A docking test device for simulating ocean current action and a test method thereof
Through the test device that simulates the effect of sea current in the underwater docking device, the inertia group and adjustable wing plate are used to simulate sea current in the pool, the problem of the guided docking device having a great impact on sea current is solved, and the optimization design basis is provided, and the docking is realized. Device response status verification and design optimization.
Patent Information
- Application Number
- CN202411166425.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-23
- Publication Date
- 2024-12-13
- Estimated Expiration
- 2044-08-23
AI Technical Summary
The docking success rate of existing guided underwater docking devices is greatly affected by the current and has a complex structure. There is a lack of effective experimental methods to simulate the effect of the current to optimize the design.
A docking test device that simulates the action of sea current is designed, including inertia group, float, vertical wing plate, traction swing frame, main frame, horizontal wing plate and guide cover. By using the pool to drag the driving in the pool to simulate the action of sea current, the wing is adjusted. The plate height provides a design basis for the suspension docking device to verify the time when the docking device returns to the current state.
The device can verify the impact of currents of different flow velocities and directions on the docking device, providing the response state and optimization design basis of the connection node, and the structure is simple and meets the requirements of generalization and modularity.
Smart Images
Figure CN118687810B_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of underwater docking, in particular to a docking test device for simulating the effect of ocean current and a test method thereof. Background Art
[0002] As a powerful tool for exploring the ocean space, AUV (autonomous underwater robot) plays an increasingly important role. In the civilian field, it can be used for laying pipelines, seabed surveys, data collection, drilling support, seabed construction, underwater equipment maintenance and repair, etc. In the military field, it can be used for terrain reconnaissance, intelligence gathering, submarine rescue, etc.
[0003] AUVs have limited energy, so their operating time and radius are limited. There are two main solutions: one is to surface and use the surface support platform or return to the shore-based base to replenish energy and exchange data; but both require a lot of energy and time, and the continuity of the operation will be interrupted. The second option is to connect with the underwater docking device to achieve energy replenishment and data exchange. From the perspective of economy and comprehensive benefits, the second option is more reasonable.
[0004] Among the numerous underwater docking devices currently available at home and abroad, the most common ones are the capture type, the guide type, and the seated type. Among them, the guide type is the most widely used type, and the vast majority of domestic docking devices adopt this form. The main disadvantage of the guide docking device is that the docking success rate is greatly affected by the ocean current. There are two solutions: one is to add a steering device to adjust the opening direction of the guide cover; the other is to design the docking device in a suspended state, which can be rotated to a current-facing state under the action of the ocean current. In comparison, the second solution omits the steering device and has a simpler structure. Summary of the invention
[0005] In order to study the effect of ocean current on a suspended docking device and provide a basis for the design of a suspended docking device, the present invention aims to provide a docking test device and a test method for simulating the effect of ocean current. The present invention can simulate the effect of ocean currents of different velocities and directions on the docking test device and the time it takes for the docking test device to adjust to the flow-facing state.
[0006] The objective of the present invention is achieved through the following technical solutions:
[0007] The docking test device of the present invention comprises an inertial group, a float, a vertical wing plate, a traction swing frame, a main frame, a horizontal wing plate, a guide cover and a skin, wherein an electronic cabin and a float are respectively arranged inside the main frame, an inertial group is arranged in each of the main frames at the front and rear ends of the float, the inertial group located at the front end is connected to the electronic cabin through a watertight cable, and the main frame is covered with a skin; the traction swing frame is rotatably connected to the front end of the main frame, the guide cover is connected to the rear end of the main frame, the vertical wing plate and the horizontal wing plate are arranged in a "cross" shape on the main frame, and the heights of the vertical wing plate and the horizontal wing plate can be adjusted.
[0008] Among them: the height adjustment of the vertical wing plate and the horizontal wing plate is achieved by increasing the number of small-width wing plates, that is, one side of the vertical wing plate and the horizontal wing plate is respectively fixed to the main frame, and the other side of the vertical wing plate and the horizontal wing plate is connected with different numbers of small-width wing plates along the height direction, thereby achieving the height adjustment of the vertical wing plate and the horizontal wing plate.
[0009] The initial angle and towing speed of the docking test device are detected and recorded by the inertial group, and the watertight cable downloads the initial angle and towing speed of the docking test device recorded by the inertial group after the test.
[0010] The traction swing frame is in a "U" shape, and both sides of the "U"-shaped opening end are rotatably connected to the main frame through rotating shafts.
[0011] The test method of the docking test device for simulating the effect of ocean currents of the present invention is as follows: the traction swing frame in the docking test device is connected to a water pool towing vehicle through a tooling, and then the docking test device is towed by the water pool towing vehicle in the water pool, so as to simulate the dynamic characteristics of the docking test device under the effect of ocean currents; during the test, the towing speed of the water pool towing vehicle and the initial angle of the towing direction of the docking test device and the water pool towing vehicle are changed to simulate the effect of ocean currents of different directions and different flow rates on the docking test device, and the height of the wing plate and the time for the docking test device to recover to the flow-facing state are verified by adjusting the height of the vertical wing plate and the horizontal wing plate, so as to provide a basis for the design of a suspended docking device.
[0012] The advantages and positive effects of the present invention are:
[0013] 1. The present invention can verify the response state of the docking node under the action of different flow velocities and different angles of ocean currents, and provide a technical basis for the design and optimization of the docking node.
[0014] 2. The design of the present invention meets the requirements of universalization and modularization, and has a simple structure. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the docking test device of the present invention;
[0016] Figure 2 This is a schematic diagram of the three-dimensional structure of the docking test device of the present invention after the skin is removed;
[0017] Figure 3 This is a front view of the structure of the docking test device of the present invention after the skin is removed;
[0018] Figure 4 This is a top view of the structure of the docking test device of the present invention after the skin is removed;
[0019] Figure 5 It is a schematic diagram of the working state of the docking test device of the present invention;
[0020] Among them: 1 is the inertial group, 2 is the electronic cabin, 3 is the float, 4 is the vertical wing panel, 5 is the traction swing frame, 6 is the main frame, 7 is the horizontal wing panel, 8 is the guide cover, 9 is the skin, and 10 is the small wing panel. DETAILED DESCRIPTION
[0021] The present invention will be further described below in conjunction with the accompanying drawings.
[0022] like Figures 1 to 4 As shown, the docking test device of the present invention comprises an inertial group 1, a buoy 3, a vertical wing plate 4, a traction swing frame 5, a main frame 6, a horizontal wing plate 7, a guide cover 8 and a skin 9, wherein an electronic cabin 2 and a buoy 3 are respectively arranged inside the main frame 6, and an inertial group 1 is arranged in each of the main frames 6 at the front and rear ends of the buoy 3, the purpose is to calibrate each other and reduce the error caused by the equipment; the inertial group 1 located at the front end is connected to the electronic cabin 2 through a watertight cable, and the main frame 6 is covered with a skin 9. The traction swing frame 5 is rotatably connected to the front end of the main frame 6, the guide cover 8 is connected to the rear end of the main frame 6, the vertical wing plate 4 and the horizontal wing plate 7 are arranged on the main frame 6 in a "cross" shape, and the height of the vertical wing plate 4 and the horizontal wing plate 7 can be adjusted.
[0023] In this embodiment, the height adjustment of the vertical wing plate 4 and the horizontal wing plate 7 is achieved by increasing or decreasing the small-width wing plate 10, that is, one side of the vertical wing plate 4 and the horizontal wing plate 7 is respectively fixed to the main frame 6, and the other side of the vertical wing plate 4 and the horizontal wing plate 7 is connected with different numbers of small-width wing plates 10 in the height direction, thereby achieving the height adjustment of the vertical wing plate 4 and the horizontal wing plate 7. In this embodiment, the minimum adjustment height of the vertical wing plate 4 is 100 mm, and the total adjustment height is 300 mm; the minimum adjustment height of the horizontal wing plate 7 is 100 mm, and the total adjustment height is 400 mm. The materials of the vertical wing plate 4, the horizontal wing plate 7 and the small-width wing plate 10 are selected from carbon fiber, which is light as a whole.
[0024] The traction swing frame 5 and the main frame 6 of this embodiment are both constructed of 6060 series aluminum profiles, with a simple structure and good interchangeability. The traction swing frame 5 of this embodiment is in a "U" shape, and both sides of the "U"-shaped open end are rotatably connected to the main frame 6 through a rotating shaft, and the traction swing frame 5 can rotate around the rotating shaft, reducing the influence of the traction swing frame 5 on the test results.
[0025] The initial angle and towing speed of the docking test device of this embodiment are detected and recorded by the inertial group 1, and downloaded through the watertight cable after the test.
[0026] The electronic compartment 2 of this embodiment is the prior art, and is internally provided with a main control computer, a junction box, a hard disk video recorder, a network switch, etc.
[0027] like Figure 5 As shown, the test method of the docking test device for simulating the action of ocean currents of the present invention is as follows:
[0028] The towing swing frame 5 in the docking test device is connected to the pool towing vehicle through the tooling, and then the docking test device is towed by the pool towing vehicle in the swimming pool to simulate the dynamic characteristics of the docking test device under the action of the ocean current. During the test, the towing speed of the pool towing vehicle and the initial angle between the docking test device and the pool towing vehicle are changed to simulate the action of ocean currents in different directions and at different flow rates on the docking test device. By adjusting the height of the vertical wing plate 4 and the horizontal wing plate 7, the wing plate height and the time it takes for the docking test device to return to the flow-facing state are verified, which provides a basis for the optimal design of the docking node of the suspended docking device.
[0029] Through the pool towing test, it was verified that the time it takes for the docking test device to return to the flow-facing state under the conditions of 0.5 knots, 1 knot, 1.5 knots, and 2 knots, and angles of 0° to 60° (5° intervals), as shown in Tables 1 and 2, which provides a technical basis for the design of the suspended docking device.
[0030] Table 1 Correlation coefficient and state value of dragging at different initial angles
[0031] Tab.1 Correlation coefficient and status value of different initialangles
[0032] Drag initial angle CFD simulation Mathematical model Recovery time / s Vibration peak value difference / ° Vibration period / s 60° 0.9844 0.9151 23.12 / 24.02 / 25.95 1.26 / 0.97 / 4.87 21.48 / 18.66 / 19.22 50° 0.9406 0.9390 22.56 / 20.93 / 24.95 1.15 / 0.31 / 0.63 20.20 / 18.25 / 17.66 45° 0.9818 0.9758 20.76 / 19.41 / 24.02 1.12 / 0.35 / 0.62 21.62 / 17.44 / 17.33 40° 0.9419 0.9647 19.36 / 20.75 / 24.15 0.95 / 0.36 / 1.00 19.94 / 17.88 / 20.78 30° 0.9836 0.9262 17.82 / 20.09 / 20.68 0.92 / 0.31 / 0.24 19.96 / 16.82 / 16.94 15° 0.8978 0.8234 18.42 / 17.48 / 19.23 0.95 / 0.15 / 0.14 19.98 / 16.82 / 20.28
[0033] Table 2 Correlation coefficient and state value of towing at different speeds
[0034] Tab.2 Correlation coefficient and status value of different speeds
[0035] Drag speed CFD simulation Mathematical model Recovery time / s Vibration peak value difference / ° Vibration period / s 1m / s 0.9848 0.9793 20.76 / 19.41 / 24.02 1.12 / 0.35 / 0.62 21.62 / 19.44 / 19.33 0.9m / s 0.9906 0.9822 21.62 / 21.43 / 22.63 0.92 / 0.43 / 0.50 17.90 / 18.46 / 18.35 0.8m / s 0.9818 0.9758 22.44 / 23.08 / 24.47 0.87 / 0.28 / 0.44 17.42 / 17.36 / 17.44 0.75m / s 0.9882 0.9901 24.25 / 23.03 / 24.44 0.93 / 0.15 / 0.45 17.16 / 17.34 / 17.06 0.7m / s 0.9947 0.9896 25.23 / 24.16 / 24.62 0.67 / 0.15 / 0.56 16.04 / 18.34 / 16.52 0.6m / s 0.9914 0.9918 25.49 / 25.75 / 25.86 0.65 / 0.1 / 0.52 17.84 / 16.63 / 16.42 0.5m / s 0.9885 0.9879 41.80 / 41.52 / 45.14 0.46 / 0.07 / 0.42 16.22 / 16.86 / 15.66 0.25m / s 0.9621 0.8995 61.25 / 59.55 / 59.45 0.66 / 0.11 / 0.39 13.64 / 13.51 / 13.31
Claims
1. A docking test device for simulating the effect of ocean currents, characterized in that: The invention comprises an inertial group (1), a buoy (3), a vertical wing plate (4), a traction swing frame (5), a main frame (6), a horizontal wing plate (7), a guide cover (8) and a skin (9), wherein an electronic cabin (2) and a buoy (3) are respectively arranged inside the main frame (6), an inertial group (1) is arranged in each of the main frames (6) at the front and rear ends of the buoy (3), the inertial group (1) located at the front end is connected to the electronic cabin (2) through a watertight cable, and the main frame (6) is covered with a skin (9); the traction swing frame (5) is rotatably connected to the front end of the main frame (6), the guide cover (8) is connected to the rear end of the main frame (6), the vertical wing plate (4) and the horizontal wing plate (7) are arranged on the main frame (6) in a "cross" shape, and the height of the vertical wing plate (4) and the horizontal wing plate (7) can be adjusted; The height adjustment of the vertical wing plate (4) and the horizontal wing plate (7) is achieved by increasing or decreasing the number of small-width wing plates (10), that is, one side of the vertical wing plate (4) and the horizontal wing plate (7) is respectively fixed to the main frame (6), and the other side of the vertical wing plate (4) and the horizontal wing plate (7) is connected to different numbers of small-width wing plates (10) along the height direction, thereby achieving the height adjustment of the vertical wing plate (4) and the horizontal wing plate (7).
2. The docking test device for simulating ocean current according to claim 1, characterized in that: The initial angle and the towing speed of the docking test device are detected and recorded by the inertial group (1), and the watertight cable downloads the initial angle and the towing speed of the docking test device recorded by the inertial group (1) after the test is completed.
3. The docking test device for simulating ocean current according to claim 1, characterized in that: The traction swing frame (5) is in a "U" shape, and both sides of the "U"-shaped open end are rotatably connected to the main frame (6) via rotating shafts.
4. A test method for a docking test device simulating the action of ocean currents according to any one of claims 1 to 3, characterized in that: The towing swing frame (5) in the docking test device is connected to a water tank towing vehicle through a tooling, and then the docking test device is towed by the water tank towing vehicle in the water tank, so as to simulate the dynamic characteristics of the docking test device under the action of the sea current. During the test, the towing speed of the water tank towing vehicle and the initial angle between the docking test device and the towing direction of the water tank towing vehicle are changed to simulate the action of the sea currents of different directions and different flow rates on the docking test device. By adjusting the height of the vertical wing plate (4) and the horizontal wing plate (7), the wing plate height and the time for the docking test device to return to the flow-facing state are verified, thereby providing a basis for the design of a suspended docking device.