水下无人系统学报

Study on Key Performance and Operational Applications of Underwater Acoustic Countermeasure UUV

ZHANG Xiangyuan, DONG Xiaolong

2023, 31(6): 821-826. doi: 10.11993/j.issn.2096-3920.2022-0092

[Abstract](321) [FullText HTML] (131) [PDF 748KB](117)

Abstract:
Underwater acoustic countermeasure equipment can carry out soft killing against acoustic homing weapons and improve the survivability of naval ships in naval warfare. The existing underwater acoustic countermeasure equipment, such as air curtain shell, noise generator, and acoustic decoy, has shortcomings in intelligence, maneuvering, self-holding power, and flexibility, which makes it difficult to meet the needs of future naval warfare. Based on distributed maritime operations, this paper proposed to integrate underwater acoustic countermeasure technologies on the basis of unmanned undersea vehicles (UUVs), develop underwater acoustic countermeasure UUVs, improve underwater acoustic countermeasure mode, and enhance the effectiveness of underwater acoustic countermeasures through swarm tactics. From the perspective of future maritime warfare requirements, the significance of intelligent combined countermeasures and the key performance such as efficient target identification, independent mission planning, durable and efficient maneuvering, and multi-domain platform delivery were analyzed. According to the analysis of the basic characteristics of distributed maritime warfare and the characteristics of force application, the typical applications of underwater acoustic countermeasure UUV in underwater reconnaissance, lightning barrier breaking, anti-acoustic homing weapons, and anti-unmanned ship swarm were studied.

ESO-Based Robust Model Predictive Control for Undersea Vehicle Manipulator System

WANG Hongdu, GAO Feng, LI Ming, FU Dongfei

2023, 31(6): 827-838. doi: 10.11993/j.issn.2096-3920.2022-0074

[Abstract](223) [FullText HTML] (70) [PDF 4411KB](85)

Abstract:
In view of the complexity and uncertainty of the marine environment and the strong nonlinearity and coupling of the undersea vehicle manipulator system(UVMS), this paper proposed a robust model predictive control(RMPC) method based on extended state observer(ESO). First, a dynamics model was established based on the dynamics characteristics of UVMS, and a nominal model system was defined by ignoring uncertainties and disturbances. Then, a UVMS algorithm was designed for the nominal system. The uncertainties, disturbances, modeling errors, and other influencing factors of the original system were summarized into extended states, and an ESO was designed to estimate these factors. Furthermore, the factors were compensated based on the RMPC of the nominal model, so as to obtain the RMPC method applied to the UVMS system. Finally, it is demonstrated through simulation experiments that the ESO-based RMPC has good trajectory tracking performance and anti-disturbance capability.

Ship Wake Detection Based on One-Dimensional Convolutional Neural Network

YANG Changsheng, GOU Wenbo, LIANG Hong

2023, 31(6): 839-846. doi: 10.11993/j.issn.2096-3920.2022-0052

[Abstract](197) [FullText HTML] (50) [PDF 1421KB](45)

Abstract:
In order to improve the detection accuracy of ship wake, this paper proposed a ship wake detection method based on a one-dimensional convolutional neural network (1DCNN). Firstly, the simulation data set was constructed by using the ship wake scattering echo model. Then the reliability of the scattering echo model was verified by the water tank simulation experiment, and the experimental data set was constructed. Finally, a 1DCNN was built by comprehensively considering the detection accuracy and parameter quantity of different structural models and compared with the traditional detection algorithm (based on a one-class support vector machine and back propagation neural network) on the data set. The simulation results show that compared with the traditional detection algorithm, the 1DCNN proposed in this paper improves the detection accuracy and detection efficiency of ship wake under different signal-to-noise ratios and has good engineering application value.

SINS/DVL/USBL Navigation Algorithm Based on Tight Integration

ZHANG Caixia, LIU Xixiang, HUANG Yongjiang, CHEN Shijie, TAO Yujie

2023, 31(6): 847-855. doi: 10.11993/j.issn.2096-3920.2022-0076

[Abstract](256) [FullText HTML] (110) [PDF 1802KB](61)

Abstract:
For autonomous undersea vehicle’s requirement of high-precision and high-reliability navigation and positioning in complex underwater environments, a tightly integrated navigation algorithm involving strapdown inertial navigation system(SINS)/Doppler velocity log(DVL)/ultra-short baseline(USBL) positioning system was proposed. A SINS/DVL tightly integrated measurement equation based on frequency shift measurement and a SINS/USBL tightly integrated measurement equation based on relative measurement information were established. SINS, DVL, and USBL information were fused using a concentrated Kalman filter. In view of the decline of navigation accuracy caused by the complex underwater environment, the DVL and USBL data outliers were fully considered, and the fault data were detected and isolated by Chi-square detection. In addition, the measurement equation dimensions were updated in real time to ensure the precision of the system. The simulation results show that the proposed algorithm has higher positioning precision than other integrated model algorithms. Compared with the traditional SINS/DVL/USBL concentrated filtering method based on velocity measurement and relative position measurement, the precision can be improved by about 23%. In the case of DVL data failure, the positioning error only increases by 5.2% compared with the normal condition. In the case of USBL data failure, the positioning error increases by 165.4% compared with the normal condition, and the robustness and stability are significantly better than the SINS/DVL/USBL concentrated filtering navigation algorithm based on other measurements. Therefore, it can achieve high-precision and high-reliability underwater navigation and positioning.

Reaction Path and Mechanisms of Li/SF₆ Combustion

WEN Boyao, WANG Qiyuan, SUN Chengzhen, ZONG Xiao, LUO Zhengyuan, BAI Bofeng

2023, 31(6): 856-863. doi: 10.11993/j.issn.2096-3920.2023-0012

[Abstract](206) [FullText HTML] (63) [PDF 2068KB](50)

Abstract:
Revealing the combustion reaction mechanism of Li/SF₆ fuel is the key basis for constructing the combustion kinetics model and efficiently organizing the combustion process. However, it is difficult to reveal the stepwise reaction mechanism of Li/SF₆ combustion by existing experimental tests and macroscopic simulation methods. This paper studied the microscopic reaction processes of Li and SF₆ by combining the ReaxFF molecular reaction simulation and first-principles calculation method. The dynamic evolution characteristics of reactants and product components were analyzed, and the main reaction paths and reaction heat were obtained. It is found that the breakage of the S-F bond in SF₆ molecules is the initial stage of the reaction, and LiF is the main product of the initial reaction. As the reaction progresses, the excessive Li forms Li₂ and bonds with S to form Li₂S. At the later stage of the reaction, two LiF molecules combine with each other to produce Li₂F₂. Based on the variation of reactant concentration, the total reaction rates of Li and SF₆ are obtained. The results show that the total reaction rate is positively correlated with the reactant concentration and reactant proportion because the rise of reactant concentration or proportion leads to a larger collision probability between reactant molecules. The impact of initial temperature on the total reaction rate is relatively small. According to the enthalpy value of the reactants obtained from the first-principles, the heat release of each stepwise reaction is calculated. The reaction heat for Li/SF₆ combustion is −2 216.7 kJ/mol, which is close to the theoretical and experimental values. The research results provide an effective way to reveal the stepwise reaction mechanism and calculate the reaction heat of complex combustion reactions.

Monte Carlo Simulation of Photon Transmission Time in Wake Bubble Curtain

YAN Linbo, ZHANG Jiansheng

2023, 31(6): 864-870. doi: 10.11993/j.issn.2096-3920.202212003

[Abstract](126) [FullText HTML] (54) [PDF 1238KB](32)

Abstract:
At present, the Monte Carlo simulation of the wake bubble curtain is mostly used to simulate the photon scattering direction, and few scholars have studied the distribution of photon transmission time. In this paper, based on the volume scattering function of Henyey-Greestein, a forward scattering model of pulsed laser in water was established. The propagation process of photons in bubble curtain was simulated by the Monte Carlo method based on this model, and the distribution of transmission time of photons in water containing bubble curtain was obtained. The model was used to simulate the photon transmission time under different bubble curtain thicknesses, bubble sizes, and detection distances. The simulation results show that greater thickness of the bubble curtain indicates longer photon transmission time in the bubble curtain and greater backward movement of the pulsed laser, which is manifested as a broader and wider pulsed laser. A larger bubble size represents a greater scattering degree of the laser by the bubble and greater backward movement of the pulsed laser. As the distance between the laser light source and the bubble curtain becomes larger, the photon transmission time is shifted backward, and the pulse width and peak intensity change slightly. According to the start-stop time of photons detected by the detector and the peak change of photon number, the characteristics of wake can be reflected, thus realizing the accurate positioning, identification, and measurement of wake.

Acoustic Performance Prediction of Undersea Vehicles

FU Xiaohan, FU Xuezhi, WANG Minqing

2023, 31(6): 871-877. doi: 10.11993/j.issn.2096-3920.2022-0094

[Abstract](157) [FullText HTML] (28) [PDF 1643KB](57)

Abstract:
With the development of deep-sea fishing and marine ranching, the impact of undersea radiation noise of vehicles on marine organisms such as fish cannot be ignored . In order to assess the impact of radiation noise from undersea vehicles on marine life, the calculation model of safe working radius for an undersea vehicle was established according to the passive sonar equation and propagation loss characteristics of undersea radiation noise, and the safe working area of undersea vehicles was quantified. Two kinds of commercial undersea vehicles G1 and G2 with acoustic optimization design for the power system were studied. Based on the acoustic performance test, the acoustic radiation characteristics of the two vehicles were analyzed, and the safe working radius between the two undersea vehicles and marine fish as well as undersea equipment were further calculated. The research shows that the radiated noise of the vehicles consists of broadband noise and line spectrum noise, and the line spectrum noise within the low-frequency range is the main factor affecting the acoustic performance of undersea vehicles. The safe working radius of the undersea vehicles is effectively improved by optimizing the power system, thus reducing its impact on marine life. The results of this study provide a reference for the evaluation and optimization of the acoustic performance of commercial vehicles in marine acoustic ranch.

Finite-Time Sliding Mode Control for Undersea Vehicles

CHU Yue, SHI Zelin, WANG Mengjun, LIU Pingan

2023, 31(6): 878-884. doi: 10.11993/j.issn.2096-3920.2022-0060

[Abstract](164) [FullText HTML] (51) [PDF 1625KB](40)

Abstract:
A finite-time sliding mode control system based on a radial basis function (RBF) neural network was proposed to solve the longitudinal control problem of incomplete submerged vehicles because of the uncertainty and nonlinearity of undersea vehicle systems. The unknown term in the state space equation of undersea vehicles was compensated for by the estimated value of the neural network, and the weight of the neural network was updated by the corresponding adaptive law. The stability of the system was proved by Lyapunov stability theory, where the tracking error could converge to a small neighborhood near zero within a finite time. The simulation results show that the control system proposed in this paper can make the undersea vehicle track the desired trajectory within a finite time.

Modeling and Simulation of Cross-Rudder Underactuated AUV Based on Kane Dynamics

YANG Ke

2023, 31(6): 885-890. doi: 10.11993/j.issn.2096-3920.2022-0085

[Abstract](182) [FullText HTML] (57) [PDF 1203KB](48)

Abstract:
In order to obtain a more accurate dynamics model of autonomous undersea vehicles(AUVs), the kinematics and dynamics equations of the cross-rudder underactuated AUV were deduced by introducing the related knowledge of Kane dynamics. By taking the position, attitude, horizontal rudder angle, and vertical rudder angle of the AUV as generalized coordinates, the calculation formulas of generalized velocity, partial velocity, and partial angular velocity were deduced, and the calculation methods of generalized active force and generalized inertia force were analyzed. In addition, the modeling steps of Kane dynamics were given, and the effectiveness of the modeling method was verified by simulation experiments.

Equipment Calibration Method for Seawater Refractive Index Based on Distilled Water

WANG Hu, CHEN Xinyu, LI Liyan, ZHOU Yan

2023, 31(6): 891-895. doi: 10.11993/j.issn.2096-3920.2022-0098

[Abstract](234) [FullText HTML] (68) [PDF 1426KB](20)

Abstract:
When measurement equipment for marine refractive index is calibrated, the existing calibration methods have problems such as low quantity, high price, and complicated operation. Based on the existing empirical model of seawater refractive index, the dynamic range of the corresponding refractive index was calculated with reference to the dynamic range of temperature and salinity in the range of 0–2 000 m in the South China Sea. This paper also proposed an equipment calibration method for measuring seawater refractive index based on distilled water. The distilled water medium was selected, and within the dynamic range of refractive index suitable for marine measurement, a refractive index measurement experiment with a temperature interval of 0.1 °C was carried out. By comparing with the theoretical interpolation value of the Tilton empirical model, the accuracy of the theoretical value obtained by the empirical model was verified, and a credible data set was selected for the subsequent calibration and application of the equipment for measuring seawater refractive index based on distilled water.

A Track Initiation Method Based on Multiple Accumulation of Active Sonar Images

WANG Kai, JIAO Junsheng

2023, 31(6): 896-902. doi: 10.11993/j.issn.2096-3920.2022-0078

[Abstract](124) [FullText HTML] (47) [PDF 1625KB](36)

Abstract:
To meet the requirements of autonomous detection of underwater moving targets in a strong reverberation background, a track initiation algorithm based on multiple accumulations of active sonar images was proposed to solve the problem of large amounts of data after space-time processing of active sonar echo signals. Firstly, the underwater multi-target track initiation model in the strong reverberation background of the active sonar was constructed. The range-azimuth-frame time three-dimensional sonar image was condensed into the range-azimuth two-dimensional sonar image by selecting the largest data of sonar images, and the accumulated frame information was retained. The measurement information and energy information of the target were obtained through the centroid clustering point extraction method, and the data preprocessing was completed. Secondly, the energy was accumulated in the parameter space of the Hough transform, and the initial track of multiple targets was obtained by the method of local peak detection. Finally, in order to improve the accuracy of the track, the reverberation and duplicate tracks were eliminated by using the velocity constraint and track merging method. The simulation results show that compared with conventional target tracking methods, this algorithm can effectively reduce the amount of sonar image data in the course of track initiation and can still achieve autonomous detection of underwater multiple targets with high detection probability in a strong reverberation background.

Interior Trajectory Characteristics of Ram Piston Device in UUV for Torpedo Launching

YANG Gongyi, ZHAN Lei, JIA Xuan, GUO Liangjiao, LIU Guoqing

2023, 31(6): 903-910. doi: 10.11993/j.issn.2096-3920.2022-0100

[Abstract](260) [FullText HTML] (69) [PDF 4369KB](56)

Abstract:
For lightweight and small volume requirements of unmanned undersea vehicles (UUVs), a hydraulic cylinder-ram piston-grid tube launch device was presented in this paper. To evaluate the dynamic characteristics of the device, the dynamic model of the device for torpedo launching was established based on the theory of fluid dynamics and interior trajectory. The pressure characteristics of the front and rear ends of the ram piston and the interior trajectory characteristics of the device for torpedo launching were obtained with the hydraulic cylinder velocity as input. Through comparison, it is verified that the calculation results of the above model are in good agreement with the simulation results of fluid dynamics, which indicates the reliability of the established model. The results show that the maximum resistance generated during the movement of the ram piston is 0.43 MPa. In order to satisfy the velocity input of the hydraulic cylinder, the output pressure and power of the hydraulic cylinder are designed based on the above results. When the ram piston moves 0.42 s and then decelerates, the torpedo moves about 3.9 m. In order to reduce the pressure differential resistance of the torpedo in subsequent movement, the hole location of the grid tube can be optimized according to the above results to enhance the replenishing capacity and improve the performance of the launcher.

Visual Recognition and Detection System for Small Targets of Near-Bottom Exploration Type Bionic UUV

CHEN Baizhong, WANG Chonglei, GUO Chunyu

2023, 31(6): 911-917. doi: 10.11993/j.issn.2096-3920.2022-0099

[Abstract](219) [FullText HTML] (33) [PDF 2777KB](66)

Abstract:
The bionic unmanned undersea vehicles(UUVs) replace human labor and realize underwater operation by imitating the movement principle of marine organisms. Compared with the traditional UUV, the bionic UUV has the bionics advantages of high stability, high flexibility, low noise, and strong environmental passability, which provides an excellent operating platform for close-range underwater image shooting and underwater target recognition technology. This paper focused on bionic UUVs with flexible wave propulsion by pectoral fin and conducted a comprehensive study on the preprocessing technology of underwater images and the optimization of the Resnet deep learning network, so as to improve the detection of small underwater targets on the sea floor. A series of underwater environment perception systems were developed to align with the motion characteristics of the UUV, which were then verified by the test. The results show that the proposed underwater visual detection approach achieves a classification accuracy of 89.6%, which is the highest compared with other classification networks. This approach can be used for underwater target detection on the sea floor by bionic UUVs with pectoral fin propulsion. The conclusion of the study highlights the advantages and problems of underwater detection and recognition systems of bionic UUVs and their prospects.

Structure and Safety Design of Carbon Fiber Composite Material Adapter with Variable Caliber in Deep Sea

ZHANG Weiquan, PAN Yang, LI Kaifu, YANG Gongyi, JIA Guotao, WU HaiPeng

2023, 31(6): 918-925. doi: 10.11993/j.issn.2096-3920.2022-0072

[Abstract](111) [FullText HTML] (32) [PDF 4129KB](28)

Abstract:
In order to realize the variable caliber launching capability of an underwater platform launcher, the structure and safety design of a variable caliber adapter under the deep-sea pressure resistance and the strong dimensional weight constraints were studied in this paper. The adapter adopted the grid tube structure of carbon fiber composite materials. The structure simulation analysis was carried out under four working conditions, including working pressure, test pressure, launch chamber pressure, and launch concentration force, and the safety of the equipment leaving the launch tube under different working conditions was analyzed. The results show that the designed adapter meets the structural strength requirement under the deep-sea pressure resistance and the strong dimensional weight constraints (length ≥ 3 000 mm, weight ≤ 60 kg), and the designed 1∶5 battle taper meets the requirements of the equipment leaving the launch tube safely, realizing the variable diameter launching capability of the launcher. The research results of this paper can provide a reference for the design of the adapter for the underwater platform launcher, and the results of the structural strength analysis of the adapter and safety analysis of equipment leaving the launch tube can guide the adapter environment test and land test.

Vertical Launch Trajectory Modeling and Range Influence Law of Shipborne Depth Charge

WAN Xiaohui, PENG Shi, ZHANG Haibo, PENG Shun, DAI Wenliu, CHEN Zhaoren

2023, 31(6): 926-933. doi: 10.11993/j.issn.2096-3920.2022-0087

[Abstract](169) [FullText HTML] (77) [PDF 1246KB](32)

Abstract:
The vertical launch of shipborne depth charge can greatly improve platform adaptability and combat effectiveness, which is of great significance in improving the combat capability of ships. This paper took a vertical cold launch depth charge as the prototype and set up a vertical launch trajectory calculation model of depth charge according to the vertical launch kinematics and dynamics equations. Based on this model, the paper considered the projectile mass, total impulse, initial muzzle velocity, turning height, terminal angle of attack, pitch angle at the end of turning, lift coefficient, drag coefficient, and other influence factors and calculated and analyzed the influence of shipborne depth charge range. The results show that: 1) The range is positively correlated with the total impulse, initial muzzle velocity, turning height, terminal angle of attack, and lift coefficient, while it is negatively correlated with the projectile mass, pitch angle at the end of turning, and drag coefficient; 2) the projectile mass, total impulse, initial muzzle velocity, and pitch angle at the end of turning have great influence on the depth charge range, while the terminal angle of attack, lift coefficient, and drag coefficient have relatively little influence on the depth charge range. In addition, the turning height has almost no influence on the depth charge range. The simulation results can provide a reference for the overall vertical launch and trajectory design of the depth charge.

Vibration Reduction Design and Performance Research of Bearing Plate of Undersea Vehicle Based on Acoustic Black Hole

MA Ruilei, BAI Jianbin, LIU Yiming, TIAN Wenqiang, TIAN Fenghua, LIU Liwen

2023, 31(6): 934-941. doi: 10.11993/j.issn.2096-3920.2022-0045

[Abstract](155) [FullText HTML] (81) [PDF 2510KB](45)

Abstract:
In order to reduce the vibration energy transferred to the bearing plate of an undersea vehicle for detecting acoustic arrays, an accessory round plate structure for vibration reduction was designed based on the acoustic black hole principle. The vibration reduction performance was characterized by the vibration level drop of acceleration, and the vibration reduction performance tests of the bearing plate under axial and radial excitation of the shaker were carried out. The results show that the vibration reduction effect of the round plate structure is good in the frequency range of 50 Hz–10 kHz, fully showing that the accessory round plate structure designed in this paper has the vibration reduction characteristics of light weight, high efficiency, and wide frequency and has a wide range of potential application value.

Research on Ground Effect of Ducted Fans of VTOL UAVs

ZHOU Yu, CHEN Weizheng

2023, 31(6): 942-948. doi: 10.11993/j.issn.2096-3920.2022-0075

[Abstract](211) [FullText HTML] (32) [PDF 1718KB](37)

Abstract:
In recent years, ducted fans, as a kind of propeller with excellent performance, have been widely used in various vertical take-off and landing(VTOL) unmanned aerial vehicles(UAVs). However, there is less research on its ground effect in China. Therefore, in this paper, a solution method based on Reynolds mean Navier-Stokes (RANS) equations and multiple reference coordinate system(MRF) was used. Through numerical simulation, the force and torque changes of each part of the ducted fans with three different blade numbers at different elevations were calculated. The changing mechanism of aerodynamic characteristics was analyzed by calculation results of computational fluid dynamics. The results show that when the altitude near the ground reaches a certain value, the aerodynamic characteristics of the ducted fans change significantly. The lift force of the propeller increases, but that of the duct decreases, and the reverse torque of the whole system increases, which were finally quantified as the variation of lift coefficient, power coefficient, and quality factor. The power coefficient increases significantly with the decrease in the elevation, and the variation of lift coefficient and quality factor of the ducted fans is related to the number of propeller blades. A preliminary conclusion on the influence of ground effect on the aerodynamic characteristics of ducted fans is thus obtained.

Quality Comparison Model and Method of DC/DC Power Modules for Torpedoes

GUO Rupeng, SONG Wanxiao, ZHU Tianpeng, ZHU Junqi, YANG Bing

2023, 31(6): 949-957. doi: 10.11993/j.issn.2096-3920.2023-0028

[Abstract](129) [FullText HTML] (38) [PDF 2473KB](31)

Abstract:
In order to effectively identify and select DC/DC power modules with great performance and reliable quality available for torpedoes, a quality comparison model of the DC/DC power module for torpedoes was proposed. The model was based on the working principle and failure mode of the DC/DC power module, with the faults during torpedo operation as the starting point. This paper summarized and analyzed the concerns that have an important influence on the quality of the DC/DC power module for torpedoes from the aspects of performance and function, structure and formation, design and development process, and quality assurance. Then, the related factors were extracted, and a general model of quality comparison of the DC/DC power module for torpedoes was constructed. On this basis, the comparison methods for performance and function, as well as structure and formation were studied. At the same time, the basis and method for the comparison results were put forward according to the comparison model and the application scenario of torpedo products. The research on quality comparison model, comparison method, and the basis of comparison results provides a system solution for selecting DC/DC power modules for torpedo products and provides support for the reliability analysis and guarantee of torpedo circuit.

Research on Process of Longitudinal Vibration Underwater Acoustic Transducer Based on Acousto-Solid-Piezoelectric Coupling

GENG Pengfei, TIAN Duyang, LIU Xiaoguang, CHENG Caixia, JI Bangjie

2023, 31(6): 958-965. doi: 10.11993/j.issn.2096-3920.2022-0084

[Abstract](155) [FullText HTML] (40) [PDF 1933KB](33)

Abstract:
Currently, the design process of longitudinal vibration underwater acoustic transducers only focuses on ideal conditions, but the production process has a certain impact on the relevant electroacoustic performance of the underwater acoustic transducers. In this paper, finite element analysis software was used to establish finite element models for ceramic ring coating, ceramic ring assembly coaxiality, and pre-tensioning assembly to simulate and analyze the electroacoustic performance of the models. By comparing the results, it is found that the adhesive bonding of the transducer by filling the small gaps between the end faces of each component can improve the overall stiffness of the piezoelectric ceramic ring, thereby increasing the overall elastic modulus and causing an increase in resonance frequency. The resonance frequency of the transducer decreases as the thickness of the adhesive layer increases, and it increases as the thickness of the residual glue layer increases. Transducers with high coaxiality of ceramic ring assembly have higher conductivity at the corresponding frequency and a smoother voltage response curve, with significantly reduced burrs. As the pre-tensioning force applied to the pre-tensioning bolt increases, the first and second resonance frequencies of the transducer with a matching layer increase, and the corresponding conductivity and voltage response change. After a water pool test, the simulation results are compared with the experimental results, and the trend of the test results is consistent with that of the simulation results.

Design and Comparison of SiC MOSFET inverter for Underwater High-Power and High-Speed Motor

ZHAI Li, WANG Yang, HU Limin, LIU Guohai, LIU Yabing, MA Enlin

2023, 31(6): 966-975. doi: 10.11993/j.issn.2096-3920.2023-0016

[Abstract](289) [FullText HTML] (65) [PDF 3390KB](36)

Abstract:
The proposal of deep and high sea and the application target of high maneuverability and concealment means that the future power system of underwater vehicles should have higher speed, power density, and efficiency. In the application of underwater high-speed and high-power motors, traditional Si-based power devices face the limitation of switching performance, and there are insufficient chopping times in the commutation cycle of the motor, which brings large torque ripple and loss to the motor. Therefore, in this paper, the power device loss was analyzed first. A simulation model was established in PSpice to compare the loss of SiC metal-oxide-semiconductor field-effect transistor(MOSFET) and insulated gate bipolar transistor(IGBT) at different switching frequencies and temperatures, and the motor torque ripple at different switching frequencies was compared in Simulink. The SiC power device had the advantages of high switching frequency and low switching loss, and then the SiC MOSFET was applied to the high-power and high-speed motor inverter module of underwater vehicles. The software and hardware of the inverter module were designed and compared with the IGBT inverter in terms of efficiency. At the same time, the influence of SiC MOSFET on the motor torque ripple at high frequency was analyzed, which provides a useful reference for SiC MOSFET application in underwater vehicles.

2023 Vol. 31, No. 6

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