Based on the deep analysis of the mathematical model of an autonomous underwater vehicle( AUV),comprehensive considerations are given to the coupling effect of AUV's longitudinal velocity on the other degrees of f...Based on the deep analysis of the mathematical model of an autonomous underwater vehicle( AUV),comprehensive considerations are given to the coupling effect of AUV's longitudinal velocity on the other degrees of freedom. In the meantime,discussions are made on the influence of residual buoyancy and restoring moment.A novel S-plane controller established on sliding mode control( SMC) is hereby proposed in this study. The strengths of traditional S-plane controller including simple structure and easily adjustable parameters are maintained in the improved design while the weakness of unsatisfactory control effect at the time of high-speed operation is also overcome. Lyapunov function is introduced to make the stability analysis of the controller before it is successfully applied to the basic motion control of AUV-X. Then the comparative experiment test is carried out between the traditional S-plane controller and the novel S-plane controller. The effectiveness and feasibility of the novel S-plane controller established on sliding mode control in the AUV basic motion control is verified by the comparative analysis of experiment results.展开更多
To deal with the low location accuracy issue of existing underwater navigation technologies in autonomous underwater vehicles(AUVs),a distributed fusion algorithm which combines the model's analysis method with a ...To deal with the low location accuracy issue of existing underwater navigation technologies in autonomous underwater vehicles(AUVs),a distributed fusion algorithm which combines the model's analysis method with a multi-scale transformation method is proposed for integrated navigation system based on AUV.First,integrated navigation system theory and system error sources are introduced in details.Secondly,a navigation system's observation equation on the original scale is decomposed into different scales by the discrete wavelet transform method,and noise reduction is performed by setting the wavelet de-noising threshold.At last,the dynamic equation and observation equations are fused on different scales by the wavelet transformation and Kalman filter.The results show that the proposed algorithm has smaller navigation error and higher navigation accuracy.展开更多
Stealth security has always been considered as an important guarantee for the vitality and combat effectiveness of submarines.In accordance with the stealth requirements of submarines performing stealth voyage tasks,t...Stealth security has always been considered as an important guarantee for the vitality and combat effectiveness of submarines.In accordance with the stealth requirements of submarines performing stealth voyage tasks,this paper proposes a stealth assistant decision system.Firstly,the submarine stealth posture is acquired.A fuzzy neural network inference engine based on improved simplified particle swarm optimization is designed.The auxiliary decision-making scheme for state control and maneuver avoidance of submarine and its equipment is automatically generated.Secondly,the simulation and deduction of the assistant decision-making scheme are realized by the calculation modules of sound source level,propagation loss,and stealth situation.The assistant decision-making scheme and simulation result provide decision support for the commander.Thirdly,the simulation experiment platform of the submarine stealth assistant decision system is constructed.The submarine stealth assistant decision system described in this paper can quickly and efficiently produce assistant decision-making schemes,including submarine and equipment control and maneuver avoidance.The scheme is in line with the combat experience and the results of the pre-model simulation experiments,whereas the simulation deduction evaluates the rationality and effectiveness of the selected scheme.The submarine stealth assistant decision system can adapt to a complex battlefield environment in addition to rapidly and accurately providing assistance in decision-making.展开更多
基金Sponsored by the National High Technology Research and Development Program of China(Grant Nos.2011AA09A106,2008AA092301)the National Nature Science Foundation of China(Grant Nos.50909025,51009040 and 51179035)
文摘Based on the deep analysis of the mathematical model of an autonomous underwater vehicle( AUV),comprehensive considerations are given to the coupling effect of AUV's longitudinal velocity on the other degrees of freedom. In the meantime,discussions are made on the influence of residual buoyancy and restoring moment.A novel S-plane controller established on sliding mode control( SMC) is hereby proposed in this study. The strengths of traditional S-plane controller including simple structure and easily adjustable parameters are maintained in the improved design while the weakness of unsatisfactory control effect at the time of high-speed operation is also overcome. Lyapunov function is introduced to make the stability analysis of the controller before it is successfully applied to the basic motion control of AUV-X. Then the comparative experiment test is carried out between the traditional S-plane controller and the novel S-plane controller. The effectiveness and feasibility of the novel S-plane controller established on sliding mode control in the AUV basic motion control is verified by the comparative analysis of experiment results.
基金National Natural Science Foundation of China(51779057,51709061,51509057)the Equipment Pre-Research Project(41412030201)the National 863 High Technology Development Plan Project(2011AA09A106)。
文摘To deal with the low location accuracy issue of existing underwater navigation technologies in autonomous underwater vehicles(AUVs),a distributed fusion algorithm which combines the model's analysis method with a multi-scale transformation method is proposed for integrated navigation system based on AUV.First,integrated navigation system theory and system error sources are introduced in details.Secondly,a navigation system's observation equation on the original scale is decomposed into different scales by the discrete wavelet transform method,and noise reduction is performed by setting the wavelet de-noising threshold.At last,the dynamic equation and observation equations are fused on different scales by the wavelet transformation and Kalman filter.The results show that the proposed algorithm has smaller navigation error and higher navigation accuracy.
基金Funding National Natural Science Foundation of China(51709061,51779057).
文摘Stealth security has always been considered as an important guarantee for the vitality and combat effectiveness of submarines.In accordance with the stealth requirements of submarines performing stealth voyage tasks,this paper proposes a stealth assistant decision system.Firstly,the submarine stealth posture is acquired.A fuzzy neural network inference engine based on improved simplified particle swarm optimization is designed.The auxiliary decision-making scheme for state control and maneuver avoidance of submarine and its equipment is automatically generated.Secondly,the simulation and deduction of the assistant decision-making scheme are realized by the calculation modules of sound source level,propagation loss,and stealth situation.The assistant decision-making scheme and simulation result provide decision support for the commander.Thirdly,the simulation experiment platform of the submarine stealth assistant decision system is constructed.The submarine stealth assistant decision system described in this paper can quickly and efficiently produce assistant decision-making schemes,including submarine and equipment control and maneuver avoidance.The scheme is in line with the combat experience and the results of the pre-model simulation experiments,whereas the simulation deduction evaluates the rationality and effectiveness of the selected scheme.The submarine stealth assistant decision system can adapt to a complex battlefield environment in addition to rapidly and accurately providing assistance in decision-making.
基金Acknowledgements： This work is supported by the Natural Science Foundation of Henan （No.0211021600, No.0324220079） and the Fundamental Researches of Henan （No.004061800）
基金This work is supported by the Natural Science Foundation of Henan （No.0211021600, No.0324220079） and the Fundamental Researches of Henan （No.004061800）.
