695)

Abstract:
To understand whether the expansionary tube increases the outlet speed of torpedo and how the additional resistance due to pressure difference of seawater compensation influences the speed，a interior trajectory model for torpedo expansionary swim-out launching was set up for analyzing the forces on torpedo under abnormal limitation boundary condition in the expansionary swim-out torpedo tube. Based on the torpedo’s movement in the tube in different phases, computer simulation was conducted to calculate expansionary tube induced flow losses. Comparison of the test and simulation data indicates that the outlet speed of torpedo is increased by adopting the expansionary tube, and the additional resistance due to pressure difference of seawater compensation affects the outlet speed of torpedo. This study may provide a theoretical basis for design and improvement of the swim-out launcher.

Military Demand Analysis and Suggestions about Submarine Torpedo Launching System

MA Liang, LI Wei, YU Da-fang

2011, 19(2): 148-150. doi: 10.11993/j.issn.1673-1948.2011.02.015

[Abstract](1435) [PDF 92KB](866)

Abstract:
Torpedo launching system is a key component of submarine weapon system, and its performance influences submarine’s operational effectiveness. Considering the current research and development situations of submarine torpedo launching system, the new military demand for the submarine torpedo launching system in accordance with the future submarine combat is analyzed in this paper. By analyzing the composite index for torpedo launching system, the developing trend and the key technologies of the system are pointed out with emphasis on integrity demand, and some suggestions are offered.

Application of Intelligence Simulation in Military UUV Equipment System Research

KANG Feng-ju, XIE Pan

2011, 19(2): 151-155. doi: 10.11993/j.issn.1673-1948.2011.02.016

[Abstract](1221) [PDF 213KB](739)

Abstract:
To satisfy the requirement of multi-unmanned underwater vehicles (UUVs) group attack operation in underwater network warfare, the development from the object-oriented simulation technology to intelligent simulation technology is analyzed, and the items of military UUV intelligent modeling and simulation are given, such as identification via expert system, intelligent control and decision-making, operational command process, and tactical research. It is indicated that the introduction of intelligent simulation technology has made, the simulation of weapon and equipment system, and the simulation of tactical level combat for multi-UUVs towards being consistent in form and content. Moreover, a combat simulation system for UUV formation is preliminarily built based on multi-agent system (MAS), in order to offer a support to intelligent simulation and evaluation of operational effectiveness for military UUV.

Design and Implementation of Torpedo Electromagnetic Fuze Simulation Platform

ZHANG Tao, REN Zhi-liang, YU Qian

2011, 19(2): 156-160. doi: 10.11993/j.issn.1673-1948.2011.02.017

[Abstract](1535) [PDF 341KB](901)

Abstract:
To analyze the anti-interference performance of torpedo electromagnetic fuze and conduct experimental study, a simulation platform of torpedo electromagnetic fuze is set up with Multisim. The effective target signal source and arbitrary waveform signal source of the simulation platform are established by LabVIEW. Simulation validates the feasibility of loading the established signal source by the simulation platform. The simulation results of different target signals demonstrate that the simulation platform satisfies the demand for system performance. An experiment is conducted on the simulation platform taking the sample data as its input signal, and the result corresponds with the reality. Both simulation data and experimental data can be taken as the input signal of the simulation platform hence the simulation platform can avoid the interference caused by circuit and environment. This study may provide a new method for accurately and quantitatively analyzing the anti-interference performance of torpedo electromagnetic fuze.

2011 Vol. 19, No. 2

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