水下无人系统学报

Current Situation and Enlightenment of Foreign Anti-Submarine Training Targets

HE Xin-yi, CHEN Shuang, CHEN Jing, ZHANG Si-yu

2019, 27(6): 601-606. doi: 10.11993/j.issn.2096-3920.2019.06.001

[Abstract](652) [PDF 2866KB](640)

Abstract:
In this paper, the current situation of foreign anti-submarine training targets is reviewed systematically, and the anti-submarine training targets and their application ideas of the U.S. Navy based on simulated targets such as underwater mobile target are analyzed. As a result, suggestions about development of similar equipment in China are made as follows: 1) gradually improving the anti-submarine training target equipment system on the basis of underwater mobile target; 2) strengthening development of key technology about underwater mobile target; and 3) carrying out in-depth researches on training methods. This study may provide a reference for development of equipment and technology in the related fields in China.

Maneuver Control Method of Supercavity Vehicle Based on Active Bank-To-Turn

SONG Shu-long, LÜ Rui, ZHOU Jing-jun, WAN Ya-min, LI Jian-chen

2019, 27(6): 607-613. doi: 10.11993/j.issn.2096-3920.2019.06.002

[Abstract](399) [PDF 713KB](211)

Abstract:
To raise the mobility of the supercavity vehicle, a maneuver control method based on active bank-to-turn(BTT) is established in this paper. After analyzing the hydrodynamics of the supercavity vehicle, the gliding force coefficient and moment coefficient tables are solved according to the wetting status of the vehicle under different working conditions, and the sliding force is reconstructed. A six-degree-of-freedom dynamic model of the supercavity vehicle is established. According to the up-and-down rudder control mode, the proportional-integral-derivative(PID) controller of depth and roll channel of the supercavity vehicle is designed. Thus, a maneuver control method based on the active BTT control strategy is proposed. Mathematical simulation results show that the designed controller has good dynamic characteristics, and can meet the requirements of the supercavity vehicle for maneuver. The method established in this paper can be referenced for maneuver realization of supercavity vehicle with single-degree-of-freedom cavitator.

Analysis on Performance of Underwater Terrain Aided Navigation Using PMF Algorithm

XU Zhen-yang, ZHANG Jing-yuan, WANG Peng, WANG Xin-peng

2019, 27(6): 614-623. doi: 10.11993/j.issn.2096-3920.2019.06.003

[Abstract](370) [PDF 1489KB](311)

Abstract:
Aiming at the problem that the performance of underwater terrain aided navigation is affected by many factors so that best performance cannot be obtained, an underwater digital map with corresponding resolution is made via bilinear interpolation method, and the point-mass filter(PMF) algorithm based on direct probability criterion is adopted to simulate the effects such as speed, depth error, heading error, speed error, initial positional deviation, and underwater topographical features on the navigation performance for undersea vehicle. And the application performance of the PMF algorithm under complex conditions is analyzed. Simulation results show that: 1) the PMF matching algorithm has strong stability under complex conditions; 2) within a certain range, the algorithm shows better resistance to speed and heading errors, but the matching performance will seriously degrade if the speed is too low; 3) the algorithm is greatly affected by the depth error and the initial position deviation, and it needs relatively high requirements for sounding accuracy and inertial navigation system; 4) the algorithm has strong terrain adaptability, and rich terrain is more conducive to matching navigation; and 5) proper selection of the application parameters can effectively reduce the matching error and improve the navigation performance.

Adaptive Backstepping Control of Autonomous Undersea Vehicle with Input Limitation

LI Xin, HUANG Ru-nan, DING Ning

2019, 27(6): 624-628. doi: 10.11993/j.issn.2096-3920.2019.06.004

[Abstract](399) [PDF 494KB](231)

Abstract:
For the axial position tracking control problem of an autonomous undersea vehicle (AUV) with input limitation, a controller is designed using the adaptive backstepping technology. The hyperbolic tangent smooth function is used to ensure bounded control input, a sliding mode control term is used to overcome the damping characteristic of the unmodeled part, and adaptation rate is designed to estimate the current speed. According to the Lyapunov theory, this controller can realize tracking control of the axial position and ensure that the tracking error of the system is globally uni-form and ultimately bounded. Simulation results show that the output of the controller is smooth and bounded, and it has good adaptability and certain robustness.

A Doppler Estimation Method of Mobile FH-FSK Communication

WANG Wei-wei, SUN Hui-song, YAN Hong-lu

2019, 27(6): 629-635. doi: 10.11993/j.issn.2096-3920.2019.06.005

[Abstract](456) [PDF 558KB](233)

Abstract:
During underwater mobile communication, the signals will be affected by Doppler effect. The conventional method for estimating the Doppler frequency offset factor adopts transmission of Doppler sensitive pulse signal. In fre-quency hopping frequency-shift keying(FH-FSK) communication, single chip has better Doppler sensitivity. In this paper, 32 frequency hopping chips are used as synchronizing signals, and Doppler factor estimation is performed for the chips one by one in the synchronizing signal. In the Doppler factor selection, two times of Kalman filtering are performed to obtain the median value so as to make the estimated value more accurate. Considering the influence of the Doppler effect on synchronization, the method of Doppler compensation after synchronization and resynchronization is adopted to further reduce the possibility of misjudgment caused by large synchronization deviation during decoding. Simulation results show that the Doppler factor selection method based on Kalman filter can make the Doppler estimation closer to the theoretical value and reduce the bit error rate after resynchronization. It is proved that this method can improve the accuracy of Doppler estimation and the performance of mobile FH-FSK communication.

Multi-chip DSP System for Active Sonar Detecting Low-speed Small Targets

ZHANG Shu-hao, MA Xiao-chuan, YANG Li, ZHAN Fei

2019, 27(6): 636-643. doi: 10.11993/j.issn.2096-3920.2019.06.006

[Abstract](381) [PDF 962KB](223)

Abstract:
The active sonar equipped on underwater moving platform such as autonomous undersea vehicle(AUV) is easily affected by clutter when it works in shallow water, which makes it hard to detect low-speed small targets. In this paper, the detecting system uses binary phase-shift keying(BPSK) waveform to reduce the clutter. To conquer the high computing burden of BPSK waveform, a signal processor composed of 6 high performance digital signal processor(DSP) chips is used in this paper, and a processing algorithm suitable for the hardware platform is designed, and the software is optimized in real time. Real-time test result shows that the system can complete the processing of one frame of echo data within 160 ms when the pulse width is 200 ms. Lake test verifies that the system can detect the transponder which is pre-arranged at 1 360 m, with a speed of 1 kn and a target strength of 3 dB. Test results show that the detecting system can effectively detect low-speed small targets in complex underwater environment in real time.

Classification and Identification of Underwater Small Target Based on Multi-Parameter Joint Feature

ZHAO Guo-gui, LIANG Hong, LU Yu, YANG Chang-sheng

2019, 27(6): 644-650. doi: 10.11993/j.issn.2096-3920.2019.06.007

[Abstract](445) [PDF 1445KB](329)

Abstract:
The active sonar echoes contain a large amount of target information. The target can be classified and identified by feature extraction. Aiming at the problem that underwater small target cannot be classified very well based on a single feature, a classification and identification method of underwater small target based on multi-parameter joint feature is proposed in this paper. Different forms of transmit signals such as linear frequency modulation(LFM) signal, hyperbolic frequency modulation(HFM) signal and bat biomimetic signal are selected to combine the variance, the spectral centroid and the peak of wavelet energy spectrum of the target echo, and the back propagation(BP) neural network classifier are used to classify and identify the targets. Pool experiment shows that the classification and identification method of underwater small target based on multi-parameter joint feature can effectively improve the target classification identification rate, and compared with traditional signals, using the bat biomimetic signal as transmit signal can obtain a higher classification identification rate. This work may provide a reference for making use of multiple features to jointly classify and identify underwater targets.

Fault-Tolerant Control Algorithm of Single-Phase Hall Position Sensor Based on Sliding Mode Observer for PMSM

ZHANG Ming-ming, LIU Wei-ting, WEI Hai-feng, ZHANG Yi, LI Yuan-jiang, LI Zhen

2019, 27(6): 651-657. doi: 10.11993/j.issn.2096-3920.2019.06.008

[Abstract](512) [PDF 1103KB](261)

Abstract:
A new fault-tolerant control algorithm for the permanent magnet synchronous motor (PMSM) in high per-formance underwater vehicle propulsion system is proposed in order to solve the problems of inaccurate rotor position estimation and abnormal motor driving caused by Hall position sensor fault. Based on the traditional mean velocity method, fault acceleration is introduced to construct an improved first-order acceleration fault-tolerant control algorithm. This improved first-order acceleration fault-tolerant algorithm is adopted to estimate the rotor position, and then a current sliding mode observer is established to extract the fault-tolerant rotor position through a phase-locked loop. For the fault state of single Hall sensor, the result of the improved first-order acceleration fault-tolerant algorithm is coordinated with the observation result of the sliding mode observer to output according to their weights. Finally, the performance of the control system for the fault type of single-phase Hall position sensor is verified by experiments. Experimental results show that the new fault-tolerant algorithm improves the stability and reliability of the traditional PMSM control system with Hall position sensor. The acceleration performance of the propulsion system in the case of fault is effectively improved, and the fault-tolerant control effect is optimized.

Analysis on Error Distribution of Torpedo Water-Entry Point Based on Four-Element Array Localization Algorithm

DING Ming-hui, ZHUANG Rui, YUE Lei

2019, 27(6): 658-663. doi: 10.11993/j.issn.2096-3920.2019.06.009

[Abstract](388) [PDF 1465KB](208)

Abstract:
The accuracy of torpedo water-entry point is one of the main tactical and technical indexes for assessing per-formance of torpedo. For localizating torpedo water-entry point by four-element array, a localization algorithm is derived and simulated in this paper. The error caused by delay difference estimation is analyzed. An error equation is derived, and the main factors leading to larger error are given. Moreover, the localization errors of different array formations are simulated, and the simulation results with co-directional error and reverse error are compared. It shows that the localization error distribution will be compressed to the diagonal part of the original square by changing the placement of four-element array, and the area with larger errors will be reduced. Thus, the aim of reducing errors and improving localization accuracy is achieved.

Effects of Charge Depth and Air Domain Size on Underwater Explosion

LIU Shi-cong, WANG Qiu-sheng, LOU Hao-ran

2019, 27(6): 664-672. doi: 10.11993/j.issn.2096-3920.2019.06.010

[Abstract](459) [PDF 1449KB](249)

Abstract:
In underwater explosion test, it is difficult to carry out research on the charge depth and the air domain size which affects the accuracy of numerical calculation. In this paper, based on the underwater explosion test of centrifuge, underwater explosion of spherical explosive under super-gravity field is simulated using two-dimensional and three-dimensional models, and the simulation results are compared with the test data to verify the rationality of the two models. Then, different charge depth and air domain size are added to the two models to analyze the effects of the two factors on simulation results of underwater explosion shock wave and bubble pulsation. The simulation results show that the greater the charge depth, the larger the shock wave peak values at the same distance from the center of the explosive, but the increase rate of the peak value with the charge depth is small; and the air domain size has little effect on numerical results of the underwater explosion bubble pulsation.

Dynamic Characteristics of Undersea Vehicle Power Plant

CAO Hao, WEN Li-hua, WANG Zhi-jie, ZHAO Changi-li

2019, 27(6): 673-679. doi: 10.11993/j.issn.2096-3920.2019.06.011

[Abstract](526) [PDF 649KB](227)

Abstract:
To control radiation noise of undersea vehicles, a detailed power plant model of undersea vehicle, including such as engine and fuel pump, is established, and the virtual prototype modeling is completed. Based on the virtual prototype, the motion characteristics and forces on the major parts, such as piston, body of pneumatic valve, damping pad and seawater pipe, are analyzed. It is found that: 1) the abrupt change of the piston’s acceleration and the disengagement of the valve body from valve seat are the main causes of axial vibration; 2) due to the influence of the assembly position, the six damping pads have equivalent radial load values and the same stressing regularity, but their axial forces are quite different; 3) the axial force of the seawater pipe exhibits a single-frequency period characteristic. It is suggested that in engineering design, the stiffness of the damping pads should be distinguished, and flexible seawater pipe should be substituted for rigid one, which may facilitate reduction of the radiated noise.

Thermoelectric Waste Heat Recovery Method of Undersea Vehicle Based on Thermoelectric Effect

LIN Xuan, HU Qiao, WANG Chao-hui

2019, 27(6): 680-687. doi: 10.11993/j.issn.2096-3920.2019.06.012

[Abstract](338) [PDF 3144KB](209)

Abstract:
In respect of the problems of low energy utilization and heat generation during navigation of a thermal-powered undersea vehicle, a new energy recovery method for undersea vehicles was proposed, which directly converts the waste heat into electric energy. Based on the Seebeck effect in thermoelectric effect and the heating characteristics of undersea vehicle, the structure of the waste heat recovery device was designed. The structure of thermoelectric device was simplified by the simulation software Comsol, and then an experimental platform of the thermoelectric waste heat recovery device was built according to the simplified model. Finally, thermoelectric waste heat recovery experiment with the navigation parameters of undersea vehicle was carried out. Experimental results verify the feasibility and effectiveness of the proposed waste heat recovery method based on thermoelectric effect. This method may provide new idea and technical support for the waste heat recovery of undersea vehicles.

Rapid Simulation on Torpedo-Rocket Separation Based on the Aerodynamic Surrogate Model

NIE Wen-chao, CAI Wei-jun

2019, 27(6): 688-694. doi: 10.11993/j.issn.2096-3920.2019.06.013

[Abstract](453) [PDF 880KB](235)

Abstract:
Due to compact structure layout of a rocket-assisted torpedo, rapid torpedo-rocket separation process, and complex aerodynamic interference, the multi-body interference is easy to occur in the separation process. In the design of the rocket-assisted torpedo, the torpedo-rocket separation technology is crucial. The torpedo-rocket separation design is an iterative optimization process for multiple parameters and operating conditions, however the existing wind tunnel test method and numerical simulation method do not satisfy the requirement of huge and fast calculation. In this paper, a co-simulation method based on the aerodynamic surrogate model and the virtual prototype model is proposed. In this method, the key factors affecting the aerodynamic force are extracted, the sample database of input and output is obtained through test or numerical calculation, and an aerodynamic surrogate model with high approximation and prediction accuracy is established using radial basis neural network. Combined with the multi-body dynamic virtual prototype model of rocket-assisted torpedo, this method can be used to quickly predict the separation process and analyze the influence of each parameter.

Unmanned Surface Vehicle Full Traversal Path Planning Based on Improved A* Algorithm

LÜ Xia-fu, CHENG Qi-zhong, LI Sen-hao, LIN Zheng

2019, 27(6): 695-703. doi: 10.11993/j.issn.2096-3920.2019.06.014

[Abstract](693) [PDF 1305KB](425)

Abstract:
To improve the efficiency and universality of full traversal path planning algorithm for unmanned surface vehicle(USV) in complex environment, a new full traversal path planning algorithm based on the improved A* algorithm is proposed. Firstly, user publishes the task area through the electronic map interface of the host computer in ground station, and converts the task area into a grid map. Then, the grid map is traversed through the inner spiral algorithm. Finally, when the USV is going into the dead angle, optimal path is searched through the improved A* algorithm, and the escape dead angle is traversed until all the reachable areas are traversed. Simulation results show that compared with the existing full traversal optimization method, the proposed algorithm reduces the planned path steps from 814 to 784, and improves the repetition rate from 7.8% to 3.98%. The algorithm improves the performance and has a good application prospect.

Obstacles Avoiding Method for Electromagnetic Actuated Robotic Fish

ZHU Hong-xiu, DU Chuang, CHU Yan-bin, ZHENG Quan, LIU Zhao-ying, DING Hao-nan

2019, 27(6): 704-710. doi: 10.11993/j.issn.2096-3920.2019.06.015

[Abstract](489) [PDF 2455KB](198)

Abstract:
A fuzzy obstacle avoidance control method for the robotic fish actuated by electromagnetic actuator was proposed. And the software FLUENT was employed to perform turning simulation by using its user define function(UDF) and the dynamic mesh technology. Infrared distance sensor was used. The input and output membership functions of the fuzzy controller were set in Matlab, and the rules of fuzzy control were summarized. Furthermore, an experimental platform was built to conduct underwater turning for obstacle avoidance experiment of the robotic fish. Experimental results show that the fuzzy control combined with infrared distance sensor can realize obstacle avoidance effectively when the elec-tromagnetic actuated robot fish swims in a two-dimensional plane.

Underwater Signal Transmission Method and Application Based on Conductivity of Water Medium

LIANG Qi-bing, WU Fei, SHI Li-ming, ZHAO Hai-xiao

2019, 27(6): 711-715. doi: 10.11993/j.issn.2096-3920.2019.06.016

[Abstract](507) [PDF 2154KB](226)

Abstract:
To realize short-range wireless signal transmission between the inside and outside of a sealed metal container filled with water, a method for underwater signal transmission using conductivity of water medium is proposed. Firstly, the theoretical model of signal transmission based on conductivity of water medium is analyzed. Then, a communication system based on conductivity of water medium is designed for underwater wireless signal transmission, and a test system is built to verify the reliability of this wireless signal transmission method. Under the testing condition, the electrodes can transmit signals without error at a transmission rate of 9.6 kbit/s when their spacing is within 40 cm. The proposed method and system can realize wireless transmission of data and instructions between the internal navigation control system and the external communication control system of launch tube, and ultimately improve test efficiency.

2019 Vol. 27, No. 6

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