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• ORGANIZATION OF THE ELECTRIC NETWORK OF THE HYBRID POWER SUPPLY SYSTEM OF AUTONOMOUS UNDERWATER VEHICLE

  N.K. Kiselev, L.A. Martynova, I.V. Pashkevich

  2021-04-04

  Abstract ▼

  The aim of the study is to organize the power grid of a hybrid power supply system for an autonomous
  underwater vehicle capable of moving in a wide range of speeds. The need to move the
  autonomous underwater vehicle in a wide range of speeds requires the use of heterogeneous sources
  of electricity operating on different physical principles - storage batteries and electrochemical generators
  using reagents from the reagent storage. In addition, in order to provide consumers with
  electricity with the required parameters (currents, voltages, volumes of electricity), it is necessary to
  use additional switchboards, voltage converters, protective switching equipment, keys. The use of
  additional equipment in the power grid allows you to flexibly configure the power grid in order to
  generate energy in an amount consistent with the amount of electricity consumed. On the other hand,
  additional equipment causes losses of electricity in the network, and, accordingly, additional electricity.
  In this regard, the task of determining the option for organizing the power grid, at which the loss
  of electricity would be minimal, is relevant. To solve this problem, the features of the use of additional
  equipment in the power grid were analyzed, the consumption of electricity by an autonomous underwater
  vehicle at different stages of a route assignment was analyzed, the minimum and maximum
  volumes of consumption were determined when an autonomous underwater vehicle moved in different
  speed modes. This made it possible to determine the degree of involvement of heterogeneous
  sources of electricity in the process of performing a route assignment. Based on the results of the
  analysis, alternative options for the power grid were formed. To select the option of the organization
  that ensures the minimum losses of electricity, a target graph of the effect of losses on individual
  devices of the power grid was formed - on the losses of the entire power grid, and using the method of
  distributing tags, quantitative estimates of each of the alternative options were obtained. Teaching
  quantitative assessments made it possible to determine the option of organizing an electrical network
  that minimizes losses. This allows, in turn, to formulate the requirements for the functioning of the
  elements of the hybrid power supply system, to develop control algorithms. In general, the result
  obtained makes it possible to minimize the consumption of energy resources during the movement of
  an autonomous underwater vehicle throughout the entire duration of the route assignment.

• ALGORITHM FOR MANEUVERING AN AUTONOMOUS UNDERWATER VEHICLE WHEN NAVIGATING A SHIP THROUGH A MINED AREA

  V.S. Bykova, A.I. Mashoshin, I.V. Pashkevich

  2021-04-04

  Abstract ▼

  One of the tasks assigned to the autonomous underwater vehicles (AUV) is the fight
  against mine danger, which includes: 1) search for and destroy mines in the mined area;
  2) ensure their own safety when passing through the mined area or when working in this area;
  3) ensure the navigation of ships (including submarines) through the mined area. AUV can be
  considered as a further development of mine-fighting equipment, since they have a number of
  advantages over mine-fighting ships: 1) exclude the loss of life in the event of a mine explosion;
  2) have a lower level of physical fields to which the fuses of sea mines react; 3) are able to maneuver
  at the optimal depth for searching and classifying mines. In view of this, the creation of
  specialized AUV to combat the mine danger is very important. The search for mines with the
  help of AUV can be carried out either in the interests of their destruction (clearing the area) or
  for the purpose of guiding ships through the mined area. This article deals with the second
  problem. The description of the maneuvering algorithm of the AUV when ensuring the passage
  of a vessel through a mined area is given. The task is solved by detecting different types of
  mines using hydroacoustic and magnetometric means of searching and classifying underwater
  objects and bypassing of the mines at a safe distance. To reduce the time required to solve the
  task, the detected underwater objects are classified into the "mine-like object" and "other objects"
  classes. The use of the "mine-like object" class, which includes both the actual mines and
  objects that are indistinguishable from mines at the distances of their detection by means of
  mine search, allows you to avoid approaching detected underwater objects at a distance of their
  confident classification using high-frequency sonar and television equipment, and thereby increase
  the safety of the AUV and reduce the time of passage through the mined area. The algorithm
  takes into account the fact that the minimum safe distance between vessel and mine greatly
  exceeds the range of detection of mines of different types that does not allow AUV to find a
  safe vessel passage through the mined area by a single crossing and requires complex maneuvering
  of the AUV. Algorithm is intended for implementation in the AUV control system.

• THE MATHEMATICAL MODEL OF THE FUNCTIONING OF A HYBRID ENERGY SUPPLY SYSTEM AS PART OF A DEBUGGING AND MAINTENANCE STAND AUV

  N.K. Kiselev, L.A. Martynova, I.V. Pashkevich

  2020-07-10

  Abstract ▼

  The aim of the research is to develop a complex of mathematical models that provide initial data for a mathematical model of the hybrid energy supply system for subsequent integration into the stand for debugging and maintenance. The work is a development of the previously published mathematical model of the functioning of the hybrid energy supply system of an autonomous un-derwater vehicle. In the work, based on the results of the analysis of the goals and objectives of modeling, mathematical models of electric power sources — a storage battery and an electro-chemical generator — are developed. Since control over the operating parameters of the battery and the electrochemical generator depends on the parameters of the vehicle’s movement, addi-tional mathematical models of the marching propulsion engine and the integrated control system of the vehicle have been developed. The external conditions for the functioning of the vehicle and the route task were set in a specially developed tactical situation simulator. Based on the theory of integrated hierarchical modeling with variable resolution, the most appropriate degree of detail of the developed mathematical models was determined. In view of the need to take into account the non-uniformity of gas blowing of fuel elements in an electrochemical generator, the mathematical model is based on solving a non-linear system of equations, including the Navier-Stokes equation, equations of conservation of momentum, energy and charge. When developing a mathematical model of the battery, the uneven charge of individual batteries was taken into account; The math-ematical model took into account the parameters of individual batteries according to their manu-facturer. The simulation results were the charge-discharge characteristics of the battery. In the mathematical model of the main consumer of electricity - the marching propulsion - the depend-ence of the generated thrust on the required speed of the vehicle is implemented, which allowed to obtain the amount of electricity consumed by the marching propulsion. In the mathematical model of an integrated control system, depending on the current position of the vehicle, motion control-lers are implemented to form control elements of the propulsion system, providing typical modes of maneuvering the vehicle. In addition, the control of the functioning parameters of the hybrid ener-gy supply system was implemented - switching of electric power sources, switching of battery charge processes. In the mathematical model of a tactical situation simulator, the possibilities of defining a route and external conditions are realized. In addition, a model of the vehicle movement was implemented taking into account the forces and moments acting on the vehicle. The developed complex of mathematical models, which provides the data with a mathematical model of the func-tioning of the hybrid energy supply system, can be used as a part of the stand for debugging and maintenance of an autonomous underwater vehicle.