RU2444041C1 - System for simulated and physico-mathematical modelling of manoeuvre processes of autonomous underwater vehicles with onboard hydroacoustic equipment for direction onto underwater objects - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: simulation system is based on a local area network comprising computer modules and real hydroacoustic equipment and devices for controlling movement of the autonomous underwater vehicle (AUV), connected by matching devices. Hardware and software of the modules run a model for calculating the relative position of the AUV and underwater objects, the dynamics of the movement of the AUV, calculating hydroacoustic signals and interference at the point of reception, converting hydroacoustic signals and interference using antenna devices of the AUV, real-time synthesis of hydroacoustic signals and interference at the input of the receiving part of the real hydroacoustic equipment of the AUV, calculating mathematical models of angular velocity and acceleration sensors and steering machines of the AUV.

EFFECT: broader functionalities owing to design of a non-basin system of hardware and software for modelling the dynamics of operation of autonomous underwater vehicles with hydroacoustic equipment.

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Description

The invention relates to the field of marine engineering and can be used as a means to optimize the technical characteristics and functioning algorithms of autonomous underwater vehicles (APA), verify and test the connections between onboard APA systems, assess the accuracy and stability of traffic control processes and guide APA to underwater technical objects .

There are well-known modeling complexes for hydroacoustic equipment of underwater vehicles with expensive hydro-pools specially equipped with a grating of controlled emitters of hydroacoustic signals acting on an APA antenna device immersed in it (see Verteshev S.M., Lekhin S.N. Semicature modeling of hydroacoustic signals based on constructive and canonical Models. Proceedings of the VIII International Conference "Applied Technologies of Hydroacoustics and Hydrophysics", ed. Nauka, 2006, p. 466-449; Kolosov K.V. m far field simulation. Proceedings of the Scientific-Technical Conference on underwater acoustics problems, ed. TsAGI, Moscow, 2001, s.54-57).

The practically insoluble problem of such modeling complexes is the inability to completely eliminate the interference from re-reflection of signals from the bottom and walls of the pool and water surface.

There is a method of constructing a basin-free complexes of semi-natural modeling of hydroacoustic signals, in which the signals of the emitting lattice used in the basin version are converted using an electronic simulator into signals arriving directly to the input of the receiving part of hydroacoustic equipment (see Verteshev S.M., Lekhin S.N. Issues of construction of basin-free complexes for semi-natural modeling of hydroacoustic signals, Proceedings of the IX All-Russian Conference "Applied Hydroacoustic Technologies and Guides" physicists ”, ed. Nauka, St. Petersburg, 2008, p. 649-655).

Such modeling complexes are of limited use for testing the hydroacoustic equipment extracted from the APA in static modes and do not allow complex modeling of the dynamics of control processes and spatial guidance with real APA control devices.

Modeling the dynamics of APA’s spatial maneuvering processes with real control devices is possible with the help of special electro-hydraulic stands providing angular movement of APA control devices installed on them and the effect of linear accelerations on them. The financial costs of creating such stands with acceptable frequency characteristics and sufficient carrying capacity are huge.

A close analogue of the claimed modeling complex according to the list of tasks and modeling technology is a modeling complex created by specialists of the Department of Shipbuilding and Armament of the French Navy (see A. Valentinov. Simulation of torpedo systems of the French Navy // Foreign Military Review, No. 5, 1995 , p. 75-76).

The prototype allows you to perform digital (simulation) modeling of the dynamics of control and guidance processes using mathematical models of real equipment and control devices and a hybrid (physico-mathematical) simulation with the inclusion of real sonar equipment and control devices in the complex.

The objective of the invention is the creation of a pool-free complex of hardware and software for modeling the dynamics of APA functioning processes with hydroacoustic equipment when searching for underwater objects and pointing at them from different detection distances in any hydrological-acoustic conditions of APA application.

An exception to the composition of the modeling complex of a hydro-basin equipped with a grating of controlled emitters of hydroacoustic signals and an APA antenna immersed in it is achieved by applying a total hydroacoustic signal in real time directly to the input of the receiving part of the APA hydroacoustic equipment. For this purpose, computer modules are additionally included in the hardware and software of the modeling complex: a module for converting hydroacoustic signals and interference at the point of reception by the APA antenna devices and a module for real-time synthesis of signals and interference at the input of the receiving part of the APA hydroacoustic equipment (for physical and mathematical modeling) or at the input of its computer model (for simulation).

The ability to simulate the dynamics of the spatial process of pointing the APA to an underwater object with real control devices without using complex and expensive stands that provide angular movement of the APA control devices installed on them and the effect of linear accelerations on them is achieved by incorporating the electronic modeling complex of the claimed APA modeling complex simulator of the block of sensors of angular velocities and accelerations of APA control devices.

Figure 1 shows the structural diagram of the inventive modeling complex. The diagram shows:

- module for calculating the relative position of APA and underwater objects 1;

- a module for calculating sonar signals and interference at reception point 2;

- a module for converting sonar signals and interference by APA 3 antenna devices;

- a module for real-time synthesis of signals and interference at the input of the receiving part of the APA 4 sonar equipment;

- the receiving part of the real hydroacoustic equipment APA (or its computer model) 5;

- APA 6 motion dynamics module;

- simulator of the block of sensors for angular velocities and accelerations of the APA 7 motion control devices;

- real APA motion control devices (or their computer model) 8;

- APA 9 steering machine computer models module;

Figure 1 shows the connection of the inputs and outputs of the modules and devices of the modeling complex.

The inventive modeling complex operates as follows. Before starting at the first input of the module for calculating the relationship between the APA and underwater objects 1, the initial coordinates of the APA and the objects to be searched are entered as initial conditions, and the hydrological-acoustic characteristics of the application area are introduced as the initial conditions at the first input of the module for calculating hydroacoustic signals and interference at reception point 2 APA. The values of the APA coordinates changing during the movement of the APA coordinates are calculated in the APA 6 motion dynamics module and from the first output of module 6 go to the second input of the module for calculating the relationship between the APA and underwater objects 1. From the output of module 1, the relative coordinates of the APA and underwater objects and their position relative to the interface (surface, bottom) are fed to the second input of the module for calculating hydroacoustic signals and interference at the receiving point 2. The results of calculating the characteristics of signals and interference in each cycle of radiation-reception in digital form with the outputs of module 2 are fed to the input of the module for converting hydroacoustic signals and interference by APA 3 antenna devices, the output of which is also digitally fed to the input of the module for real-time synthesis of signals and noise at the input of the receiving part of the hydroacoustic equipment APA 4. The total signal synthesized in module 4 in the form of a digital spectrum, it is converted into an analog real-time signal and fed to the input of the receiving part of the APA real hydroacoustic equipment (or its computer model) 5. Control commands zheniem APA in accordance with predetermined algorithms of operation of the output of real sonar apparatus 5 provided to a second input of the real control device 8 to sample standard scheme modeled APA. The steering commands generated by the control devices from the output of the control devices 8 go to the input of the APA steering computer models module 9. The rudder deviations from the module 9 go to the input of the APA 6 motion dynamics module and change the angular coordinates of the APA and the signal-noise situation during the operation of the APA. From the second output of module 6, the current values of the components of the angular velocities and accelerations of the APA 7 are transmitted to the input of the simulator of the block of sensors of angular velocities and accelerations of the APA 7, which are converted into electrical signals that are completely identical to the signals taken from real sensors of the control devices of the simulated APA model, and from the output of the simulator 7 go to the first input of real control devices (electronic adders). Using simulator 7, the need to use complex and expensive dynamic stands when modeling the dynamics of APA motion is eliminated.

The combination of the described features allows you to create a powerful tool for research and development of algorithms for the functioning of on-board equipment and control devices developed APA samples. The refusal to build a hydro-basin for immersion of hydroacoustic equipment into it and the exclusion of an expensive dynamic test bench from the modeling process for installing control devices while eliminating errors associated with the re-reflection of hydroacoustic signals in the pool and the imperfect frequency characteristics of dynamic stands can significantly improve the quality of modeling, reduce the volume and the timing of field testing of APA and gives a great economic effect.

By the time of the announcement, mathematical models and software had been developed and a functioning mock-up of a complex of simulation and physico-mathematical modeling of maneuvering processes of autonomous underwater vehicles with on-board sonar guidance equipment for underwater objects was assembled.

Claims (1)

A complex of simulation and physico-mathematical modeling of maneuvering processes of autonomous underwater vehicles with on-board sonar guidance equipment for underwater objects, containing a module for calculating the relative positions of autonomous underwater vehicles (APA) and underwater objects, a module for calculating hydroacoustic signals and interference at the receiving point, the receiving part of real sonar equipment APA connected to a local computer network, characterized in that it is additionally included in its composition: sonar signals and interference by APA antenna devices, the module for real-time synthesis of signals and noise at the input of the receiving part of the APA sonar equipment, the input of which is connected to the output of the module for converting hydroacoustic signals and noise by the APA antenna devices, and the output - with the receiving part of the APA real sonar equipment ; APA motion dynamics module, angular velocity and acceleration sensor block simulator of motion control devices, APA steering machine module and real motion control devices, the first input of which is connected to the output of the angular velocity and acceleration sensor block simulator module of control devices, the second input is connected to the output of real sonar equipment APA, and the output is with the input of the steering gear module, the output of which is connected to the input of the APA motion dynamics module, the first output of the APA motion dynamics module is connected n with the module for calculating the relative position, and the second output with the input of the simulator module of the block of sensors of angular velocities and accelerations of control devices.