Table of Content

31 August 2020, Volume 41 Issue 8

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Contents

2020, 41(8):  0. 

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Paper

Robust Optimal Design of a Propellant Transport Mechanism for In-place Consistency with Small-angle Propellant Transport

LIU Taisu, QIAN Linfang, CHEN Guangsong

2020, 41(8):  1473-1482.  doi:10.3969/j.issn.1000-1093.2020.08.001

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For a propellant transport mechanism with small-angle propellant transport and non-full charge transport, a robust optimal design method for propellant transport mechanism based on polynomial sparse chaos expansion (SPCE) is proposed. A dynamic model of a propellant transport mechanism is established, and the correctness and validity of the model are verified through experiment. A surrogate model of uncertainty input parameters for position of propellant transport is obtained using SPCE. Finally, a robust optimal design model of a propellant transport process is constructed with the target of minimizing the in-place and standard deviations. The optimization model is calculated with NSGA-Ⅱ algorithm. The results show that the in-place consistency is improved after optimization, and the standard deviation is reduced by 26.74% relative to initial deviation, thus proving the effectiveness of the method.

Road Identification and Semi-active Suspension Control Based on Convolutional Neural Network

LIU Qiu, SUN Jinwei, ZHANG Hua, HU Xu, GU Liang

2020, 41(8):  1483-1493.  doi:10.3969/j.issn.1000-1093.2020.08.002

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Road has a direct impact on vehicle ride comfort and handling stability, so that the real-time acquisition of road information plays an important role in improving the vehicle performance. The multiple types of road are difficultly identified accurately using traditional road identification methods. The convolutional neural network is used to identify the road type, and then the identified road type is used as the basis for tuning the controller parameters of suspension system in order to make the controllable suspension system maintain the optimal performance under different road surfaces. Firstly, the quarter-vehicle semi-active suspension model is established. Secondly, the basic structure of convolutional neural network is built, and this network is trained and tested based on four typical urban and non-urban road images collected in advance. And then genetic algorithm is used to obtain the optimal control parameters of suspension system under excitations of four different roads, such as asphalt road, sandstone road, pebble road and cement road. Finally, the suspension control parameters are adaptively adjusted according to both the identified and optimized results of road surface. The simulated results show that the road identification method based on convolutional neural network can accurately identify a variety of roads; the semi-active suspension control system based on road identification and genetic algorithm can adaptively adjust the suspension parameters according to different road surfaces, thus improving the vehicle performance effectively.

The Antiaircraft Fire Control Calculation Method Based on Rigid Body Trajectory Model

HE Shan， WU Panlong， LI Xingxiu， YUN Peng， BO Yuming

2020, 41(8):  1494-1501.  doi:10.3969/j.issn.1000-1093.2020.08.003

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An antiaircraft fire control calculation method based on rigid body trajectory model is proposed for improving the versatility and real-time performance of fire control system. The target measurements are unbiasedly converted, and the noise covariance matrix is decoupled, which accurately estimates the target state and reduces the computational complexity of the filtering algorithm. The hit point is calculated by using the secant iteration method, and the firing data are corrected by the virtual miss distance in each iteration, which reduces the time of calculating the ballistic differential equation and greatly improves the speed of fire control calculation. The simulated results demonstrate the validness and feasibility of the proposed method. The firing data can be calculated more accurately, and the calculated amount is significantly improved compared with the traditional fire control calculation method.

Multi-target Tracking and Recognition Technology Based on PHD and UKF

ZOU Ruping， LIU Jianshu

2020, 41(8):  1502-1508.  doi:10.3969/j.issn.1000-1093.2020.08.004

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For the typical range-velocity simultaneous pull-off jamming model, the multi-target tracking technology based on probability hypothesis density (PHD) filter and the multi-target recognition technology based on unscented Kalman filter (UKF) are studied to improve the anti-jamming capability of seeker in terminal guidance phase. A range-velocity simultaneous pull-off jamming model is established to explain the principle of target recognition. According to the principle of seeker measurement, a system tracking model is established， in which the frame angle of seeker, missile-target relative distance, radial velocity, elevatiom angle and azimuth angle are considered. The basic principle of multi-target tracking based on PHD filter and multi-target recognition based on UKF filter is presented. Finally, in the typical target motion model (uniform rectilinear and uniform turning model), the target velocity and acceleration information estimated by filtering can be used to identify real and false targets quickly in view of the four target range-velocity simultaneous pull-off jammings. The simulated results show that the PHD and UKF filters presented in this paper can effectively realize the multi-target recognition and tracking under range-velocity simultaneous pull-off jamming, and verify the feasibility and effectiveness of the proposed algorithm.

Deformation Response and Its Engineering Prediction of Steel Plate Subjected to Internal Blast Loading from CL-20-based Aluminized Explosive Charges

LU Guangzhao, JIANG Chunlan, MAO Liang, WANG Zaicheng

2020, 41(8):  1509-1518.  doi:10.3969/j.issn.1000-1093.2020.08.005

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The deformation response of thin steel plate subjected to the internal blast loading from hexanitrohexaazaisowurtzitane (CL-20)-based aluminized explosive charges was studied through a series of experiments. Circular steel plates as the sealing structure of a specially designed explosion vessel are subjected to internal blast loading. Aluminized explosives composed of a base of CL-20 with two kinds of charge masses (100 g/200 g) and three kinds of aluminum mass content (10%/20%/30%) were used for the internal explosion tests of the sealing steel plates. In addition, the results indicate that the energy released from the powdered aluminum at the later stage of its combustion can play a role in the deformation of steel plates, and the maximmum residual plastic deflection of sealing steel plates is determined by the effective impulse of initial blast shock wave, which is the positive phase impulse of initial shock wave. For the 200 g charge mass, when aluminum content is increased from 10% to 30%, the effective impulse of initial shock wave is decreased by 6.9% and 7.8%, respectively, and the degrees of deformation and damage of sealing steel plate are decreased accordingly, and the maximum residual deflection of steel plate is decreased by 5.3% and 7.5%, respectively. An engineering prediction model is established for predicting the maximum residual deformation deflection of sealing steel plate.

Forward Motion and Terrain Scanning of Electro-optical Stabilized Sighting System

REN Yuanbin， WANG Huilin， XIE Na， LIU Dong， HAN Rui

2020, 41(8):  1519-1528.  doi:10.3969/j.issn.1000-1093.2020.08.006

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The common coordinate systems, such as earth-centered earth-fixed, navigation, airframe and line of sight coordinate systems, are introduced, and the homogeneous transformation between them is summarized to analyze the influence of forward motion on the scanning strtegies of electro-optical stabilized sighting system. The imaging mechanism of two-axis 4-framework stablized sighting system during the forward motion of aerial carrier is discussed using kinematic expression from the perspective of differntial kinematics. A full-link simulation model is proposed for the internal control components in the sighting system and the geographical orientation. A control action is applied to eliminate the influence of forward motion on the sighting system in the proposed model. The positioning and scanning processes of the sighting sysytem in the air were simulated by introducing the electronic and kinematic parameters in the proposed model. Simulated results show that the theorectical analysis of forward motion is correct and effective, the full-link simulation model is available.

Servo Control of Fast Steering Mirror Based on Fuzzy Control Strategy

GAO Xinyang, KE Fang, ZOU Wei, YU Xiao, YUAN Jia

2020, 41(8):  1529-1538.  doi:10.3969/j.issn.1000-1093.2020.08.007

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The servo control performance is the precondition to ensure precise tracking. A control method is studied to improve the servo performance of fast steering mirror(FSM). A fuzzy controller combining fuzzy control strategy with PID structure is proposed for the servo loop of fast steering mirror. The controller not only has the advantages of PID which is easy to implement in engineering, but also possesses the characteristics of self-adaption adjustment of control parameters. It's better adapted to various operating conditions. A fuzzy controller is designed based on the fast steering mirror of a high frequency swing motor for simulation experiment, and is compared with the existing scheme based on the traditional PID control. The servo performance of the fast steering mirror was simulated under the actual working condition. The simulated results show that the fast steering mirror based on the fuzzy control strategy increases the suppression bandwidth from 50 Hz to 120 Hz, and compresses the steady-state root mean square error in case of random input signal from 12.996″ to 1.620″, thus the feasibility and effectiveness of using the fuzzy control strategy to improve the servo control performance of FSM are verified; the FSM based on fuzzy control can be used as the subsystem part of the high-precision compound axis servomechanism in tactical laser weapons and other beam orienting occasions requiring microradian tracking accuracy.

Design of Fog Transmission Zoom Optical System with Focal Depth Extension

DING Guipeng， TAO Gang， PANG Chunqiao， WANG Xiaofeng

2020, 41(8):  1539-1548.  doi:10.3969/j.issn.1000-1093.2020.08.008

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A near infrared zoom optical system with large focal depth and large field of view, which uses the wavefront coding technology, is designed to meet the current imaging requirements of search-tracking in fog, rain and snow, reduce the difficulty of processing and adjusting of optical system, and lessen the influence of thermal effect on image quality. Optical design software can be used to obtain the maximum extended focal depth at any focal length in the zoom range by placing a cubic phase encoding plate at the aperture of the system and optimizing the parameters of the phase plate. The extended focal depth ratio of the system at different focal lengths is analyzed. The operating band of the system is 1.20- 1.67 μm, which has good imaging performance in fog. The focal length of the system is 18- 90 mm. The target surface of detector is the full frame, and the system has a large search field of view, which is beneficial to find a target. In different zoom positions, the focal depth of the zoom optical system is 6.43 times of that of the traditional system at short-EFL, and is 3.21 times of that of the traditional system at long-EFL, which greatly reduces the sensitivity of the continuous zoom system to image positioning accuracy. This method not only makes the system have good image quality, but also makes the requirements of design, processing and assembly more relaxed, and is conducive to eliminate the influence of thermal effect.

A Joint Estimation Method for PN Sequence Period of BOC Signals

ZHANG Xiaoyu， FENG Yongxin， QIAN Bo

2020, 41(8):  1549-1557.  doi:10.3969/j.issn.1000-1093.2020.08.009

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Binary offset carrier (BOC) can greatly improve the anti-interception performance and anti-jamming capacity，which is widely used in secure communication system.The accurate estimation of pseudo noise(PN) code sequence period for BOC signals supports the subsequent signal processing.On the basis of analyzing the characteristic of auto-correlation function， a Joint estimation method for PN sequence period of BOC signals is proposed. The proposed method can eliminate the influences of the carrier component and noises by introducing the orthogonal two-way to the traditional sepctrum reprocessing.The PN sequence period at low signal-to-noise ratio(SNR) can be estimated by getting the autocorrelation function(ACF) of PN sequence without carrier and analyzing the discrete spectral line.The simulated results show that the proposed estimation method can accuately estimate the PN sequemce period at low SNR，and can promote 3 dB SNR tolerance compared to the traditional estimation method.

A Dynamic Target Tracking Method Based on Optical Imaging with Rotating Mirror

LU Liping, ZHENG Xiao

2020, 41(8):  1558-1565.  doi:10.3969/j.issn.1000-1093.2020.08.010

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For the problem that the existing target tracking methods can not quickly track the high-speed moving targets, a dynamic target tracking method based on optical imaging with rotating mirror is proposed to accurately obtain the dynamic target parameters in military range experiments. A combination of high-speed camera and mirror is used to collect the multi-image information of dynamic target based on the principle of light reflection. A mathematical model of motion state of target is established. According to the angle offset of mirror, the matching relationship between the rotation parameters of mirror and the motion parameters of target is studied. The hardware platform of the system was built with embedded controller, single chip microcomputer and optical camera, and the multi-parameter control and optimization of target tracking system were realized by using the mathematical model of target motion state and the image processing algorithm. The test results show that the proposed target tracking model can be used to obtain clear target image and achieve the purpose of tracking under the variable motion state.

Two-dimensional Vector Hydrophone and Its Application in Argo Buoy Platform

SUN Qindong， WANG Chao， ZHANG Xiaochuan， WANG Wenlong

2020, 41(8):  1566-1572.  doi:10.3969/j.issn.1000-1093.2020.08.011

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The traditional co-vibration vector hydrophone is difficult to accurately measure the attitude change in the underwater slow-motion sonar platform, which leads to the low measuring accuracy of target direction. The attitude real-time measurement and correction principle of vector hydrophone are nalyzed, and a MEMS attitude sensor is selected as attitude sensing device. A two-dimensional combined co-vibration vector hydrophone with attitude measurement function was designed, and its integrated application on the Argo buoy platform was realized. The results show that the co-vibration vector hydrophone can collect sound field information in the range of 10-3 000 Hz. Vector channel has cosine directivity with sensitivity of -179.5 dB at 1 kHz (0 dB=1 V/μPa). Sound pressure channel sensitivity is -191.5 dB±0.5 dB (0 dB=1 V/μPa). The co-vibration vector hydrophone is applied to the buoy platform for synchronously monitoring the marine environmental noise and underwater target, which lays a foundation for its engineering application in the underwater slow-motion sonar platform.

Adjusment and Control of Structural Color of Thermochromic Photonic Crystal Material

QIAO Yu, ZHANG Feng, MENG Zihui, WANG Piaopiao, QIU Lili

2020, 41(8):  1573-1580.  doi:10.3969/j.issn.1000-1093.2020.08.012

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A camouflage material with environmental adaptability, simple preparation and painting, and green production process was designed to meet the visual stealth requirements of military equipment. The polystyrene microspheres with diameters of 132 nm, 205 nm, 275 nm and 300 nm were prepared by using emulsion polymerization. Three-dimensional photonic crystals with highly ordered structure and obvious structural color were prepared by using vertical sedimentation self-assembly method. The temperature-sensitive PNIPAM/AM hydrogel and polystyrene three-dimensional photonic crystal were used to prepare a photonic crystal gel film with structural color changing with ambient temperature. Based on the analysis of HSB (hues, saturation, brightness) color model, it is verified that the color of the material can respond with the change of environment temperature. The results show that the thermochromic photonic crystal material can achieve adaptive response to ambient temperature and has certain application prospects in visual stealth.

Rapid Localization of Unmanned Ground Vehicles in Dynamic Environment Using Point Cloud Maps

ZHENG Zhuangzhuang, CAO Wanke, ZOU Yuan, ZHANG Xudong, DU Guangze

2020, 41(8):  1581-1589.  doi:10.3969/j.issn.1000-1093.2020.08.013

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The use of on-board sensors to determine the position of unmanned ground vehicle in a map without global positioning system (GPS) signals is the key to realize the autonomous driving. The existing methods are mainly based on 2-D grid maps, and are not suitable for complex environment. A fast localization algorithm, which is based on 3D point cloud map in dynamic environment and uses a clustered bag-of-words model, is proposed. The dynamic obstacles are removed by backtracking the continuous multi-frame lidar point cloud data and using Bayesian formula. The word list and database are constructed by clustering the point clouds and extracting the viewpoint feature histogram (VFH) descriptors, which enables the unmanned ground vehicle to quickly find the starting position in the point cloud map. Then the subsequent precise positioning is achieved by using the lidar odometry and mapping (LOAM) real-time algorithm. The experimental results show that the proposed algorithm can be used to accurately localize an unmanned ground vehicle in the 3D point cloud map in dynamic environment and meet the real-time requirements.

Hill-start Control of a Medium Unmanned Tracked Vehicle with Single Circulating Moving

ZHANG Ruizeng, GONG Jianwei, CHEN Huiyan, WANG Boyang, LIU Haiou

2020, 41(8):  1590-1599.  doi:10.3969/j.issn.1000-1093.2020.08.014

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In order to solve the hill-start control problem of a medium unmanned tracked vehicle with second-order planetary steering, the starting process of this type of tracked vehicle is analyzed, and an automatic starting control strategy is proposed to solve the problem above，and the real car verification is performed. The control strategy includes the acquisition and calculation of vehicle starting load, and the engine and joystick control strategy and vehicle starting control flow during starting. Under the condition of a large slope（greater than or equal to 15°）, the second-order planetary steering system is used to reduce the abrasion of friction components and vehicle slip in the process of hill starting, and avoid the engine flameout. The control strategy is used to estimate the current state of vehicle through vehicle-mounted environmental sensing device and electronic map information, and generate the starting control parameters. The interface between the sensitive area and non-sensitive area at the first position of joystick is determined by the cluster analysis, and then the targeted control of the two areas is conducted. The initial engine speed and control rules are determined based on the experimental data. Experimental results show that the control algorithm can effectively make sure the hill-start success rate of the test platform.

Multiple Working Condition Clustering and Matching of Fixed Wing UAV

LIANG Shaojun， ZHANG Shirong， ZHENG Xing， LIN Dongsheng

2020, 41(8):  1600-1612.  doi:10.3969/j.issn.1000-1093.2020.08.015

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The whole mission of fixed-wing UAV can be divided into multiple working conditions, and the analysis of UAV working conditions is the precondition of fault diagnosis. According to the control principle of UAV, 9 variables (deflection angle of elevator, rudder deflection angle of left and right ailerons, course angle, elevation angle, angle of inclination, height, airospeed, and cylinder temperature) of the horizontal, vertical and speed control loops are selected to represent the real-time working conditons of UAV. For the characteristic of UAV data set, a modified density clustering algorithm coupled with shared nearest neighbor is proposed, which is notated as SNN-DBSCAN^* to classify UAV working conditions. An inflexion heuristic parameter optimization approach combined with data shear rate and satisfied curves is specifically proposed for SNN-DBSCAN^*. An independent component analysis and support vector machine fusion algorithm which is notated as ICA-SVM is proposed for condition matching of UAV. ICA is intentionally employed for feature extraction and reconstruction of the UAV variables so as to improve the disturbance resisting capacity of the condition matching algorithm. The test result of the real UAV flight data set shows that the SNN-DBSCAN^* algorithm can reasonably classify UAV working conditions without increasing prior knowledge, and a satisfied matching accuracy can be achieved with ICA-SVM model which shows good disturbance resisting capacity to the deviations of the UAV variables.

Maneuver Decision of Autonomous Air Combat of Unmanned Combat Aerial Vehicle Based on Deep Neural Network

ZHANG Hongpeng， HUANG Changqiang， XUAN Yongbo， TANG Shangqin

2020, 41(8):  1613-1622.  doi:10.3969/j.issn.1000-1093.2020.08.016

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Maneuver decision is a critical factor which determines the success and failure of air combat for unmanned combat aerial vehicle. In order to increase the probability of wining air combat, a deep neural network (DNN) is proposed for maneuver decision. 36 kinds of maneuvers were constructed, and the samples of current situation, control quantity and future situation were acquired through flight simulations. The DNN is trained with the samples, making it capable of predicting future situation according to current information. Decision target function and situation assessment function were designed. In the process of air combat, the trained DNN is used to predict the future situations corresponding to all maneuvers, and the best maneuver is selected from all the maneuvers according to decision target function. The enemy planes which simply and autonomously maneuver were simulated, respectively, under different initial conditions, and the air combat situations were also assessed. The results show that the proposed decision method can be used to win air combat with less actions at balanced situation, and gain an edge through a series of actions at adverse situation, and the decision-making time is reduced by 9 ms.

Optimization and Experimental Validation of Aluminum Alloy Plate Hot-rolling Based on Constraint of Warpage Threshold

YE Haichao, FAN Wulin, QIN Guohua, LIN Feng, ZHENG Xu, YANG Yang

2020, 41(8):  1623-1632.  doi:10.3969/j.issn.1000-1093.2020.08.017

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The snake-like hot-rolling can divide the casted coarse grains into the machined microstructures by completely deforming the center of aluminum alloy plate. It is the key to prepare the thick aluminum alloy plates. Therefore, the warpage and its control in the process of snake-like rolling are studied. The mechanism model of hot-rolling of aluminum alloy plates is studied, and a finite element model is reasonably established for some training samples of neural network. The accuracy of the proposed model is verified by comparing the simulated and measured results. The maximum relative errors of stress and strain are 6.92% and 7.33%, respectively. Moreover, there exists about 13% relative error of warp factor. And a coupled prediction model of equivalent strain and warp factor is proposed according to the finite groups of training samples. The coupled prediction model is able to predict the simulated results within 6 % error margin. Under the condition that the warp factor is not more than the given threshold value, an optimal model with the objective of maximum equivalent strain is proposed for the rolling parameters. When an individual fitness is constructed to be a function of the average equivalent strain, the genetic algorithm can be used to solve the optimal model for rolling parameters. The proposed method can be used not only to improve the simulating calculation efficiency of rolling process, but also provide a basic theory of design and selection of rolling parameters. The propose method can not only improve the calculation efficiency of simulation of rolling process, but also provide a basic theory of design and selection of rolling parameters.

Multidimensional Equipment Effectiveness Evaluation Model Based on Elman Neural Network and Copula Function

YANG Zixin, XUE Yuan, SUN Chang, XU Haojun, HAN Xinmin

2020, 41(8):  1633-1645.  doi:10.3969/j.issn.1000-1093.2020.08.018

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For the characteristics of non-linear, multidimensionality and coupling in the current air combat equipment effectiveness evaluation data, a multidimensional equipment effectiveness evaluation model is proposed by combining Elman neural network with Copula function. An effectiveness evaluation index system is established based on the characteristics of modern air combat, and the self-learning ability of the weight parameters of Elman neural network and the good fit to the non-linear data are used to obtain the prediction model and type of distribution based on the simulation data of the battlefield environment and the information-based air confrontation system. According to the strong coupling characteristics of the distribution data, five common Archimedean Copula functions, i.e., Gumbel Copula, Clayton Copula, T-Copula, Frank Copula, and Joe Copula, are selected to construct the correlation between variables. By comparing the results of parameter identification and goodness of fit, it is found that the joint distribution model constructed by T-Copula function is most suitable for the original data distribution. The proposed method was compared with the traditional method based on the probabilistic statistics index. The result shows that the proposed method has higher prediction accuracy and a wider scope of application.

Resources Demand Determination and Effectiveness Evaluation of Equipment Maintenance Support Based on Simulation forCombined Arms

WANG Shuangchuan, JIA Xisheng, LI Feng, HU Qiwei, QI Liangzhe, CAO Wenbin

2020, 41(8):  1646-1657.  doi:10.3969/j.issn.1000-1093.2020.08.019

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The demand analysis of equipment maintenance support resources and the evaluation of equipment maintenance support effectiveness are carried out to determine the requirements of equipment maintenance support resources of combined aems in peacetime and verify the correctness of the calculated results. The equipment maintenance support for combined arms is analyzed from three aspects: support object, support resource and support strategy. Secondly, taking the fire control system as an example, Monte Carlo simulation method is used to calculate the demands of maintenance time and spare parts of fire control system for an equipment. On this basis, the demands of maintenance time and spare parts of fire control system for a kind of equipment and various equipment are computed, respectively, and then the demands of maintenance personnel and spare parts of fire control system for combined arms are determined. Finally, the availability of the calculated results of maintenance support personnel and spare parts demands of fire control system for combined arms is verified by effectiveness evaluation. An example was analyzed to verify the feasibility and practicability of the proposed method. The research results show that the proposed simulation method can be used to determine the demands of maintenance support personnel and spare parts of equipment subsystems equiped for combined arms and the calculated results of maintenance support resource demand can be verified by maintenance support effectiveness evaluation.

Research on Evaluation Method of Node Importance of Combat System-of-systems Network Based on Topological Potential

WANG Chao， GUO Jilian， FU Lingyun

2020, 41(8):  1658-1664.  doi:10.3969/j.issn.1000-1093.2020.08.020

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The traditional importance ranking algorithm can not be used to objectively and comprehensively evaluate the importance of each equipment entity in the combat system-of-systems network. An importance ranking method based on topological potential is proposed based on complex network theory combining with the topology theory in mathematics and field theory in physics. A coverage index is introduced to compare and analyze the similarity between the topological potential ranking results and the conventional method ranking results by defing a sequenced distance. An operational scenario is designed to analyze and verify the effectiveness of the importance ranking algorithm based on topological potential. The results show that the proposed algorithm can accurately and objectively quantify the supporting roles of different equipment in the system-of-systems to the construction of the structure and the ability to complete the task, and provide an important basis for the wartime deployment of forces, the construction of command system-of-systems, and the battlefield repair decisions.

Calculation of Floating Bridge with Longitudinal Connection Gaps under Moving Load

HUANG Heng, CHEN Xujun, SHI Jie, WEI Xiao

2020, 41(8):  1665-1674.  doi:10.3969/j.issn.1000-1093.2020.08.021

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A mathematical model for calculating the vertical displacement and bending moment of a long floating bridge under moving load is established based on the elastic foundation beam theory. On this basis, according to the displacement reciprocity theorem and the influence line theory, the calculation method of floating bridge with the longitudinal connection gaps under moving load is deduced and proved by introducing the concepts of gap angle and angle influence line. The method can be used to calculate the displacement and force of floating bridges with longitudinal connection gaps under moving load. The results indicate that the increase in connection gaps leads to the increase in draft of floating bridge. At the same time, the bending moment of bridge span and the force at the connection decrease. With the increase in load moving speed, the maximum draft and the connection force will increase. The influences of longitudinal connection gaps and load velocity on the deformation and force of floating bridge structure can not be ignored. The reasonable connection gaps are very important to optimize the structure of floating bridge. In the process of passing floating bridge, the vehicles must pass at a limited speed and load to ensure the safety. The calculated results have good consistency compared with the numerically calculated and model test results in Ref.［16］.

Comprehensive Review

Review on the Platform Technology of Autonomous Deployment of AUV by USV

ZHENG Rong， XIN Chuanlong， TANG Zhong， SONG Tao

2020, 41(8):  1675-1687.  doi:10.3969/j.issn.1000-1093.2020.08.022

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In the past 30 years, autonomous underwater vehicle (AUV) and unmanned surface vehicle (USV) were the important tools for constructing undersea space station and observation network. And its relevant technologies have been developed from single offshore platform control to multi-platform cooperation. Among them, the use of USV to independently launch and recycle AUV has become a new research hotspot. This paper reviews the latest development of dynamic deployment platform for AUV based on USV. Based on the viewpoint of system science, the key technologies of USV deployment AUV platform are expounded from three aspects: towing and docking stability, accuracy and rapidity. The measures to improve the towing stability of deployment platform are summarized, and the research direction and emphasis of platform technology for autonomous deployment of AUV based on USV are prospected.

Research Notes

Steering Control Based on Fuzzy Feedforward and Feedback for Dual-motor Electric Drive Tracked Vehicle

ZHANG Jie, YUAN Dong, ZHANG Peng, WEI Shuguang

2020, 41(8):  1688-1696.  doi:10.3969/j.issn.1000-1093.2020.08.023

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The steering control of dual-motor electric drive tracked vehicle has slow target tracking and poor anti-interference performance. For the above problems, a fuzzy feedforward and feedback steering control algorithm based on direct torque control was proposed by analyzing the vehicular dynamic performance and the driver controlling signal. The steering angle and the changing rate are set as the inputs of fuzzy feedforward control, based on which the target torques of the dual motors are compensated in feedforward. Furthermore, the deviation and changing rate of steering radius are set as the inputs of the fuzzy feedback control, from where the target torque difference is revised in feedback. Then the effectiveness and feasibility of the control strategy are validated by building and using a hardware in-loop real-time simulation platform with dSPACE. The results show that the fuzzy feedforward and feedback control can effectively shorten the dynamic response time of steering when the tracked vehicle turns at different radii and different speeds, and the anti-interference of steering trajectory is improved, which can realize faster and more stable steering.