水下无人系统学报

Analysis on Intercept Trajectory and Intercept Capability of Anti-Torpedo Torpedo

WEI Jing, PAN Guang

2016, 24(2): 081-86. doi: 10.11993/j.issn.1673-1948.2016.02.001

[Abstract](1024) [PDF 315KB](381)

Abstract:
Based on the analysis of operational modes of an anti-torpedo torpedo(ATT), the whole trajectory workflow chart of the ATT was given, and mathematical models of a ship, an incoming torpedo and an ATT were established according to intercept posture scenario of the ATT. The intercept trajectory and the intercept capability of the ATT in different guidance methods were simulated. Simulation results indicate that the intercept effect of the ATT can be improved by reducing the course detection error of an incoming torpedo, increasing the homing distance of the ATT or reasonably choosing the launching range of the ATT.

Finite Element Model Correction for Wedged-Ring Connection Structure of Underwater Vehicle Based on Modal Parameters

YAN Hai, MA Rui-lei, LIANG Yue, YANG Yang

2016, 24(2): 087-93. doi: 10.11993/j.issn.1673-1948.2016.02.002

[Abstract](990) [PDF 854KB](384)

Abstract:
To improve simulation accuracy of a finite element model of wedged-ring connection structure for an underwater vehicle, the equivalent stiffness method is employed to establish a finite element model of the wedged-ring connection structure, and the model is further corrected using the parameters such as natural frequency and mode shape, thus a high accuracy model is obtained. The influences of number and position of the measurement points on the correction results are analyzed with different reference models. As a result, the measurement point arrangement is suggested for modal measurement of the wedged-ring connection structure. This study may provide a reference for dynamic analysis and dynamic test of the wedged ring connection structure.

Analysis on Standardization Support to Complex Weapon Equipment De-velopment: Taking Rocket-assisted Torpedo Development for Example

DING Zhen-dong, DAI Jun, ZHANG Jun-feng

2016, 24(2): 094-98. doi: 10.11993/j.issn.1673-1948.2016.02.003

[Abstract](1021) [PDF 214KB](473)

Abstract:
We analyze and summarize the methods and experiences of standardization support in rocket-assisted torpedo development in China, and put forward some ideas for carrying out “The Standardization Work Rules for Weapon Equipment Development and Production” during development of complex weapon equipment. The ideas include: 1) establishing working system of standardization for types, perfecting standardization file system, and coordinatively solving standardization problems among producers; 2) reasonably determining principles and methods in standardization according to the features of products, actively promoting generalization, serialization, and modularization in design, and 3) summarizing development achievements and experiences in time, improving standardization system, and organizing establishment and revision of corresponding standards

Wake + Acoustic Homing Combined Guidance Against Surface Ship Elusive Maneuver

HU Niu, DONG Cun-kai, LI Yu-chuan

2016, 24(2): 099-104. doi: 10.11993/j.issn.1673-1948.2016.02.004

[Abstract](1474) [PDF 519KB](425)

Abstract:
This paper analyzes the defense strategy of surface ship elusive maneuver against a wake homing torpedo, and proposes a torpedo guidance method, in which combined wake + acoustic homing guidance is adopted to counter against variable speed and changeable direction ship. The application principle of this combined guidance is built, and simulation of trajectory is carried out. Simulation results show that the information fusion method of wake and acoustic homing guidance can effectively counter against the defense strategy of the ship elusive maneuver, and can improve the hit probability of the wake homing torpedo in attacking the surface ship.

Fast Sound Field Calculation Method Based on Gaussian Beam Model

HE Xin-yi, WANG Lei, CHEN Jing, GAO He

2016, 24(2): 105-110. doi: 10.11993/j.issn.1673-1948.2016.02.005

[Abstract](1021) [PDF 477KB](817)

Abstract:
A fast sound field calculation method based on Gaussian beam model is proposed. The method based on BELLHOP sound field calculation model can solve Gaussian beam trajectory equation and adjoint equation iteratively by increasing sound velocity profile uniform grid interpolation and boundary layer fast processing steps, and obtain acoustic ray tracing and transmission loss. The method is fast and robust, and it can solve the problems of estimating torpedo homing performance in real time and forecasting sound field of torpedo attack scheme accurately. Simulation shows its correctness and validity.

A DOA Estimation Method of Submarine Highlight Based on Correlation Matching Algorithm

ZHU Kun-an, YANG Yun-chuan, SHI Lei, LI Bo, GUO Lei

2016, 24(2): 111-114. doi: 10.11993/j.issn.1673-1948.2016.02.006

[Abstract](1317) [PDF 463KB](449)

Abstract:
To improve reliability of the DOA estimation of submarine highlights, a multi-highlight echo model of a submarine was established based on the mathematical model of point target echo, and the DOA was estimated by using the correlation matching algorithm. And according to the characteristic that the variance of target short-time bearing information is smaller than that of environmental background, a method for eliminating interference of environmental noise was proposed. Simulation results show that the proposed model can simulate the echo signal of a submarine, and deal with the target bearing obtained by the correlation matching algorithm by means of the proposed environmental noise elimination method to reduce the interference of environmental noise and improve the reliability of submarine target DOA estimation.

A High-speed Optical Fiber Communication Bus in Torpedo Based on Complex Topological Structure

WEI Yu-hua, ZHU Yun-zhou, GAO Zhuo

2016, 24(2): 115-119. doi: 10.11993/j.issn.1673-1948.2016.02.007

[Abstract](661) [PDF 375KB](429)

Abstract:
With the increase of torpedo′s function, improvement of performance and more complex of task, the traditional industrial field bus is difficult to meet the demand of future informationalized weapons. Hence, open bus in torpedo becomes the general trend. In this study, a high-speed optical fiber communication bus in torpedo based on complex topological structure was proposed, topological analysis and system design of the optical fiber bus were carried out by using full-duplex communication ethernet network technique. Design analysis and prototype experiment indicate that the optical fiber bus has the advantages of large bandwidth, small delay and high reliability, can meet the requirement of information sharing in the systems for a torpedo, so it can be used in future torpedo to enhance informationalization of a torpedo.

Three-dimensional Path Planning Method Based on Improved Ant Colony Algorithm for UUV

WEN Zhi-wen, CAI Wei-jun, YANG Chun-wu

2016, 24(2): 120-125. doi: 10.11993/j.issn.1673-1948.2016.02.008

[Abstract](1602) [PDF 520KB](477)

Abstract:
A path planning method based on improved ant colony algorithm is presented for an UUV to solve the problem that the current ant colony algorithm exists uncertainty of weight coefficient, deviation of objective function values from ideal value, low efficiency, slow convergence speed, and possibility falling into local optimum in dealing with the path planning of multi-objective optimization by using its weighted sum method. This method optimizes the combination of multiple objectives according to the idea of Pareto noninferior optimal solution set, and applies the attraction strategy of trend position object to effectively overcome the above defects. Simulation experiment in three-dimensional environment shows that the present method is effective and feasible.

Flow Characteristics Simulation of HAP Tri-propellant Pump Supply System

WANG Kai, SUN Tao, SHI Xiao-feng, YI Yin, YI Jin-bao, HAN Yong-jun

2016, 24(2): 126-131. doi: 10.11993/j.issn.1673-1948.2016.02.009

[Abstract](1041) [PDF 1010KB](565)

Abstract:
The flow characteristics simulation of a HAP tri-propellant pump supply system was researched aiming at the combustion oscillation of combustion test. The flow of fuel pump was simulated by using three-dimensional simulation software PumpLinx, and the flow characteristics of the pump supply system were obtained by the software AMESim. HAP tri-propellant combustion dynamic test was conducted to measure the fluid pressure pulsation of each group member and verify the simulation model of pump system. The results show that the simulated flow characteristics of pump supply system is in accordance with the measured pulsation law, verifying the correctness of the parameters, such as pulsation frequency, achieved in simulation. These parameters could provide technical support to design and optimization of hydraulic components.

Incremental PID Algorithm Based Gas Flow Control Method

GAO Hui-zhong, LU Jun, MA Xiao-lu

2016, 24(2): 132-136. doi: 10.11993/j.issn.1673-1948.2016.02.010

[Abstract](1252) [PDF 427KB](1278)

Abstract:
Design of gas flow controller is of great challenge due to complicated dynamic performances and delayed response of the Gas flow control system. In this study, the dynamic flow control characteristics of the gas fuel for torpedo power system were analyzed, the incremental proportional integrative derivative(PID) algorithm was adopted to achieve dynamic control of gas flow, and the dynamic performances of the flow control system were described mathematically. In design of an adaptive gas flow controller, Ziegler-Nichols principle was utilized to realize initialization, then a set of PID parameters with better control behaviour were achieved through trial and error method. Step test was conducted to validate the performance of the controller. Eventually, the adaptability of the controller under dynamic condition was verified by simulation test.

Discussion on Graphic Expression of Stability of Target Motion Factors

LI Chang-wen, MAO Jun-chao, CHU Lei

2016, 24(2): 137-140. doi: 10.11993/j.issn.1673-1948.2016.02.011

[Abstract](857) [PDF 259KB](389)

Abstract:
A concept of expressing calculation results of target motion factors graphically is proposed. For a straight running target with constant velocity, the target motion factors are estimated by the one station bearing-only method with finite sound speed. A computer is used to draw a graph of recent several target estimations in terms of position, velocity, and mean square deviation of bearing observing errors. This graph may express the stability of calculation results of the target motion factors to help decision-maker sunder stand intuitively and improve decision efficiency of choosing target motion factors. It is found that the estimated properties of the mean square deviation of bearing observing errors can be used to judge target maneuver, and the judgment can be taken as a basis to reset calculation. This study may provide a reference for torpedo operational application.

Application of USB Tester Software Based on LabVIEW and DLL Technology to Torpedo

MAO Rui-shi, WANG Xiang-sheng

2016, 24(2): 141-144. doi: 10.11993/j.issn.1673-1948.2016.02.012

[Abstract](618) [PDF 215KB](532)

Abstract:
To meet the ever-growing requirements of calculation and transmission as well as function enhancement and limitation of weight and size for a torpedo，the authors redeveloped the upper monitor software of portable USB tester by using the combined LabVIEW and Visual C++ programming method in design of a portable measuring and controlling equipment of a torpedo. Hence, the operation on the non-NI hardware board was realized in LabVIEW or LabWindows/CVI environment, which proposes a new way to balance between development efficiency and cost reduction. Several debugging processes verified that the tester fully meet the needs of different test tasks for different types of torpedo launchers. This redevelopment is able to be applied to other function board besides USB. It is provides reference for the development of torpedo software.

An Improved Evaluation Method of Torpedo Loading Reliability

HE Cheng-gang, GAO Jiang

2016, 24(2): 145-149. doi: 10.11993/j.issn.1673-1948.2016.02.013

[Abstract](1267) [PDF 214KB](397)

Abstract:
Considering the characteristics of convention loading and accelerating test methods of a torpedo, an improved evaluation method of torpedo loading reliability is designed. The general idea is that giving priority to loading test and taking accelerating test as auxiliary. By extending test information source, increasing test data, establishing more reasonable test scheme and fully making use of different test evaluation information, convention loading reliability evaluation method is improved, the credibility of loading reliability test is elevated, and the risk for manufacturer is reduced properly. The improved method is feasible, and can be employed to guide implement of torpedo loading reliability evaluation test.

Design of Anti-ship Salvo Test Scheme for Wake Homing Torpedoes

ZHU Wen-zhen, YE Hao-jie, WANG Hao

2016, 24(2): 150-153. doi: 10.11993/j.issn.1673-1948.2016.02.014

[Abstract](1087) [PDF 217KB](380)

Abstract:
According to the requirement of torpedo operational ability evaluation, the salvo mode and application re-quirement of wake homing torpedoes are introduced, and the factors influencing salvo test of wake homing torpedoes are analyzed. Then, an optimized anti-ship salvo test scheme of wake homing torpedoes is designed, and the corresponding test evaluation method is proposed. This study may provide a technical reference for anti-ship salvo test and evaluation of wake homing torpedoes.

Design of Adaptive Middleware of Motion Control System for Underwater Vehicle

XU Fei, GAO Jun-chai, LEI Xiao-kang

2016, 24(2): 154-160. doi: 10.11993/j.issn.1673-1948.2016.02.015

[Abstract](752) [PDF 717KB](362)

Abstract:
Underwater vehicle motion control system generally uses distributed motion control technology with high reliability, where real-time business requirements demand faster response of a communication channel. In this paper, the reflection technology is used to design a kind of middleware for underwater vehicle motion control system, including such units as a composition core, a general bus communication adapter and a context manager. A communication strategy adapter is also designed for solving the communication coupling between heterogeneous hardware platforms. In addition, a simulation experiment of communication resource request retract ability is conducted to evaluate the feasibilities of the present prototype system, the related model and the communication strategy adapter, and the effectiveness and extensibility of the proposed adaptive middleware are verified. This adaptive middleware may provide a reference for integrating next generation of underwater vehicle control system.

2016 Vol. 24, No. 2

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