水下无人系统学报

Technical Development of Underwater Glider in China: Suggestions and Thoughts

QIAN Hong-bao, LU Xiao-ting

2019, 27(5): 474-479. doi: 10.11993/j.issn.2096-3920.2019.05.001

[Abstract](999) [PDF 334KB](587)

Abstract:
This paper briefly summarises the development status of underwater glider technology at home and abroad, and reviews the development process of the underwater glider(UG) in China. The arrangement and deployment of the National Science and Technology Plan for the marine instruments and equipment represented by underwater gliders, the technological progress achieved, and the primary experience and practices of them are also introduced. Finally, comments and suggestions for the next development of underwater glider technology are put forward from three aspects: single platform technology, collaborative networking and application research. They mainly include: firstly, some key technologies such as low power design, optimal path planning and control strategy algorithm, multi-parameter acquisition and carrying capacity, data quality standards and information security transmission should be further strengthened to speed up the upgrade, improvement and optimization of UG monomer technology; then the synchronised observation technology based on the multi-underwater gliders formation cooperative networking should be strengthened to improve their overall operation efficiency, observation and detection effect; and lastly, the observation function expansion of UG and their application of marine science should be strengthened to make the ocean more transparent.

Dynamic Modeling and Simulation of Underwater Glider Petrel-II 200

SUN Xiu-jun, WANG Lei, SANG Hong-qiang

2019, 27(5): 480-487. doi: 10.11993/j.issn.2096-3920.2019.05.002

[Abstract](780) [PDF 849KB](407)

Abstract:
In China, the researches on dynamic behavior of underwater glider mostly focuses on deep-sea type and horizontally rolling mechanism, but less on shallow-sea type and tail rudder steering type. This paper takes shallow-sea underwater glider Petrel-II 200 as a model to conduct dynamic modeling and motion simulation, and adds some disturbing factors such as ocean current for the purpose of providing reference for motion form of shallow-sea underwater glider. According to the relative motion relationship of each mass in the Petrel-II 200 three-dimensional model, the centroid is simplified to a multi-rigid body system composed of multiple particles, and the relationship between the centroid and the particle is constructed. Based on the theorems of momentum and momentum moment, the dynamics of Petrel-II 200 is analyzed. The gravity, driving buoyancy and hydrodynamics of the underwater glider are transformed into body coordinate system. The complete dynamic equation is deduced, and the expressions of lift-to-drag ratio and radius of rotation are defined. By choosing the physical and hydrodynamic parameters of the underwater glider, simulation experiments of typical motions, such as sawtooth and spiral motions, are carried out. The simulation results validate the accuracy and reliability of the dynamic model, and provide a good simulation platform for the following underwater glider Petrel-II 200 motion performance optimization and control algorithm design.

Research on Hydrodynamic Characteristics and Gliding Performance of Underwater Glider “HaiXun 4000”

LIU Lai-lian, MIN Qiang-li, ZHAN Guang-ming

2019, 27(5): 488-495. doi: 10.11993/j.issn.2096-3920.2019.05.003

[Abstract](745) [PDF 1229KB](397)

Abstract:
Compared with common underwater glider, the 4 000-meter underwater glider needs larger volume adjustment of its buoyancy control system in order to overcome the influence of seawater density change. Accurate dynamic model and hydrodynamic coefficient are the basis for realizing its control system design and accurate navigation. On the premise that its structural parameters are determined and the dynamic model is known, this paper aims to obtain accurate hydrodynamic coefficient and predict its performance, so as to provide control variables and optimization directions for the control system. Taking the 4 000-meter underwater glider “HaiXun 4000” as the research object, theoretical calculation, CFD simulation and experimental data analysis are combined to analyze the influence of the horizontal wing parameters on the gliding performance of the underwater glider, hence the hydrodynamic coefficient of constant motion in longitudinal plane is obtained, and the performance of the glider is predicted. Through the analysis of test data, the gliding speeds corresponding to different net buoyancy under typical gliding conditions are obtained and compared with the theoretical calculation to verify the correctness of the theoretical calculation. The results show that the error between actual pitch angle control and theoretical calculation is less than 5%, and the error between gliding speed and theoretical calculation under the actual net buoyancy of the test is within 15%, meeting the error requirements of 20% of the corresponding control amount for the control system. This research may provide a reference for further optimization and improvement of the control system.

Shape Optimization for Blended-Wing-Body Underwater Glider Using Improved Kriging-HDMR

ZHANG Ning, WANG Peng, SONG Bao-wei

2019, 27(5): 496-502. doi: 10.11993/j.issn.2096-3920.2019.05.004

[Abstract](445) [PDF 937KB](247)

Abstract:
To make the shape of blended-wing-body underwater glider(BWBUG) have better lift and drag characteristics, an advanced surrogate-based optimization method using a Kriging-high dimensional model representation(Kriging-HDMR) is presented. In this algorithm, expected improvement(EI) criterion and moving cut point are employed during optimization process to improve the accuracy and efficiency of the optimization. Class-shape function transformation(CST) method is used to establish a parameterization model for the shape of BWBUG. Then, in order to maximize the lift-to-drag ratio, the improved Kriging-HDMR method is used to optimize the shape of BWBUG. The results show that the lift-to-drag ratio of the BWBUG shape is improved by 3.135 6% with the proposed HDMR optimization method.

A Noise Processing Method for Salinity Data Underwater Glider

YI Zhen-hui, YU Jian-cheng, MAO Hua-bin, ZHANG Zhi-xü, LIAN Shu-min, QIU Chun-hua, LI Xian-peng

2019, 27(5): 503-513. doi: 10.11993/j.issn.2096-3920.2019.05.005

[Abstract](536) [PDF 1579KB](317)

Abstract:
Conductivity-temperature-depth(CTD) sensor on underwater glider is used to measure temperature, salinity and pressure of sea water. However, in the calculation of salinity, thermal lag error is a common problem but cannot be neglected. In this paper, eight glider payload CTD(GP-CTD) data of underwater gliders “Sea Wing” obtained during July – August, 2017 are processed. Median filter and sliding smoothing filter are used to solve the problem of salinity peak. The salinity data are corrected considering the thermal lag based on the thermal lag correction method proposed by Morison, et al. It is found that the vertical temperature structure and horizontal resolution are closely related to the thermal lag error. In the process of profile interpolation, the pressure oscillation caused by ocean internal fluctuation affects the interpolation results, resulting in significant error in temperature and salinity. Based on the CTD profile data, a simple identification method of ocean internal fluctuation is proposed. This study may provide reference for data quality control and marine phenomena capture of underwater gliders.

Data Management of Underwater Gliders: a Review

WANG Guan-lin, WANG Yan-feng, GUAN Sheng

2019, 27(5): 514-520. doi: 10.11993/j.issn.2096-3920.2019.05.006

[Abstract](731) [PDF 614KB](347)

Abstract:
This paper reviews the requirements of the global ocean observing system(GOOS) program for data management of underwater gliders, and introduces some present data management systems such as the U.S. integrated ocean observing system(IOOS), the Australian integrated marine observing system(IMOS), and the European gliding observatories(EGO); and then summarizes the core contents of underwater glider data management, concerning workflow creation, data format and metadata management, quality control, etc. The key points of data quality control of multidisciplinary sensors, including conductivity-temperature-depth sensor, optical sensor and bio-chemical sensor, are introduced. Moreover, the future work for data management of underwater gliders is discussed from the perspective of current application and development of underwater gliders in China, and suggestions for the data quality control and operation system are offered. This work may provide reference for scientific management and application of underwater glider observation data in China.

Design of Network-Edition Shore-Based Monitoring Center for Wave Glider

SANG Hong-qiang, YOU Yu-song, SUN Xiu-jun

2019, 27(5): 521-528. doi: 10.11993/j.issn.2096-3920.2019.05.007

[Abstract](133) [PDF 2995KB](45)

Abstract:
The wave glider can transmit the sensor data to the shore-based monitoring center through satellite relay to obtain ocean observation data. In view of the inconvenient offline use, the inability to cross-platform use, and the poor user experience of traditional stand-alone shore-based monitoring software, this study designed a network-edition shore-based monitoring center for wave glider. The design was based on browser/server(B/S) architecture, and adopted the model, view, controller(MVC) development mode. This monitoring center can receive, analyze and process the observation data in real time, and complete tracking/positioning, track display, path planning, and other functions of wave glider. As a result, a global, dynamic interactive, and cross-platform distributed mobile information platform for wave glider was implemented. Sea trial verified the effectiveness and practicability of the design.

Present Situation and Prospect of Navigation Technologies for Underwater Glider

WU Shang-shang, LI Ge-ge, LAN Shi-quan, YANG Shao-qiong, ZHANG Lian-hong

2019, 27(5): 529-540. doi: 10.11993/j.issn.2096-3920.2019.05.008

[Abstract](841) [PDF 503KB](512)

Abstract:
Improvement of underwater navigation positioning accuracy is crucial for underwater glider to complete missions, including marine environment observation, resource detection and identification or location of marine target. Most of the existing underwater glider navigation methods are based on dead reckoning supplemented by global position system(GPS). With the advancement of navigation technology, technologies such as inertial navigation, acoustic navigation, marine geophysical navigation and integrated navigation will be applied to underwater gliders increasingly. This paper briefly introduces the principle, classification and familiar algorithms of underwater navigation technology, and summarizes the domestic and abroad status of research and application of navigation technology for underwater gliders. Then the technical difficulties and development trends of under-ice navigation are discussed. The purpose of this paper is to provide reference for in-depth research and innovative application of underwater glider navigation technology.

Path Tracking Control Method of Underwater Glider Based on Heading Compensation

SANG Hong-qiang, YU Pei-yuan, SUN Xiu-jun

2019, 27(5): 541-548. doi: 10.11993/j.issn.2096-3920.2019.05.009

[Abstract](557) [PDF 571KB](223)

Abstract:
This paper focuses on the problem of horizontal path tracking control for underwater glider under internal model nonlinearity and external environment disturbances. A dynamic model of underwater glider Petrel-II 200 is established as the simulation platform of closed-loop control system, and a path tracking control method including integral light-of-sight(ILOS), sliding mode control(SMC) with heading compensation(HC), and particle filter(PF) is proposed. The desired heading angle of the underwater glider is updated in real time by the ILOS algorithm. The SMC algorithm based on HC is used to eliminate the steady state error in the heading control. The PF is introduced into the feedback loop to reduce the interference of process noise and measurement noise. The complete path tracking control model is verified by numerical simulation. According to the numerical simulation results, the proposed method reduces the mean heading error and the root mean square error in square wave heading tracking by 80.14% and 4.1%, respectively, compared with the traditional proportional-integral-derivative(PID) control. Also, the maximum heading error and the standard deviation in sinusoidal heading are reduced by 40.9% and 3.6%, respectively. The high frequency oscillation of the rudder angle output is also avoided, which effectively reduces the energy consumption. In the filtering simulation, PF can filter out 80% of fixed heading noise and 90% of random heading noise, and in the path tracking simulation, the proposed method can effectively track the desired path. These numerical simulation results verify the effectiveness of the proposed path tracking control method.

Design of an Intelligent Emergency Safety Control Self-rescue System for UUV

ZHANG An-tong, XU Ling-ling, WANG Jian, XIAO Dong-lin, ZHANG Bo

2019, 27(5): 548-554. doi: 10.11993/j.issn.2096-3920.2019.05.010

[Abstract](562) [PDF 577KB](280)

Abstract:
In view of the fact that unmanned undersea vehicle(UUV) navigation operations face serious security problems, this paper puts forward an intelligent emergency safety control self-rescue system. This system adopts the operation mode of electromagnetic coupling. Its basic principle is to generate a reverse magnetic field with the same strength as the permanent magnet through a direct current(DC) coil so as to offset the electromagnetic force, then the load can be removed via spring force. The design method of the electromagnet is given by analyzing the corresponding relationship between the coil electromagnetic force and other parameters such as coil turns. The unidirectional slope disturbance structure is set in the chute, and the fault priority interlock is used in the control mechanism to realize low power consumption and high reliability of the system. Lake trial shows that the system is applicable for improving the safety of UUV.

Research on Observation Technology of Oceanic Acoustic Background Field Based on Underwater Glider

YIN Yun-long, YANG Ming, YANG Shao-qiong, LIU Yu-hong, NIU Wen-dong

2019, 27(5): 555-561. doi: 10.11993/j.issn.2096-3920.2019.05.011

[Abstract](690) [PDF 1651KB](456)

Abstract:
Underwater glider can realize long-time and large-scale stable observation of oceanic ambient noise. This paper developed an acoustic observation underwater glider with the ability of oceanic ambient noise measurement through researching integrated application of hydrophone and underwater glider. Based on the working principle of hydrophone and the motion constraint of underwater glider, the computational fluid dynamics(CFD) software was used to calculate the hydrodynamic force for optimizing the installation position of hydrophone in underwater glider body. A dynamic model was further established for motion simulation and determination of the optimal motion parameters of the developed underwater glider. A large number of underwater glider self-noise and oceanic ambient noise data were obtained in the sea trial in the South China Sea in May 2019, and the motion stability of this underwater glider and its observation ability of oceanic acoustic background field were verified.

Application of Wave Glider “Black Pearl” to Typhoon Observation in South China Sea

SUN Xiu-jun, WANG Lei, SANG Hong-qiang

2019, 27(5): 562-569. doi: 10.11993/j.issn.2096-3920.2019.05.012

[Abstract](745) [PDF 3452KB](520)

Abstract:
Typhoon observation technology of wave glider has been widely used abroad, however this technology is still at technical level in China. In order to expand the application scope of wave glider, the Chinese scholars carried out a 17-day sea trial of the wave glider “Black Pearl” in the South China Sea for typhoon observation. In this paper, the structure, working principle and test of the wave glider are introduced. The oceanic dynamic environment data such as wave height, wave period and cross-section velocity are acquired through the wave sensor and acoustic Doppler current profilers(ADCP). By comparing and analyzing the measured data with the buoy data, it is found that they agree well with low error and high correlation degree, verifying the measurement accuracy of the wave glider. This study proves that the wave glider “Black Pearl” developed independently by Chinese has potential application in extreme sea condition observation, and fills the gap of applying wave glider to typhoon observation in China.

An Angle Weighted Least Squares Algorithm for Target Localization

DU Jin-xiang, XU Heng-bo, ZHU Peng

2019, 27(5): 570-573. doi: 10.11993/j.issn.2096-3920.2019.05.013

[Abstract](531) [PDF 404KB](245)

Abstract:
In the three-dimensional localization algorithm based on direction-of-arrival(DOA), the target’s location errors are sensitive to the estimation errors of pitching angles, especially when the sensor array nodes are almost in the same horizontal plane with the target. In other words, the location errors are highly sensitive to the pitching angle errors when the pitching angles are close to 90°. To solve the sensitivity problem, a weighted least squares method is proposed in this paper. Small weighting factor is chosen for those sensor array nodes with large pitching angle estimation to decrease the impact of pitching angle estimation error and to increase robustness of the method. Furthermore, the performance of the weighted least squares method is analyzed via numerical simulation. Simulation results show that the present weighted least squares method has better robustness over DOA estimation errors and disturbance of the sensor array nodes than ordinary least squares method.

Analysis on the Factors Influencing Structural Transfer Characteristic of Torpedo Vibration Test System

WANG Hong-rui, CAO Xiao-juan, YIN Shao-ping, ZHANG Zhi-min, SHAN Zhi-xiong

2019, 27(5): 574-579. doi: 10.11993/j.issn.2096-3920.2019.05.014

[Abstract](332) [PDF 528KB](299)

Abstract:
The transfer characteristic of the torpedo vibration test system is crucial to the confidence level of vibration environment simulation. Therefore, constructing a test system that can accurately transmit vibration test conditions is the basis for conducting test and simulation of structural transfer characteristic. In this paper, based on different boundary conditions, finite element simulation analysis of transfer characteristic of system under random load excitation is carried out for the cabin vibration test system, and the factors influencing structural transfer characteristic of the test system are determined. Conclusions are drawn as follows: 1) bolt preload, clamp support spacing, and intermediate layer material’s properties are the main factors affecting the transfer characteristic of the system; 2) within a certain range, as the bolt preload increases, the transfer characteristic of the system tends to increase, but when the tightening torque is greater than 40 N·m, the transfer characteristic tends to be stable; 3) the torpedo cabin with a slenderness ratio of 2 to 4 has better system transfer characteristic when the support ratio is from 50% to 66.67%; and 4) when the intermediate layer uses a material with small thickness, large friction coefficient and relatively large damping ratio, the system can achieve higher resonance frequency and better transfer characteristic.

Discussion on Modular Design of Airborne Torpedo Accessories

SHUAI Zhi-hao, XU Xin-Dong, LI Bing, ZHAO Qi

2019, 27(5): 580-588. doi: 10.11993/j.issn.2096-3920.2019.05.015

[Abstract](446) [PDF 472KB](361)

Abstract:
Traditional design procedures of airborne torpedo accessories are only based on platforms or torpedoes, which will bring problems such as longer lead time, higher cost, and difficult use and maintenance. This paper analyzes the functional interfaces of airborne torpedo accessories for such as suspending torpedo, stable deceleration, releasing rope constraint, relieving plug, scotching rotation of torpedo in the air, buffering, and reducing drag. According to the modular design method of products, the modular design schemes of airborne torpedo accessories are proposed following the design procedures of functional modules’ partition, serialization, and combination. Hence, the modular design schemes of airborne torpedo accessories for different types of torpedoes are obtained for helicopter, fixed-wing aircraft, and fly-assisting platform. Generic products can be used and design resources can be coordinated furthest. In addition, a design example is given using the modular design schemes.

Simulation Research of Torpedo-parachute System under Influence of Meteorological Wind

WEN Zhi-wen, YANG Zhi-dong, CAI Wei-jun

2019, 27(5): 589-594. doi: 10.11993/j.issn.2096-3920.2019.05.016

[Abstract](572) [PDF 395KB](203)

Abstract:
A mathematical model of torpedo-parachute system is established for the air-dropped torpedo. Then, the ma-thematical model is corrected considering the impact of meteorological wind. Simulation of the air trajectory of the air-dropped torpedo under the impact of meteorological wind is conducted, and the results show that stable air trajectory of torpedo can be obtained, which proves the rationality of the modified mathematical model. This study may provide reference for air trajectory design of air-dropped torpedo.

Research on Vibration Control Technologies of Torpedo Power System and Its Application

CAO Hao, ZHANG Wei-wei, WEN Li-hua, WANG Zhi-jie, ZHAO Chang-li

2019, 27(5): 595-600. doi: 10.11993/j.issn.2096-3920.2019.05.017

[Abstract](656) [PDF 1061KB](621)

Abstract:
To further reduce noise level of torpedo power system, the vibration control technologies of the torpedo power system are discussed in this paper, the applications of the structural dynamics design method, the vibration isolation technology of the whole machine, the vibration suppression technology of fluid pipeline, and the assembly technique in the vibration control engineering of torpedo power system are analyzed. Moreover, the development directions of the torpedo power system vibration control field are pointed out as follows: 1) at design aspect, the previous design methods mainly for solving the structural strength and stiffness should be transformed into the design method for taking structural dynamics as traction to achieve low noise and high thrust ratio of torpedo power system; 2) at vibration isolation aspect, the previous single-point partial vibration isolation should be transformed into the vibration isolation of whole machine and the vibration suppression of the fluid pipeline; and 3) at assembly aspect, the assembly process control has increasingly become an important factor affecting the vibration performance. This study may provide theoretical reference for the development of Torpedo power system with low noise level.

2019 Vol. 27, No. 5

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