水下无人系统学报

Design and Dynamic Simulation of Folding Wing Expansion Mechanism for Underwater Vehicle

LEI Ge, DENG Fei, LIU Quan, FENG Xiao-tao

2013, 21(2): 081-85. doi: 10.11993/j.issn.1673-1948.2013.02.001

[Abstract](1054) [PDF 390KB](487)

Abstract:
To adapt the size limit of an underwater vehicle launcher and meet the stability requirement of underwater vehicle after launching, an expansion mechanism of underwater vehicle folding wing is designed. Based on mechanical analysis, a dynamic model of the mechanism is established. The influences of the factors, such as the design parameters of the expansion mechanism and the parameters of launching dynamics, on the dynamic characteristics of this folding wing are obtained in different hydrodynamic conditions through numerical simulations. Simulation results confirm the feasibility and reliability of the mechanism design. This study may provide a reference for improving and optimizing design scheme of underwater vehicle folding wing.

Evaluation of Torpedo Loading Reliability in Commission

XIE Yong, YUAN Bing-cheng

2013, 21(2): 086-90. doi: 10.11993/j.issn.1673-1948.2013.02.002

[Abstract](1190) [PDF 293KB](591)

Abstract:
To evaluate loading reliability of a torpedo in commission, according to historical loading information of a torpedo, fault occurring time is predicted by using interpolation method of aliquot fault time. Subsequently, torpedo loading sequence diagram and loading fault sequence diagram are drawn, loading fault number and loading time in every service year are counted, and loading reliability is calculated with classical approach and Bayes method, respectively. And the variation of torpedo loading mass with service time is obtained. An example indicates that loading information of a torpedo in service duration can meet the requirement of evaluation of torpedo loading reliability for engineering application.

Assessment Method of Torpedo Overall Schemes Based on Principal Component Analysis

LI Yong-chun, SONG Bao-wei, JIANG Jun

2013, 21(2): 091-94. doi: 10.11993/j.issn.1673-1948.2013.02.003

[Abstract](808) [PDF 300KB](576)

Abstract:
Three torpedo overall schemes are analyzed and assessed with principal component analysis(PCA), and the results coincide with practical situation, verifying the effectiveness of PCA in this study. However, according to the as-sessment results, the PCA method is analyzed, and three insufficiencies of traditional PCA in practical application are found, i.e.: 1) parameters standardization does not consider the difference between efficiency-based indexes and cost-based indexes; 2) assessment result is lack of physical meaning; 3) part of information is lost during the principal component extraction process.

Sparse Channel Estimation of OFDM with Synchronization Errors

WANG Xiao-zhou, ZHANG Yan, HU You-feng

2013, 21(2): 095-99. doi: 10.11993/j.issn.1673-1948.2013.02.004

[Abstract](1388) [PDF 229KB](572)

Abstract:
An estimation algorithm of orthogonal frequency division multiplexing(OFDM) channel, which is robust with synchronization errors, is introduced. The severe synchronization error in general underwater channel might cause the aliasing in comb-pilot least square(LS) algorithm based channel estimation, if the strongest signal arrival is not the first one, therefore, a new OFDM sparse channel estimation algorithm is proposed by analyzing the influence of synchroni-zation errors on the LS channel estimation algorithms. In the proposed estimation algorithm, sparse channel estimation with synchronization errors is equivalent to reconstructing a sparse signal from incomplete frequency samples. Some pseudo randomly picked subcarriers are used as pilots, and the compressed sensing(CS) algorithm is adopted for the sparse channel estimation. This algorithm can achieve better performance when synchronization error is large. Lake trial verifies the effectiveness of the proposed algorithm.

Shallow Seafloor Reverberation Modeling and Simulation of Torpedo

DONG Zhong-chen, LI Ya-an, JIN Yan-feng

2013, 21(2): 100-104. doi: 10.11993/j.issn.1673-1948.2013.02.005

[Abstract](1300) [PDF 307KB](601)

Abstract:
To simulate the torpedo reverberation on shallow seafloor and reveal the effect of torpedo motion on the re-verberation signal, a seafloor reverberation simulation method is presented. In this method, the seafloor generating re-verberation is divided into several scattering units, and each scattering unit is equivalent to a system. Continuous wave(CW) signal and linear frequency modulation(LFM) signal are taken as torpedo active acoustic signal. In seafloor reverberation simulation, the scattering units can be small enough to keep the Doppler frequency shift produced by tor-pedo motion in each scattering unit is the same, thus the effect of torpedo motion on reverberation signal is revealed. Because each scattering unit is equivalent to a system, convolution can be used to compute reverberation signal. Simula-tion results show that the present method is of clear physical meaning and simple calculation. Moreover, the spectrum characteristic of the simulated reverberation signal is consistent with the basic theory of reverberation, verifying the validity of the method.

Characteristic Analysis and Prediction Simulation of Torpedo Self-Noise Based on Acoustic Scattering Model

XU Yuan-yuan, WANG Ming-zhou, JIANG Ji-jun, LI Bin

2013, 21(2): 105-109. doi: 10.11993/j.issn.1673-1948.2013.02.006

[Abstract](1500) [PDF 518KB](596)

Abstract:

High Resolution Direction-of-Arrive Estimation Based on Sparse Reconstruction and Compressive Sensing Beamforming

CHEN Yu-feng, HUANG Jian-guo, SU Jian-jun

2013, 21(2): 110-114. doi: 10.11993/j.issn.1673-1948.2013.02.007

[Abstract](1573) [PDF 414KB](810)

Abstract:
A novel compression perception model is established by making use of the spatial sparsity. A random com-pression matrix is constructed by designing a new compressive sampling way with compressive sensing(CS) theory. And another compression matrix is obtained by applying approximate QR decomposition to Gaussian random matrix in order to get a better restricted isometry property(RIP) constant. Singular value decomposition(SVD) is adopted on the data matrix to extract signal subspace for getting low dimensional form of receiving data matrix. Two different kinds of methods for DOA estimation are proposed based on the new compression matrices. One is for CS recovery, i.e. QR sin-gular value decomposition multi-vectors FOCal undetermined system solve(QR-SVD-MFOCUSS); the other is for CS beamforming, i.e. random singular value decomposition compressive sensing beamforming(RSVD-CSB) and QR singu-lar value decomposition compressive sensing beamforming(QRSVD-CSB). Simulation results show that, compared to the multi-vectors FOCal undetermined system solver(MFOCUSS) algorithms, QR-SVD-MFOCUSS is suitable for low signal-to-noise ratio(SNR) condition with significant reduction of computational burden; and compared to the minimum variance distortionless response(MVDR) algorithms and the CS beamforming algorithms, the proposed method pos-sesses higher angular resolution, lower root mean square error(RMSE), better estimation performance, and so on.

A Cooperative Navigation Algorithm of Multiple AUVs Based on Synthetic Moving Long Baseline

ZHANG Fu-bin, MA Peng

2013, 21(2): 115-119. doi: 10.11993/j.issn.1673-1948.2013.02.008

[Abstract](1151) [PDF 244KB](577)

Abstract:
High precision cooperative navigation and localization are the bases for multiple autonomous underwater vehicles(MAUVs) cooperation, and cooperative navigation algorithm is the key technique of multiple AUVs cooperation. In a multiple AUVs cooperation system composed of two leader AUVs with high precision navigation sensors and mul-tiple follower AUVs with low precision navigation sensors, assuming the follower AUVs receive the broadcast informa-tion from the leader AUVs using acoustic communication equipments, the distance between leader and follower AUVs, as well as the leader AUVs position information, can be obtained. In this paper, a cooperative navigation system model is established by taking the leader AUVs as the synthetic moving long baseline(SMLBL) nodes, a multiple cooperative navigation algorithm is proposed based on one-way acoustic broadcast communication from leader AUVs, and effective fusion of the internal and external navigation information of the follower AUVs is achieved. Simulation results indicate that the proposed algorithm can greatly improve the navigation accuracy of the follower AUVs.

Application of Loran-C Signal Received by H-field Antenna to Underwater Navigation Localization of Torpedo

CUI Guo-heng, XU Jiang-ning, CAO Ke-jin

2013, 21(2): 120-125. doi: 10.11993/j.issn.1673-1948.2013.02.009

[Abstract](1117) [PDF 547KB](619)

Abstract:
For arguing the feasibility of torpedo underwater localization and navigation with Loran-C signal received by H-field antenna, the principle of omnidirectional H-field antenna is introduced, the field intensity attenuation laws of the H-field and E-field signals in propagation of Loran-C signal are analyzed. Simulation results indicate that H-field antenna can receive Loran-C signals with high signal-to-noise ratio(SNR), meeting the requirements of underwa-ter localization solution. Experimental results show that H-field antenna can receive the signals with higher SNR at the depth of 4~5 m underwater over a distance of 1 000 km. Test confirms that the localization solution can be obtained with Loran-C signal received by H-field antenna in the depth less than 5 m underwater, which verifies the correctness of the simulation. This study may provide a theoretical basis for torpedo underwater navigation with H-field antenna.

One-dimensional Numerical Simulation of Humidified Hydrogen-oxygen Combustion

GAO Yu-ke, PENG Bo, HU Wei, HAN Xin-bo, LI Hong-wei, WAN Rong-hua

2013, 21(2): 126-131. doi: 10.11993/j.issn.1673-1948.2013.02.010

[Abstract](924) [PDF 345KB](538)

Abstract:
A new mathematical model of humidified hydrogen-oxygen combustion is built to describe combustion blending and cooling water evaporation process. One-dimensional simulation of different hydrogen-oxygen inlet and cooling water conditions are carried out to get the inlet parameters of influencing on humidified combustion by Euler-Lagrange method. The conclusion can provide a reference for analyzing humidified hydrogen-oxygen combustion process and designing combustion chamber.

Analysis and Suppression of Cogging Torque of Permanent Magnet Motor for Torpedo Propulsion

WANG Xiao-lei

2013, 21(2): 132-136. doi: 10.11993/j.issn.1673-1948.2013.02.011

[Abstract](794) [PDF 530KB](483)

Abstract:
The cogging torque of permanent magnet (PM) motor for torpedo propulsion influences the torque ripple. In this paper, the generation mechanism of cogging torque is analyzed mathematically. Based on the pole-slot combination method and the teeth notching method, suppression of the cogging torque is discussed. Two-dimensional finite element models of the PM motor with different pole-slot number are established, transient simulations are performed, and the cogging torques relating to different number and dimension of teeth notches are analyzed. The results verify the feasi-bility and validity of the proposed theory and analysis method．

An Improved Starting Method of Contra-rotating Brushless DC Motor Using Voltage Pulses Injection

DU Jun, ZHANG Lin-sen, ZHAO Jun

2013, 21(2): 137-140. doi: 10.11993/j.issn.1673-1948.2013.02.012

[Abstract](1087) [PDF 219KB](1018)

Abstract:
An improved starting method is proposed to solve the problem that brushless DC motor cannot self-start under the sensorless control strategy of back electromotive force(EMF) method. The salient polarity of the permanent magnet rotor is utilized for contra-rotating brushless DC motor. In the proposed method, voltage pulses are injected to arma-ture-rotor of the motor, and the corresponding current response are sampled for estimating the angle of rotor position, so two rotors of the contra-rotating brushless DC motor can be positioned, started and then accelerated. The effectiveness of the proposed method is validated experimentally.

Test Scheme of Underwater Acoustic Countermeasure Capability for Anti-Submarine Torpedo

YE Hao-liang, ZHU Wen-zhen

2013, 21(2): 141-145. doi: 10.11993/j.issn.1673-1948.2013.02.013

[Abstract](1424) [PDF 179KB](556)

Abstract:
Underwater acoustic countermeasure capability, as an index of torpedo operational capability, has been paid more and more attention. However, effective evaluation method of torpedo underwater acoustic countermeasure capabil-ity is still in research. In this paper, the working principle of underwater acoustic countermeasure device and the main factors influencing torpedo underwater acoustic countermeasure capability are analyzed. Consequently, a countermea-sure test scheme, which is close to actual battlefield conditions, is designed by using the basic theory of operational application. A series of indexes for evaluating torpedo underwater acoustic countermeasure capability are proposed to improve the torpedo test theory.

Study on Composable Simulation System for Evaluation of Torpedo Operational Effectiveness

YANG Hui-zhen, ZHU Yuan-jun, ZHANG Jian-chun, HAO Li-li, KANG Feng-ju

2013, 21(2): 146-152. doi: 10.11993/j.issn.1673-1948.2013.02.014

[Abstract](917) [PDF 286KB](508)

Abstract:
The simulation system for evaluation of torpedo operational effectiveness relates to modeling and simulation of a number of entities and environments. The list of operational entities includes launching platforms, torpedo, target warships, and acoustic countermeasure devices, etc. And the list of environments includes wind, wave, and acoustic field, etc. One of the challenges in developing simulation system for operational effectiveness evaluation is to realize reus-ability and composability of simulation models of the entities and environments for in different fields. In this paper, the concept of simulation composability and the ontology-based developing technology are discussed. The simulation sys-tem architecture of torpedo operational effectiveness evaluation is analyzed. The simulation ontology of torpedo opera-tional effectiveness, ontological model base, and ontology-based development are studied to improve the reusability and composability of the simulation system. This study may benefits the development of the simulation system for opera-tional effectiveness evaluation.

Inspiration of Shipborne Torpedo Launchers in China from the British Kingfisher Box-type Torpedo Launcher

YIN Mei-fang, XU Xian-yong, LI Yang

2013, 21(2): 153-155. doi: 10.11993/j.issn.1673-1948.2013.02.015

[Abstract](873) [PDF 166KB](597)

Abstract:
British Navy′s kingfisher box-type torpedo launcher integrates storage function with launching function to greatly simplify the launching preparation. And it possesses the advantages of modular combination according to actual situation and exerting concentrated force on torpedo mechanically. Hence, it has become a hot spot in torpedo launcher research. In this paper, the structural characteristics of the kingfisher box-type torpedo launcher are analyzed. And sug-gestions about researches on shipborne torpedo launchers in China are offered, i.e. more attention should be paid to standardized and modular design, box-type torpedo launcher, convenient operation, and new launching technologies for gaining rapid reaction ability of warships.

Optimization Design of Torpedo Launch Tube Based on Genetic Algorithm

HUANG Ke, GAO Xing, DUAN Hao, WANG Yun

2013, 21(2): 156-160. doi: 10.11993/j.issn.1673-1948.2013.02.016

[Abstract](1300) [PDF 216KB](565)

Abstract:
To optimize the weight of torpedo launch tube and perform optimization design of large depth torpedo launch tube, a mathematical model is built with analytical method, and genetic algorithm is adopted to acquire the global opti-mal solution of the nonlinear discrete optimization problem for the minimum weight design of torpedo launch tube meeting strength and stability requirements on MATLAB platform. Results indicate that on the premise of meeting the existing tactical and technical indexes, there is still a large space for the weight optimization design of existing launch tube, but the existing launch cannot meet the requirement of large depth launch in the future. This study programs the design of torpedo launch tube for the purposes of engineering application and benefiting optimization design.

2013 Vol. 21, No. 2

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