水下无人系统学报

Theoretical Bases and Application Development Trend of Vector Sonar Technology

YANG De-sen, ZHU Zhong-rui, TIAN Ying-ze

2018, 26(3): 185-192. doi: 10.11993/j.issn.2096-3920.2018.03.001

[Abstract](1569) [PDF 1331KB](663)

Abstract:
The vector sonar can obtain more abundant sound field information compared with the traditional sonar, so it achieves wide application. In this paper, the theoretical bases of the advantages of vector sonar technology are summarized from the aspects of physics, mathematics, signal processing, information content, low frequency detection performance and target location. The successful application of vector sonar in free field is reviewed, and the breakthrough made by the authors’ team in shipborne vector sonar application is emphatically introduced. The basic problem in the application of vector sonar under typical sound baffle condition is solved theoretically, and the suitability of vector sonar is also solved technically. In addition, the development trend of vector sonar in the future is predicted.

Current Status and Developing Trend of Low Frequency Active Towed Sonar Abroad

WANG Lu-jun

2018, 26(3): 193-199. doi: 10.11993/j.issn.2096-3920.2018.03.002

[Abstract](1414) [PDF 6793KB](654)

Abstract:
The low frequency active towed sonar can detect submarine remotely under bad sound propagation conditions, and it has gradually become the main equipment of anti-submarine detection in many countries. This paper first reviews the development background of the low frequency active towed sonar, summarizes its characteristics, and emphatically introduces the development course of towed sonar of American surface ship. Then, the major performances of the main low-frequency active towed sonars developed by France, Germany, Russia and the United States are analyzed, and the challenges of false alarm rate, exposure and ecological impact facing the development of low frequency active sonar are presented. It is pointed out that the low frequency active towed sonar will develop towards equipment serialization, multi-base operation application and system multifunction.

Trajectory Tracking Control Method for Underactuated UUV Using Integral Sliding Mode under Parameter Perturbation

YAN Zhe-ping, LI Xiang, SONG Yu-wu, LI Juan

2018, 26(3): 200-206. doi: 10.11993/j.issn.2096-3920.2018.03.003

[Abstract](693) [PDF 5620KB](423)

Abstract:
A horizontal plane trajectory tracking control problem of an underactuated unmanned undersea vehicle(UUV) is discussed considering parameter perturbation. A control strategy based on backstepping method and integral sliding mode control method is hence proposed. The trajectory tracking error equation is established using the motion characteristics of the UUV. Employing the backstepping method and the integral sliding mode control method, the first-order integral sliding mode vertical velocity controller and yaw velocity controller are designed to realize the horizontal plane trajectory tracking with parameter perturbation, and the stability of the system is proved. Simulation results show that the proposed trajectory tracking control method can effectively complete trajectory tracking task, and is rather robust to parameter perturbation.

Simulation and Analysis of Cylindrical Buoy Motion Based on Numerical Wave Flume

YANG Zhuang-tao, ZHANG Tao, DUAN Hao, ZHU Min

2018, 26(3): 207-213. doi: 10.11993/j.issn.2096-3920.2018.03.004

[Abstract](903) [PDF 6364KB](342)

Abstract:
The influences of a buoy’s shape and gravity center distance on its motion response in different sea conditions are studied. Using the Reynolds-averaged Navier-Stokes equations(RANS) and the volume of fluid(VOF) model, a numerical wave flume is established via combination of potential flow and viscous flow. The waveform generated by this numerical wave flume and the theoretical waveforms are analyzed for different physical time, and the results show that the accuracy of the generated waveform satisfies engineering application. In addition, the six degrees of freedom (6DOF) model and the overlap grid method are employed to simulate the motion characteristics of two kinds of buoys in different sea conditions. It is shown that the present buoy motion simulation and analysis method is correct and effective. This study may facilitate the design of cylindrical buoys.

Optimization Design of Underwater Turbine Engine in Design Condition

LI Wen-zhe, ZHANG Fang-fang

2018, 26(3): 214-220. doi: 10.11993/j.issn.2096-3920.2018.03.005

[Abstract](792) [PDF 836KB](294)

Abstract:
To improve economic performance of a new type underwater turbine engine in design condition, a design model of the turbine engine is established, and maximum inner efficiency in design condition is taken as the objective function. By using the genetic algorithm, optimization match of four parameters of the turbine engine, i.e., working back pressure of turbine engine, mean diameter of turbine’s moving cascade, air-in inclination angle and divergent angle of nozzle, is analyzed with focus on their effects on inner efficiency. Results show that the inner efficiency in design condition is most sensitive to the working back pressure, but is least sensitive to the divergent angle of nozzle. After optimization, the inner efficiency is improved by 6.24%, and the working substance consumption per second is decreased by 5.87%, thus the economic performance of the engine is improved obviously. The established model and its optimization design may provide initial model and data for thermodynamic simulation of turbine engine in off-design condition.

3D Docking Guidance Algorithm Based on Dipole Field for a Moving Dock Station

QI Bei-bei, YAN Wei-sheng, GAO Jian

2018, 26(3): 221-227. doi: 10.11993/j.issn.2096-3920.2018.03.006

[Abstract](883) [PDF 5522KB](309)

Abstract:
To solve the autonomous docking problem of an autonomous undersea vehicle(AUV), a three-dimensional (3D) docking guidance algorithm based on dipole field is presented for a moving dock station. The position of the transponder is dynamically measured under moving condition of the dock station, and the coordinate and attitude angle of the AUV in docking coordinate system are obtained. The expected heading angle and pitch angle are calculated by using the established dipole field, and the expected roll angle is set to zero. Under the guidance of dipole field, the AUV enters the dock station along the central axis. The control of the AUV is decomposed into two parts in respective longitudinal plane and horizontal plane. By adopting adaptive nonsingular terminal sliding mode control, the robustness and adaptability of controlling heading angle and pitch angle in docking are guaranteed. Simulation shows that the 3D docking guidance algorithm is effective for the moving dock station. This work may provide a reference for the research on docking of moving dock station.

An Optimal Head-on Guidance Law for Integrated Guidance and Control of Underwater Interceptor

YANG Hui-zhen, WANG Di, LÜ Rui

2018, 26(3): 228-233. doi: 10.11993/j.issn.2096-3920.2018.03.007

[Abstract](682) [PDF 1992KB](384)

Abstract:
This paper proposes an optimal head-on control approach for integrated guidance and control of an underwater interceptor by considering the design requirements of precise guidance system for the underwater interceptor. An integrated guidance and control model is established based on the kinetic equation of relative motion and hydrodynamic equation of the underwater interceptor. Using the output regulator method, an optimal controller for the integrated guidance and control system is developed. This controller calculates the rudder control command with the data of sight line angle and interceptor’s attitudes to achieve the purpose of head-on intercepting target by making the sight line angle converge to the desired value. Simulation results show the effectiveness of the proposed head-on guidance law. This research may provide a theoretical basis and a reference for development of guidance system for the underwater interceptor.

Analysis on Bistatic Target Strength of Benchmark Submarine Based on Improved Planar Element Method

FENG Xue-lei, LI Xiao-wei, LI Jin, CHEN Nan-ruo

2018, 26(3): 234-241. doi: 10.11993/j.issn.2096-3920.2018.03.008

[Abstract](830) [PDF 7740KB](322)

Abstract:
Bistatic target strength is an important parameter of bistatic or multistatic sonar. This paper uses an improved bistatic planar element method to analyze benchmark submarine. Firstly, by applying the improved monostatic planar element method to bistatic case, an improved bistatic planar element method is derived and then compared with analytic method. Secondly, the target strength of the benchmark submarine containing external hull, internal hull and rib plates is analyzed considering secondary scattering and occlusion. Thirdly, the statistical characteristics of the bistatic target strength are analyzed. The results indicate that: 1) the improved bistatic planar element method has high accuracy when the bistatic angle is not very large, and it can avoid huge amount of calculation due to coordinate conversion and improve computational stability; 2) for the double-hull benchmark submarine, the primary scattering of the external hull contributes mainly to the target strength in most cases, while the secondary scattering of the external hull is much weaker, and when the incident and scattering directions are symmetrical about the stern or stem direction, the scattering of the internal hull and rib plates contributes a lot due to the mirror reflection; and 3) the statistical characteristics of the bistatic target strength vary slightly with the bistatic angle. This work may provide a reference for the design of bistatic or multistatic sonar for undersea weapons.

Energy Management Strategy Simulation on Underwater Fuel Cell Power System

GAO Hui-zhong, WANG Zhi-jie, YIN Shao-ping, LU Jun, WANG Jun-guang

2018, 26(3): 242-246. doi: 10.11993/j.issn.2096-3920.2018.03.009

[Abstract](712) [PDF 907KB](345)

Abstract:
Hydrogen-oxygen fuel cell, which can transfer reactants’ chemical energy into electric energy, is a kind of generator with high specific energy and efficiency, and it is very suitable for underwater application. This paper proposes a power-based energy management strategy(EMS) according to the features of a hydrogen-oxygen fuel cell/battery hybrid power system, and builds a model of the hybrid power system with the software Simulink to verify the feasibility of the EMS. Result shows that the EMS can make full use of the battery to complement the fuel cell.

Correction of Modal Calculation Model for Torpedo Shell Based on Static Test

WANG Sheng, YIN Shao-ping, GUO Jun, WANG Zhong, ZHANG Zhi-min

2018, 26(3): 247-252. doi: 10.11993/j.issn.2096-3920.2018.03.010

[Abstract](746) [PDF 6534KB](328)

Abstract:
The torpedo shell joined with wedge-ring connection is simplified as two shells and one annular ring. This simple structure is modeled to build a simple, applicative finite element analysis model, which contains seven contact surfaces and a parameter of contact stiffness coefficient. Static loading test and static simulation analysis are conducted to identify the contact stiffness of the model. The modal of the modified model is calculated via simulation, and the relative error of the modal frequency between simulation and modal test is not more than 2.65%, verifying the accuracy of the proposed modal simulation method. This study may provide a reference for finite element modeling and modal simulation of the structures with wedge-ring connection, such as torpedo shell.

Design and Application of Whole Trajectory Simulation System for Anti-Torpedo Torpedo

CAO Meng, NI Wen-xi, JIANG Ji-jun

2018, 26(3): 253-257. doi: 10.11993/j.issn.2096-3920.2018.03.011

[Abstract](793) [PDF 4165KB](495)

Abstract:
Mathematical simulation plays important roles in weapon demonstration and development, such as optimizing parameter matching, assessing operational effectiveness, and predicting test results. Because the trajectory interception process of an anti-torpedo torpedo(ATT) is more complicated than that of traditional torpedo due to self-characteristic of the ATT, a whole trajectory simulation system for the ATT is designed in this paper. The function and composition of the simulation system, as well as the key models and modules, are expounded. Simulation application is carried out under typical combat conditions, and the validity of the models and simulation system is verified. This whole trajectory simulation system can be adopted to research ATT’s overall performance plan considering operational application, verify design rationality of whole trajectory process, guidance law and performance parameters, and facilitate demonstration and engineering development of an ATT.

Technical Framework and Key Technologies of Torpedo Testability Design

ZHOU Kun-ye, JIANG Tao, ZHANG Ning

2018, 26(3): 258-262. doi: 10.11993/j.issn.2096-3920.2018.03.012

[Abstract](644) [PDF 4826KB](344)

Abstract:
Testability receives more attention in development of a new torpedo, however it is difficult to effectively guide the testability design of a torpedo according to the general requirements of equipment testability. In this paper, the differences of design between aerial equipment and torpedo weapon are compared. Then, according to the characteristics of torpedo support, the technical framework and working methods of the testability design are proposed. Moreover, the key technologies of specifications allocation, testability modeling and built-in test(BIT) design are analyzed and optimized. This study may offer a normative and effective standard for product development stage to guide the testability design of a torpedo.

Frequency Estimation Algorithm Based on Rife Algorithm and Phase Difference Correction Method

XIE Sheng

2018, 26(3): 263-266. doi: 10.11993/j.issn.2096-3920.2018.03.013

[Abstract](760) [PDF 3698KB](297)

Abstract:
In view of the fact that the Rife algorithm has large estimation error when the estimated frequency is close to the fast Fourier transform(FFT) quantization frequency under low signal to noise ratio(SNR), but the window-length changing phase difference correction method is of high estimation accuracy, the spectrum subdivision technique is used to improve the Rife algorithm, and a synthesis algorithm of sinusoidal frequency estimation based on the improved Rife algorithm and the window-length changing phase difference correction method is proposed. The theoretical calculation process and related formulas derivation are given. Simulation results show that even if the SNR is as low as -15 dB, the improved algorithm still gains high estimation accuracy and stable performance in the whole frequency band, and the root mean square error(RMSE) is close to the Cramer-Rao lower bound(CRLB). The improved algorithm needs small calculation amount and is easy for hardware implementation.

Analysis on Impact Strength of Secondary Battery Pack of Electric Torpedo

SHENG Zhao-hua

2018, 26(3): 267-272. doi: 10.11993/j.issn.2096-3920.2018.03.014

[Abstract](681) [PDF 8088KB](315)

Abstract:
Safe and smooth discharge of secondary battery pack is a guarantee of normal navigation for an electric torpedo. The battery container is necessary to supply adequate space for battery monomer, and have certain impact strength as well to prevent internal short circuit of battery monomer caused by water-entry impact of torpedo’s air-dropped launching. In this study, water-entry impact test of air-dropped launching torpedo was conducted for the battery pack, and the results showed that the battery monomer was not damaged, but the battery container cover was seriously damaged. Then, the reason why the serious deformation of the container cover happens was analyzed by using impact finite element simulation, and the results indicated that the bending strength of the container cover was insufficient. Furthermore, the structure of the container cover was improved to enhance its bending strength, as a result, the battery pack in the improved container passed the subsequent impact test. This study may provide a reference for the impact resistance design of the battery pack.

2018 Vol. 26, No. 3

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