A test device and method for deploying rudder wings of a variable angle-of-attack underwater vehicle model

Abstract

The present invention belongs to the technical field of underwater vehicle hydrodynamic testing. In view of the lack and insufficiency of underwater vehicle model rudder and wing deployment testing devices and methods in a towing tank, a variable angle of attack pin-pulling underwater vehicle model rudder and wing deployment testing device and method are provided. The device of the present invention comprises: an underwater test bracket (2) installed below a hydrodynamic test trailer (1) so that the lower end surface of the underwater test bracket (2) is close to the water surface; an underwater vehicle test model (4) is fixed to the underwater test bracket (2) through a set of underwater test telescopic rods (3); the underwater test telescopic rods (3) are arranged front and rear on the central axis of the underwater test bracket (2) to ensure that the movement direction of the underwater vehicle test model (4) is consistent with that of the trailer; and an inclination sensor (14) is installed on the underwater vehicle test model (4). The present invention is suitable for studying the deployment of underwater vehicle model rudder and wing.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater vehicle hydrodynamic tests, and in particular relates to a device and method for testing the deployment of a rudder wing of an underwater vehicle model with a variable angle of attack and a pin pull-out type. Background Art

[0002] The rudder and wing deployment test of underwater vehicle models is an important part of studying the underwater navigation performance of underwater vehicles. Through the rudder and wing deployment test, the adaptability of the vehicle to hydrodynamic loads under different conditions of high speed and large angle of attack underwater can be obtained.

[0003] The model needs to be tested underwater in a towing tank. During the test, the deployment of the model's underwater rudder wings needs to be controlled across the medium above the water surface. The rudder wing actuation method is the core technical problem to solve this test method. The existing control method can connect the control cable to the rudder wing through the interior of the model, and actuate it through an electric actuation mechanism such as a motor or electric push rod. However, since this test requires studying the model's own variable angle of attack, the change in angle of attack causes a large change in the underwater depth of the model's tail, which makes it extremely difficult to route the cables. At the same time, the actuation mechanisms such as the motor and electric push rod and the retractable rudder wings are all arranged at the tail of the model. The space at the tail of the model is very narrow, making it inconvenient to watertighten electrical equipment such as the motor and electric push rod. Summary of the Invention

[0004] The purpose of the present invention is to provide a variable angle of attack pin-pulling underwater vehicle model rudder wing deployment test device and method in response to the lack and insufficiency of underwater vehicle model rudder wing deployment test devices and methods in towing tanks.

[0005] The technical solution of the present invention is:

[0006] A test device for deploying rudder wings of a variable angle-of-attack underwater vehicle model, comprising:

[0007] Hydrodynamic test trailer 1, underwater test bracket 2, underwater test telescopic rod 3, underwater vehicle test model 4, pin 5, wire rope 6, electric hoist 8, wire vertical calibration slider 10, camera 11, camera control system 13, tilt sensor 14, data acquisition system 15, electric hoist remote control system 16;

[0008] The underwater test bracket 2 is installed below the hydrodynamic test trailer 1, so that the lower end surface of the underwater test bracket 2 is close to the water surface; the underwater vehicle test model 4 is fixed to the underwater test bracket 2 by a set of underwater test telescopic rods 3; the underwater test telescopic rods 3 are arranged front and back on the central axis of the underwater test bracket 2 to ensure that the movement direction of the underwater vehicle test model 4 is consistent with that of the trailer; the tilt sensor 14 is installed on the underwater vehicle test model 4;

[0009] The lower end of the steel wire rope 6 passes through the connection hole at the top of the pin 5 and is fixed to the pin 5. The upper end of the steel wire rope 6 is fixed to the hook of the electric hoist 8. It is confirmed that the upward stroke of the electric hoist 8 hook must be greater than the maximum length of the pin 5. The electric hoist 8 is fixed below the steel wire vertical calibration slider 10. The camera 11 is installed below the hydrodynamic test trailer 1. The camera rod 11 can be raised and lowered in the vertical direction. The camera control system 13 is installed inside the hydrodynamic test trailer 1 and controls the opening and closing of the four cameras 11. The camera control system 13, data acquisition system 15, and electric hoist remote control system 16 are installed inside the hydrodynamic test trailer 1.

[0010] Also includes: a limit protection device 7,

[0011] The upper end of the wire rope 6 passes through the limit protection device 7 and is fixed to the hook of the electric hoist 8. The limit protection device 7 is fixed to the lower end surface of the underwater test bracket 2 to ensure that the movement limit of the pin shaft 5 after disengagement is near the water surface.

[0012] Also includes: hanging rope 9,

[0013] The electric hoist 8 is fixed below the steel wire vertical calibration slider 10 through a suspension rope 9.

[0014] Also includes: a camera support rod 12,

[0015] The camera 11 is installed under the trailer via a camera support pole 12 .

[0016] The cameras 11 are distributed at the front and rear corners of the hydrodynamic test trailer 1 to cover and shoot from different angles.

[0017] The main body of the underwater vehicle test model 4 is a rotating body structure, and its tail rudder wing includes a fixed rudder wing 4-1, a telescopic rudder wing 4-2, and a spring 4-3. There are positioning pin holes on the fixed rudder wing 4-1 and the telescopic rudder wing 4-2. The inner mating surface of the fixed rudder wing 4-1 has a convex guide structure, and the outer mating surface of the telescopic rudder wing 4-2 has a concave guide structure. The two guide structures are arranged in parallel, and the guide mating surfaces are inclined surfaces. The parting surface between the telescopic rudder wing 4-2 and the fixed rudder wing 4-1 is painted with bright paint.

[0018] The position limiting protection device 7 includes a fixed shell 7-1 and a lubricating copper sleeve 7-2. The lubricating copper sleeve 7-2 is a hollow structure and is embedded in the shell 7-1. The inner diameter of the lubricating copper sleeve 7-2 is smaller than the outer diameter of the pin 5.

[0019] A method for deploying rudder wings of a variable angle-of-attack pin-pulling underwater vehicle model comprises:

[0020] Before the test, the telescopic rudder wing 4-2 is pressed into the interior of the fixed rudder wing 4-1. When the telescopic rudder wing 4-2 is coaxial with the positioning pin hole of the fixed rudder wing 4-1, the pin shaft 5 is inserted. The pin shaft 5 passes through the positioning pin holes on the telescopic rudder wing 4-1 and the fixed rudder wing 4-2 to fix the telescopic rudder wing 4-1 inside the fixed rudder wing 4-2; the data acquisition system 15 is turned on to read the value of the tilt sensor 14, and the length of the underwater test telescopic rod 3 is adjusted until the model's angle of attack reaches the required angle of attack for the test; the longitudinal position of the steel wire vertical calibration slider 10 and the limit protection device 7 are adjusted to ensure that the steel wire is in a vertical state; the camera 11 and the camera support rod 12 are adjusted so that the tail rudder test area can be observed in the camera control system 13;

[0021] During the test, the camera 11 is turned on through the camera control system 13, and the camera 11 begins to record images of the underwater test area; the hydrodynamic test trailer 1 is started, driving the underwater vehicle test model 4 to accelerate underwater; when the hydrodynamic test trailer 1 accelerates to the speed required for the test, the speed of the hydrodynamic test trailer 1 is recorded, and the electric hoist remote control system 16 is started. The electric hoist 8 pulls the wire rope 6 and the pin 5 upward. After the pin 5 is separated from the underwater vehicle test model 4, the retractable rudder wing 4-2 is ejected from the fixed rudder wing 4-1 under the action of the spring 4-3;

[0022] After the test, the model attack angle tested by the data acquisition system 15, the pop-up stroke of the telescopic rudder wing 4-2 observed by the camera control system 13, and the pop-up time of the telescopic rudder wing 4-2 observed by the camera control system 13 are recorded.

[0023] The advantages of the present invention are:

[0024] 1. Wide range of applications and high test efficiency

[0025] Adjusting the length of the underwater test telescopic rod allows the angle of attack of the underwater vehicle test model to be varied, meeting the testing requirements of different underwater vehicle models at different angles of attack. The fore-aft position shift of the pin caused by the angle of attack change is adjusted by the fore-aft position of the wire vertical calibration device, ensuring the wire maintains its vertical position under varying angles of attack, ensuring a high success rate for wire rope pin removal and efficient testing.

[0026] 2. Strong security and high reliability.

[0027] The present invention connects the unlocking pin to the locking pin via a wire rope. After the pin is released during high-speed motion, it moves upward under inertia. Upon exiting the water, it encounters a stopper, preventing further upward movement and preventing damage to the tester and equipment on the trailer. The high strength of the wire rope ensures sufficient strength to smoothly extract the locking pin under water loads. The thin diameter of the wire rope also prevents premature extraction of the pin due to water resistance during high-speed model operation, ensuring safe and reliable operation.

[0028] 3. Simple operation and low cost.

[0029] The present invention utilizes a mechanical pin puller to unlock. After the constraint is released, the built-in spring of the rudder wing pops out the rudder wing, realizing the underwater rudder wing deployment function. Through a simple structure, the difficult underwater actuation problem is solved, reducing the test cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The present invention is a schematic diagram of a method for testing the deployment of rudder wings of a variable angle of attack pin-pulling underwater vehicle model.

[0031] Figure 2 The present invention is a schematic diagram of a method for testing the deployment of rudder wings of a variable angle of attack pin-pulling underwater vehicle model.

[0032] Figure 3 The figure is a schematic diagram of the layout of the tail rudder wing structure of the underwater vehicle model of the present invention.

[0033] Figure 4 This is a schematic diagram of the assembly structure of the tail rudder wing of the underwater vehicle model of the present invention.

[0034] Figure 5 It is a schematic structural diagram of the position limiting protection device of the present invention. DETAILED DESCRIPTION

[0035] The present invention will be further described below with reference to the accompanying drawings and examples, but they are not intended to limit the present invention.

[0036] In response to the problems existing in the prior art, the present invention provides a variable-angle-of-attack pin-pulling underwater vehicle model rudder and wing deployment test device and method, which can reliably and efficiently complete the rudder and wing deployment test in a towing tank, and is of great significance to the research on the deployment of underwater vehicle model rudder and wing.

[0037] A variable angle of attack pin-pulling underwater vehicle model rudder wing deployment test device, comprising:

[0038] The test device consists of a hydrodynamic test trailer 1, an underwater test bracket 2, an underwater test telescopic rod 3, an underwater vehicle test model 4, a pin 5, a wire rope 6, a limit protection device 7, an electric hoist 8, a suspension rope 9, a wire vertical calibration slider 10, a camera 11, a camera support rod 12, a camera control system 13, an inclination sensor 14, a data acquisition system 15, and an electric hoist remote control system 16.

[0039] The underwater test telescopic rod 3 can be raised and lowered in the vertical direction to adjust the angle of attack of the underwater vehicle test model 4. Its cross-section is an elongated cross-section to reduce the impact on the flow field of the pool. The main body of the underwater vehicle test model 4 is a rotating body structure, and its tail rudder wing includes a fixed rudder wing 4-1, a telescopic rudder wing 4-2, and a spring 4-3. There are positioning pin holes on the fixed rudder wing 4-1 and the telescopic rudder wing 4-2. The inner mating surface of the fixed rudder wing 4-1 has a convex guide structure, and the outer mating surface of the telescopic rudder wing 4-2 has a concave guide structure. The two guide structures are arranged in parallel, and the guide mating surfaces are inclined surfaces. The parting surface of the telescopic rudder wing 4-2 and the fixed rudder wing 4-1 is painted with bright paint, and can be observed by the camera 11. Whether the parting surface appears is used to determine whether the telescopic rudder wing 4-2 is completely ejected. A scale is set on the surface of the telescopic rudder wing 4-2, and the ejection speed of the telescopic rudder wing 4-2 is read by the camera 11; the diameter of the pin shaft 5 is smaller than the diameter of the positioning pin holes of the fixed rudder wing 4-1 and the telescopic rudder wing 4-2, so that the pin shaft can be smoothly disengaged during the test; the limit protection device 7 includes a fixed shell 7-1 and a lubricating copper sleeve 7-2. The lubricating copper sleeve 7-2 is a hollow structure embedded in the shell 7-1, and its inner diameter is smaller than the outer diameter of the pin shaft 5; the steel wire vertical calibration slider 10 can be adjusted forward and backward along the model heading, pulling the electric hoist 8, the limit protection device 7, and the steel wire rope 6 to move, ensuring that the steel wire rope can always be in a vertical state under different test conditions.

[0040] The underwater test bracket 2 is installed below the hydrodynamic test trailer 1, so that the lower end surface of the underwater test bracket 2 is close to the water surface; the underwater vehicle test model 4 is fixed to the underwater test bracket 2 by a set of underwater test telescopic rods 3; the underwater test telescopic rods 3 are arranged front and back on the central axis of the underwater test bracket 2 to ensure that the movement direction of the underwater vehicle test model 4 is consistent with that of the trailer;

[0041] The lower end of the wire rope 6 passes through the connection hole at the top of the pin 5 and is fixed to the pin 5. The upper end of the wire rope 6 passes through the limit protection device 7 and is fixed to the hook of the electric hoist 8. The upward stroke of the electric hoist 8 hook must be greater than the maximum length of the pin. The limit protection device 7 is fixed to the lower end surface of the underwater test bracket 2 to ensure that the movement limit of the pin 5 after disengagement is near the water surface. The electric hoist 8 is fixed below the wire vertical calibration slider 10 via a suspension rope 9. A camera 11 is installed below the trailer via a camera support rod 12. The camera rod 12 can be raised and lowered vertically to adjust the lens to the underwater deployment area of ​​the rudder wing and observe the underwater deployment of the rudder wing. The cameras 11 are distributed at the front and rear corners of the trailer to cover different angles. The camera control system 13 is installed inside the hydrodynamic test trailer 1 and simultaneously controls the opening and closing of the four cameras 11. The camera control system 13, data acquisition system 15, and electric hoist remote control system 16 are also installed inside the hydrodynamic test trailer 1.

[0042] A method for deploying rudder wings of a variable angle-of-attack pin-pulling underwater vehicle model includes the following test steps:

[0043] Before the test, the telescopic rudder wing 4-2 is pressed into the interior of the fixed rudder wing 4-1. When the telescopic rudder wing 4-2 is coaxial with the positioning pin hole of the fixed rudder wing 4-1, the pin shaft 5 is inserted. The pin shaft 5 passes through the positioning pin holes on the telescopic rudder wing 4-1 and the fixed rudder wing 4-2 to fix the telescopic rudder wing 4-1 inside the fixed rudder wing 4-2; the data acquisition system 15 is turned on to read the value of the inclination sensor 14, and the length of the underwater test telescopic rod 3 is adjusted until the model attack angle reaches the required attack angle for the test; the longitudinal position of the steel wire vertical calibration slider 10 and the limit protection device 7 are adjusted to ensure that the steel wire rope is in a vertical state; the camera 11 and the camera support rod 12 are adjusted so that the tail rudder test area can be clearly observed in the camera control system 13.

[0044] During the test, the camera 11 is turned on through the camera control system 13, and the camera 11 starts to record images of the underwater test area; the hydrodynamic test trailer 1 is started, driving the underwater vehicle test model 4 to accelerate underwater; when the trailer accelerates to the speed required for the test, the trailer speed is recorded, and the electric hoist remote control system 16 is started. The electric hoist 8 pulls the wire rope 6 and the pin 5 to move upward. After the pin 5 is separated from the underwater vehicle test model 4, the retractable rudder wing 4-2 pops out from the fixed rudder wing 4-1 under the action of the spring 4-3.

[0045] After the test, the model attack angle tested by the data acquisition system 15, the pop-up stroke of the telescopic rudder wing 4-2 observed by the camera control system 13, and the pop-up time of the telescopic rudder wing 4-2 observed by the camera control system 13 are recorded, the time history curves of the model attack angle and the spring force are analyzed, and the hydrodynamic load adaptability prediction of the rudder wing deployment is completed.

Claims

1. A variable angle of attack underwater vehicle model rudder wing deployment test device, characterized in that: include: Hydrodynamic test trailer (1), underwater test bracket (2), underwater test telescopic rod (3), underwater vehicle test model (4), pin (5), wire rope (6), electric hoist (8), wire vertical calibration slider (10), camera (11), camera control system (13), tilt sensor (14), data acquisition system (15), electric hoist remote control system (16); An underwater test bracket (2) is installed below a hydrodynamic test trailer (1) so that the lower end surface of the underwater test bracket (2) is close to the water surface; an underwater vehicle test model (4) is fixed to the underwater test bracket (2) through a set of underwater test telescopic rods (3); the underwater test telescopic rods (3) are arranged front and rear on the central axis of the underwater test bracket (2) to ensure that the movement direction of the underwater vehicle test model (4) is consistent with that of the trailer; an inclination sensor (14) is installed on the underwater vehicle test model (4); The lower end of the wire rope (6) passes through the connection hole at the top of the pin shaft (5) and is fixed to the pin shaft (5). The upper end of the wire rope (6) is fixed to the hook of the electric hoist (8), and it is confirmed that the upward stroke of the hook of the electric hoist (8) is greater than the maximum length of the pin shaft (5). The electric hoist (8) is fixed below the wire vertical calibration slider (10). The camera (11) is installed below the hydrodynamic test trailer (1). The camera (11) can be raised and lowered in the vertical direction. The camera control system (13) is installed inside the hydrodynamic test trailer (1) and controls the opening and closing of the four cameras (11) at the same time. The camera control system (13), the data acquisition system (15), and the electric hoist remote control system (16) are installed inside the hydrodynamic test trailer (1).

2. A variable angle of attack underwater vehicle model rudder wing deployment test device according to claim 1, characterized in that: Also includes: Limit protection device (7), The upper end of the wire rope (6) passes through the limit protection device (7) and is fixed to the hook of the electric hoist (8). The limit protection device (7) is fixed to the lower end surface of the underwater test bracket (2) to ensure that the movement limit of the pin shaft (5) after disengagement is near the water surface.

3. The variable angle of attack underwater vehicle model rudder wing deployment test device according to claim 1, characterized in that: Also includes: Suspension rope (9), The electric hoist (8) is fixed below the steel wire vertical calibration slider (10) through a suspension rope (9).

4. The variable angle of attack underwater vehicle model rudder wing deployment test device according to claim 2, characterized in that: Also includes: Camera support pole (12), The camera (11) is mounted below the trailer via a camera support rod (12).

5. The variable angle of attack underwater vehicle model rudder wing deployment test device according to claim 1, characterized in that: The cameras (11) are distributed at the front and rear corners of the hydrodynamic test trailer (1) to cover and shoot from different angles.

6. The variable angle of attack underwater vehicle model rudder wing deployment test device according to claim 4, characterized in that: The main body of the underwater vehicle test model (4) is a rotating body structure, and its tail rudder wing includes a fixed rudder wing (4-1), a telescopic rudder wing (4-2), and a spring (4-3). Both the fixed rudder wing (4-1) and the telescopic rudder wing (4-2) are provided with positioning pin holes. The inner mating surface of the fixed rudder wing (4-1) is provided with a convex guide structure, and the outer mating surface of the telescopic rudder wing (4-2) is provided with a concave guide structure. The two guide structures are arranged in parallel, and the guide mating surfaces are inclined surfaces. The parting surface between the telescopic rudder wing (4-2) and the fixed rudder wing (4-1) is painted with bright paint.

7. The variable angle of attack underwater vehicle model rudder wing deployment test device according to claim 2, characterized in that: The position limiting protection device (7) comprises a fixed outer shell (7-1) and a lubricating copper sleeve (7-2). The lubricating copper sleeve (7-2) is a hollow structure and is embedded in the inner shell (7-1). The inner diameter of the lubricating copper sleeve (7-2) is smaller than the outer diameter of the pin shaft (5).

8. A method for testing the deployment of rudder wings of a variable angle-of-attack pin-pulling underwater vehicle model, characterized in that: The method for testing the rudder and wing deployment of a variable angle of attack underwater vehicle model according to claim 6 comprises: Before the test, the telescopic rudder wing (4-2) is pressed into the interior of the fixed rudder wing (4-1). When the telescopic rudder wing (4-2) and the positioning pin hole of the fixed rudder wing (4-1) are coaxial, the pin shaft (5) is inserted. The pin shaft (5) passes through the positioning pin holes on the telescopic rudder wing (4-2) and the fixed rudder wing (4-1), and the telescopic rudder wing (4-2) is fixed inside the fixed rudder wing (4-1); the data acquisition system (15) is turned on to read the value of the tilt sensor (14), and the length of the underwater test telescopic rod (3) is adjusted until the model attack angle reaches the attack angle required for the test; the longitudinal position of the steel wire vertical calibration slider (10) and the limit protection device (7) are adjusted to ensure that the steel wire is in a vertical state; the camera (11) and the camera support rod (12) are adjusted so that the tail rudder test area can be observed in the camera control system (13); During the test, the camera (11) is turned on through the camera control system (13), and the camera (11) starts to record the image of the underwater test area; the hydrodynamic test trailer (1) is started to drive the underwater vehicle test model (4) to accelerate underwater; when the hydrodynamic test trailer (1) is accelerated to the speed required for the test, the speed of the hydrodynamic test trailer (1) is recorded, and the electric hoist remote control system (16) is started, the electric hoist (8) pulls the wire rope (6) and the pin shaft (5) to move upward, and after the pin shaft (5) is separated from the underwater vehicle test model (4), the telescopic rudder wing (4-2) is ejected from the fixed rudder wing (4-1) under the action of the spring (4-3); After the test, the model attack angle tested by the data acquisition system (15), the ejection stroke of the telescopic rudder wing (4-2) observed by the camera control system (13), and the ejection time of the telescopic rudder wing (4-2) observed by the camera control system (13) are recorded.

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