An experimental device and method for wave-making icebreaking by imitating the tail swing of orca

Abstract

A wave-making ice-breaking test device and test method imitating the tail swing of orcas, belonging to the field of ice-breaking technology. The present invention solves the problem that the existing test devices are not applicable to wave-making ice-breaking tests for relatively thick ice layers. The layer ice model is floatingly arranged at the upper part of the test water tank, and the orca bionic device is arranged in the test water tank below the layer ice model and fixedly installed between a pair of sliders. A three-dimensional force sensor is arranged between the orca bionic device and one slider. By energizing the tail of the orca bionic device to make it bend repeatedly to simulate the periodic swing of the orca tail, the control of the current magnitude and direction is completed by a controller. One set of flow field velocity measurement systems is fixed in position to obtain the flow field velocity in the horizontal direction behind the orca bionic device, and another set of flow field velocity measurement systems moves synchronously with the orca bionic device to obtain the flow field velocity in the vertical direction of the orca bionic device. It is easier to realize the research on the navigation vehicle to break thick layer ice under the requirement of a speed lower than the critical speed.

Description

Technical Field

[0001] The present invention relates to a wave-making ice-breaking test device and test method that mimics the tail swing of an orca, and belongs to the technical field of ice-breaking technology. Background Art

[0002] In recent years, the ice cover area in the Arctic region has been decreasing year by year, which has become an opportunity for humans to explore the Arctic. Exploration of polar regions starts with ice-breaking. The development of ice-breaking technology plays a leading role in the rational development and utilization of Arctic resources.

[0003] Currently, ice-breaking technology methods can be divided into "contact ice-breaking" and "non-contact ice-breaking".

[0004] "Contact ice-breaking" is often applied to ice-breaking ships. The ice-breaking ship presses down on the layered ice through the bow, and causes the layered ice to break by applying a load to the layered ice.

[0005] "Non-contact ice-breaking" belongs to a new type of ice-breaking method invented by researchers, such as high-pressure bubble ice-breaking, high-speed water jet ice-breaking, etc. Among them, wave-making resonance ice-breaking also belongs to a type of "non-contact ice-breaking". The movement of an underwater vehicle causes disturbances in the surrounding flow field and applies a moving load to the layered ice. When the load moving speed is equal to the critical speed of the layered ice, the layered ice is affected by resonance and produces large deformations, and even breaks. However, as the thickness of the layered ice increases, the critical speed will also increase accordingly, and currently it is difficult for underwater vehicles to reach the critical speed under relatively thick layered ice. Therefore, there is an urgent need for a wave-making ice-breaking test device that can be applied to relatively thick ice layers (thickness 1 m - 3 m), so that it can break the corresponding thickness of layered ice even when the movement speed is lower than the critical speed. Summary of the Invention

[0006] The present invention is to solve the above technical problems, and further provides a wave-making ice-breaking test device and test method that mimics the tail swing of an orca.

[0007] The technical solution adopted by the present invention to solve the above technical problems is:

[0008] An experimental device for wave-making ice-breaking by imitating the tail swing of orcas, comprising an experimental water tank, an orca biomimetic device, an ice layer model, a binocular displacement measurement system, a flow field velocity measurement system and a controller. A pair of guide rails are fixedly installed on the opposite inner side walls of the left and right of the experimental water tank. A pair of sliders are slidably connected to the pair of guide rails correspondingly. The ice layer model is floatingly arranged in the upper part of the experimental water tank. The orca biomimetic device is arranged in the experimental water tank below the ice layer model and fixedly installed between the pair of sliders. A three-dimensional force sensor is arranged between the orca biomimetic device and one slider to measure the acting force of the orca biomimetic device on the slider. The tail of the orca biomimetic device is made of IPMC material. By energizing the tail of the orca biomimetic device, it is repeatedly bent to simulate the periodic swing of the orca's tail, pushing the orca biomimetic device to move along the length direction of the guide rail. The control of the current magnitude and direction is completed by the controller. The binocular displacement measurement system is fixedly installed above the ice layer model. The number of the flow field velocity measurement systems is two groups. One group of the flow field velocity measurement systems is fixed in position to obtain the flow field velocity in the horizontal direction behind the orca biomimetic device, and the other group of the flow field velocity measurement systems moves synchronously with the orca biomimetic device to obtain the flow field velocity in the vertical direction of the orca biomimetic device.

[0009] Furthermore, the orca biomimetic device includes a support shell, a tail shell fixedly installed at the rear of the support shell, a connecting rod installed inside the support shell, and a power supply fixedly installed on the connecting rod. The connecting rod is fixedly connected to the inner wall of the support shell through a plurality of first connecting pieces fixedly installed circumferentially on the connecting rod. The three-dimensional force sensor is sleeved on the connecting rod, one end of which is fixedly connected to the slider, and the other end is fixedly connected to the plurality of first connecting pieces. The tail shell is made of IPMC material, and the power supply is connected to the tail shell through a wire.

[0010] Furthermore, the tail shell includes an upper support plate, a middle support plate and a lower support plate. The front ends of the three support plates are fixedly connected to the upper outer surface, the middle outer surface and the lower outer surface of the support shell respectively, and the rear ends of the three support plates are fixedly connected in sequence.

[0011] Furthermore, the support shell is of a cylindrical structure.

[0012] Furthermore, the outer surface of the upper support plate and the support shell and the outer surface of the lower support plate and the support shell are both smoothly transitionally connected.

[0013] Furthermore, two fixed shafts are fixedly installed between the left and right side walls of the experimental water tank. Connecting pieces are fixedly installed at the front and rear ends of the ice layer model, and the two connecting pieces are rotatably connected to the two fixed shafts correspondingly.

[0014] Furthermore, the two fixed shafts are arranged in parallel.

[0015] Furthermore, the material of the ice layer model is ABS plastic.

[0016] Furthermore, each set of flow field velocity measurement systems includes a PIV laser and a high-speed camera. The PIV laser in one set of flow field velocity measurement systems is fixedly installed in the test water tank behind the orca bionic device, and the PIV laser in the other set of flow field velocity measurement systems is fixedly installed below the test water tank.

[0017] A test method using the above test device includes the following steps:

[0018] Step 1: Assemble the test device;

[0019] Step 2: Change the output parameters of the power supply through the controller to control the periodic swing of the tail of the orca bionic device, and then push the orca bionic device to move along the length direction of the guide rail;

[0020] Step 3: Measure the force on the orca bionic device during its movement along the length direction of the guide rail through a three-dimensional force sensor; measure the changes in the deflection of the layer ice model induced by the movement of the orca bionic device through a binocular displacement measurement system; measure the flow field velocities in the horizontal and vertical directions through a flow field velocity measurement system to obtain the test results, and one set of tests is completed;

[0021] Step 4: Repeat Steps 1 to 3, and complete multiple sets of tests by changing the output parameters of the power supply to obtain the relationship between the movement parameters of the orca bionic device and the deformation of the layer ice model.

[0022] The present invention has the following effects compared with the prior art:

[0023] The wave-making ice-breaking test device of the present invention that imitates the tail swing of the orca can be used to study the relationship between the amplitude frequency of the orca's tail swing and wave-making ice-breaking. By laying a layer ice model in the test water tank and simulating the scenario of the orca breaking ice by making waves during underwater movement with the orca bionic device working, controlling the amplitude and frequency of the tail swing of the orca bionic device, and measuring and recording multiple physical fields through a three-dimensional force sensor, a binocular displacement measurement system, and a flow field velocity measurement system. Compared with the traditional wave-making ice-breaking test device, it is easier to conduct research on the navigation vehicle to break thick layer ice under the requirement of a speed lower than the critical speed.

[0024] The wave-making ice-breaking test device of the present invention utilizes the principle of bionics. On the one hand, it uses the orca bionic device to simulate its tail swing movement near the ice surface. On the other hand, it monitors the ice surface deformation and flow field changes through a binocular displacement measurement system and a flow field velocity measurement system. Furthermore, it realizes the research on the relationship between the amplitude and frequency of the orca's tail swing and the wave-making ice-breaking ability, which is of great significance for conducting research on the navigation vehicle to break thick layer ice on the premise of a speed lower than the critical speed. Description of the Drawings

[0025] Figure 1Schematic diagram of the three-dimensional structure of the present invention (one side wall, front side wall, and rear side wall of the test water tank are not shown);

[0026] Figure 2 Explosion diagram of the orca bionic device;

[0027] Figure 3 Distribution diagram of the second connecting piece on the support housing;

[0028] Figure 4 Position distribution diagram of the binocular displacement measurement system and the flow field velocity measurement system;

[0029] Figure 5 Schematic diagram of the positional relationship between two high-speed cameras and the orca bionic device;

[0030] Figure 6 Position distribution diagram of two sets of flow field velocity measurement systems;

[0031] Figure 7 Partial enlarged schematic diagram of the end of the layered ice model;

[0032] Figure 8 Schematic diagram of the movement direction of the orca bionic device and another set of flow field velocity measurement systems.

[0033] In the figure:

[0034] 1. Test water tank; 2. Orca bionic device; 21. Support housing; 22. Tail housing; 221. Upper support plate; 222. Middle support plate; 223. Lower support plate; 23. Connecting rod; 24. Power supply; 25. First connecting piece; 26. Second connecting piece; 3. Layered ice model; 4. Binocular displacement measurement system; 51. First PIV laser; 52. First high-speed camera; 53. Second PIV laser; 54. Second high-speed camera; 6. Controller; 7. Guide rail; 8. Slide block; 9. Three-dimensional force sensor; 10. Fixed shaft; 11. Connecting piece. Detailed implementation manners

[0035] Detailed implementation manner 1: Combine Figure 1 to describe this implementation manner, and clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0036] It should be noted that the descriptions of directions such as "left", "right", "left side", "right side", "upper part", "lower part", "top", and "bottom" in the present invention are all defined based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the described structure must be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In the description of the present invention, "a plurality of" means more than two, unless otherwise specifically defined.

[0037] In the description of the present invention, unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] A wave-making ice-breaking test device that imitates the tail swing of an orca, comprising a test water tank 1, an orca biomimetic device 2, an ice layer model 3, a binocular displacement measurement system 4, a flow field velocity measurement system, and a controller 6. Among them, a pair of guide rails 7 are fixedly installed on the opposite inner side walls of the left and right sides of the test water tank 1. A pair of sliders 8 are slidably connected to the corresponding positions on the pair of guide rails 7. The ice layer model 3 is floating up and down in the upper part of the test water tank 1. The orca biomimetic device 2 is arranged in the test water tank 1 below the ice layer model 3 and is fixedly installed between the pair of sliders 8. A three-dimensional force sensor 9 is arranged between the orca biomimetic device 2 and one of the sliders 8 to measure the acting force of the orca biomimetic device 2 on the slider 8. The tail of the orca biomimetic device 2 is made of IPMC material. By applying electricity to the tail of the orca biomimetic device 2, it bends repeatedly to simulate the periodic swing of the orca's tail, and pushes the orca biomimetic device 2 to move along the length direction of the guide rail 7. The control of the magnitude and direction of the current is completed through the controller 6. The binocular displacement measurement system 4 is fixedly installed above the ice layer model 3. The number of the flow field velocity measurement systems is two groups. One group of the flow field velocity measurement systems is fixed in position to obtain the flow field velocity in the horizontal direction behind the orca biomimetic device 2, and the other group of the flow field velocity measurement systems moves synchronously with the orca biomimetic device 2 to obtain the flow field velocity in the vertical direction of the orca biomimetic device 2.

[0039] The wave-making ice-breaking test device that imitates the tail swing of orcas of the present invention can be used to study the relationship between the amplitude and frequency of the orca's tail swing and wave-making ice-breaking. By laying an ice layer model 3 in the test water tank 1 and making the orca biomimetic device 2 work to simulate the scenario of the orca making waves and breaking ice during underwater movement, the amplitude and frequency of the tail swing are controlled by the orca biomimetic device 2, and the measurement and recording of multiple physical fields are realized through the three-dimensional force sensor 9, the binocular displacement measurement system 4, and the flow field velocity measurement system. Compared with the traditional wave-making ice-breaking test device, it is easier to conduct research on the breaking of thick ice layers by a vehicle under the requirement of a speed lower than the critical speed.

[0040] The ice layer model 3 is made of an in-melting elastic material, such as an ABS plastic plate. The ice layer model 3 floats up and down in the test water tank 1 under the movement of the orca biomimetic device 2, including the up-and-down swing at the front and rear ends of the ice layer model 3.

[0041] By energizing the tail of the orca biomimetic device 2, it makes its own tail swing and moves at a certain speed in the flow field.

[0042] The controller 6 can be fixedly installed on the outer wall of the test water tank 1.

[0043] By setting a binocular displacement measurement system 4 above the ice layer model 3, the deformation displacement of the ice layer model 3 affected by the orca biomimetic device 2 is measured and recorded.

[0044] The binocular displacement measurement system 4 mentioned in the present invention is the binocular vision measurement system, the flow field velocity measurement system is the PIV particle image velocimetry, and the IPMC material is an artificial muscle material, all of which are prior arts and will not be elaborated here.

[0045] By combining the three-dimensional force sensor 9 with the mass and damping of the slider 8, the relationship between the movement speed and time of the orca biomimetic device 2 can be further obtained through data processing.

[0046] The flow field velocity measurement system can be used to visualize the flow field, facilitating subsequent research and analysis.

[0047] In nature, orcas prey on seals on the ice layer. The orca breaks the ice layer by swinging its tail under the ice layer to generate waves, and then preys on the seals that fall into the water. Based on this characteristic, the wave-making ice-breaking test device of the present invention uses the principle of bionics. On the one hand, the orca biomimetic device 2 is used to simulate its tail-swinging movement near the ice surface. On the other hand, the binocular displacement measurement system 4 and the flow field velocity measurement system are used to monitor the ice surface deformation and flow field changes. Furthermore, it realizes the research on the relationship between the amplitude and frequency of the orca's tail swing and the wave-making ice-breaking ability, which is of great significance for the research on the breaking of thick ice layers by a vehicle under the premise of a speed lower than the critical speed.

[0048] The orca biomimetic device 2 includes a support housing 21, a tail housing 22 fixedly installed at the rear of the support housing 21, a connecting rod 23 inserted inside the support housing 21, and a power supply 24 fixedly installed on the connecting rod 23. Among them, the connecting rod 23 is fixedly connected to the inner wall of the support housing 21 through a number of first connecting pieces 25 fixedly installed circumferentially on the connecting rod 23. The three-dimensional force sensor 9 is sleeved on the connecting rod 23, one end of which is fixedly connected to the slider 8, and the other end is fixedly connected to a number of first connecting pieces 25. The tail housing 22 is made of IPMC material, and the power supply 24 is connected to the tail housing 22 through a wire. Designed in this way, the force on the orca biomimetic device 2 during movement is measured by the three-dimensional force sensor 9. The power supply 24 applies current to the upper and lower surfaces of the tail housing 22 through a wire, and the controller 6 completes the control of the magnitude and direction of the current, thereby controlling the swing amplitude and frequency of the tail of the orca biomimetic device 2 and realizing the forward movement of the orca biomimetic device 2. By fixedly connecting the connecting rod 23 to the slider 8, it is ensured that the orca biomimetic device 2 can move along the guide rail 7. A number of second connecting pieces 26 can also be fixedly installed circumferentially inside the support housing 21, and a number of first connecting pieces 25 are fixedly connected to the corresponding second connecting pieces 26 respectively, which is convenient for realizing the fixed connection between the connecting rod 23, the three-dimensional force sensor 9 and the support housing 21.

[0049] The tail housing 22 includes an upper support plate 221, a middle support plate 222 and a lower support plate 223. The front ends of the three support plates are fixedly connected to the upper outer surface, the middle outer surface and the lower outer surface of the support housing 21 respectively, and the rear ends of the three support plates are fixedly connected in sequence. Designed in this way, the tail of the orca model is simplified, making the flow field outflow section smoother; at the same time, the movement characteristics of the orca's tail swing are retained.

[0050] The support housing 21 has a cylindrical structure. Designed in this way, the head of the orca model is simplified, making it easier to obtain test materials; at the same time, this test can be compared with the classical circular cylinder flow-around test, which has academic reference value.

[0051] The upper support plate 221 and the outer surface of the support housing 21, as well as the lower support plate 223 and the outer surface of the support housing 21, are smoothly transitionally connected. Designed in this way, the outer shape of the orca biomimetic device 2 is streamlined. The hydrodynamic shape is closer to the biomimetic object.

[0052] Two fixed shafts 10 are fixedly installed between the left and right side walls of the test water tank 1. Connecting members 11 are fixedly installed at the front and rear ends of the layer ice model 3, and the two connecting members 11 are correspondingly rotatably connected to the two fixed shafts 10. With such a design, through the rotational connection between the connecting member 11 and the fixed shaft 10, while restricting the layer ice model 3 in the front and rear directions, the layer ice model 3 can freely float up and down under the action of waves, thereby simulating the two-dimensional movement of orcas under the layer ice. The connection structure between the connecting member 11 and the fixed shaft 10 is similar to any existing technology such as a hinge that can achieve the circumferential rotation of one structure around another structure. The connecting member 11 is fixedly connected to the front and rear ends of the layer ice model 3, effectively preventing the layer ice model 3 from falling off.

[0053] The two fixed shafts 10 are arranged parallel to each other.

[0054] The material of the layer ice model 3 is ABS plastic. With such a design, it is more convenient for operation and observation during the test.

[0055] Each set of flow field velocity measurement systems includes a PIV laser and a high-speed camera. The PIV laser in one set of flow field velocity measurement systems is fixedly installed in the test water tank 1 behind the orca biomimetic device 2, and the PIV laser in the other set of flow field velocity measurement systems is fixedly installed below the test water tank 1. With such a design, the relative positions of the high-speed camera and the PIV laser in each set of flow field velocity measurement systems are fixed. Specifically, one set of flow field velocity measurement systems includes a first PIV laser 51 and a first high-speed camera 52. The first PIV laser 51 is fixedly installed in the test water tank 1 behind the orca biomimetic device 2, emits laser light to illuminate the fluorescent particles in the water behind the orca biomimetic device 2, and the first high-speed camera 52 is arranged below the test water tank 1 to record the movement of the fluorescent particles, thereby obtaining the velocity cloud map of the flow field in the horizontal direction; the other set of flow field velocity measurement systems includes a second PIV laser 53 and a second high-speed camera 54. The second PIV laser 53 is installed below the test water tank 1 and is arranged directly opposite the orca biomimetic device 2, and the second high-speed camera 54 is installed on an outer side wall of the test water tank 1. Both the second PIV laser 53 and the second high-speed camera 54 move synchronously with the orca biomimetic device 2, thereby obtaining the velocity cloud map of the orca biomimetic device 2 in the vertical direction.

[0056] Working principle:

[0057] Under the control of the controller 6, the power supply 24 discharges according to a certain rule to prompt the tail of the orca bionic device 2 to swing with a certain amplitude and frequency, so that it moves in the flow field at a certain speed. The three-dimensional force sensor 9 measures the force on the orca bionic device 2 during movement. At the same time, the layer ice model 3 generates deflection changes due to the flow field disturbance, and the binocular displacement measurement system 4 above observes and records the deformation process of the layer ice model 3 to generate a deformation cloud map of the layer ice model 3. The first PIV laser 51 is fixedly installed in the test water tank 1 behind the orca bionic device 2, emits laser light in the water behind the orca bionic device 2 to illuminate the fluorescent particles in the water, and the first high-speed camera 52 is arranged below the test water tank 1 to record the movement of the fluorescent particles, and then obtains the velocity cloud map of the flow field in the horizontal direction; the second PIV laser 53 is installed below the test water tank 1 and is arranged directly opposite to the orca bionic device 2, and the second high-speed camera 54 is installed on an outer side wall of the test water tank 1, and both the second PIV laser 53 and the second high-speed camera 54 move synchronously with the orca bionic device 2, and then obtain the velocity cloud map of the orca bionic device 2 in the vertical direction.

[0058] By changing parameters such as the output voltage and the energization direction of the power supply 24 through the controller 6, parameters such as the movement speed, swing amplitude and frequency of the orca bionic device 2 can be changed, and finally the relationship between the movement parameters of the orca bionic device 2 and the deformation of the layer ice model 3 can be obtained, and the optimal bionic icebreaking method can be proposed.

[0059] A test method using the above test device includes the following steps:

[0060] Step 1: Assemble the test device;

[0061] Step 2: Change the output parameters of the power supply 24 through the controller 6 to control the periodic swing of the tail of the orca bionic device 2, and then push the orca bionic device 2 to move along the length direction of the guide rail 7;

[0062] Step 3: Measure the force on the orca bionic device 2 during the movement along the length direction of the guide rail 7 through the three-dimensional force sensor 9; measure the change in the deflection of the layer ice model 3 induced by the movement of the orca bionic device 2 through the binocular displacement measurement system 4; measure the flow field velocity in the horizontal and vertical directions through the flow field velocity measurement system to obtain the test results, and one set of tests is completed;

[0063] Step 4: Repeat Steps 1 to 3, and complete multiple sets of tests by changing the output parameters of the power supply 24 to obtain the relationship between the movement parameters of the orca bionic device 2 and the deformation of the layer ice model 3.

[0064] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, shall be covered by the protection scope of the present invention.

Claims

1. A wave-making and ice-breaking test device that imitates the tail swing of a killer whale, characterized in that: The invention comprises a test water tank (1), a killer whale bionic device (2), an ice layer model (3), a binocular displacement measurement system (4), a flow field velocity measurement system and a controller (6), wherein a pair of guide rails (7) are fixedly mounted on the left and right inner walls of the test water tank (1), a pair of sliders (8) are slidably connected to the pair of guide rails (7), the ice layer model (3) is arranged to float up and down on the upper part of the test water tank (1), the killer whale bionic device (2) is arranged in the test water tank (1) below the ice layer model (3) and fixedly mounted between the pair of sliders (8), and a three-dimensional force sensor (9) is arranged between the killer whale bionic device (2) and a slider (8) to measure the force exerted by the killer whale bionic device (2) on the slider (8). The tail of the killer whale bionic device (2) is made of IPMC material. By electrifying the tail of the killer whale bionic device (2) to make it bend repeatedly to simulate the periodic swing of the killer whale tail, the killer whale bionic device (2) is pushed to move along the length direction of the guide rail (7). The magnitude and direction of the current are controlled by the controller (6). The binocular displacement measurement system (4) is fixed on the top of the layer ice model (3). There are two groups of flow field velocity measurement systems, one of which is fixed in position to obtain the flow field velocity in the horizontal direction behind the killer whale bionic device (2). The other group of flow field velocity measurement systems moves synchronously with the killer whale bionic device (2) to obtain the flow field velocity in the vertical direction of the killer whale bionic device (2). The killer whale bionic device (2) comprises a supporting shell (21), a tail shell (22) fixedly mounted on the rear of the supporting shell (21), a connecting rod (23) inserted into the interior of the supporting shell (21), and a power source (24) fixedly mounted on the connecting rod (23), wherein the connecting rod (23) and the inner wall of the supporting shell (21) are fixedly connected via a plurality of first connecting pieces (25) circumferentially fixedly mounted on the connecting rod (23), a three-dimensional force sensor (9) is sleeved on the connecting rod (23), one end of the three-dimensional force sensor (9) is fixedly connected to the slider (8), and the other end is fixedly connected to the plurality of first connecting pieces (25), the tail shell (22) is made of IPMC material, and the power source (24) is connected to the tail shell (22) via a wire; Each set of flow field velocity measurement systems includes a PIV laser and a high-speed camera. The PIV laser in one set of flow field velocity measurement systems is fixedly installed in the test water tank (1) behind the killer whale bionic device (2), and the PIV laser in the other set of flow field velocity measurement systems is fixedly installed below the test water tank (1).

2. The wave-making and ice-breaking test device for imitating the tail swing of a killer whale according to claim 1, characterized in that: The tail shell (22) comprises an upper support plate (221), a middle support plate (222) and a lower support plate (223), wherein the front ends of the three support plates are respectively fixedly connected to the upper outer surface, the middle outer surface and the lower outer surface of the support shell (21), and the rear ends of the three support plates are fixedly connected in sequence.

3. The wave-making and ice-breaking test device for imitating the tail swing of a killer whale according to claim 2, characterized in that: The supporting shell (21) is a cylindrical structure.

4. The wave-making and ice-breaking test device for imitating the tail swing of a killer whale according to claim 3, characterized in that: The upper support plate (221) and the outer surface of the support shell (21), as well as the lower support plate (223) and the outer surface of the support shell (21), are both smoothly transitionally connected.

5. The wave-making and ice-breaking test device for imitating the tail swing of a killer whale according to claim 1, characterized in that: Two fixed shafts (10) are fixedly installed between the left and right side walls of the test water tank (1), and connecting pieces (11) are fixedly installed at the front and rear ends of the layer ice model (3), and the two connecting pieces (11) are correspondingly rotatably connected to the two fixed shafts (10).

6. The wave-making and ice-breaking test device for imitating the tail swing of a killer whale according to claim 5, characterized in that: The two fixed shafts (10) are arranged parallel to each other.

7. The wave-making and ice-breaking test device for imitating the tail swing of a killer whale according to claim 1, characterized in that: The material of the layer ice model (3) is ABS plastic.

8. A test method for the test device according to any one of claims 1 to 7, characterized in that: The steps include: Step 1: Assemble the test device; Step 2: changing the output parameters of the power supply (24) through the controller (6) to control the periodic swing of the tail of the killer whale bionic device (2), thereby driving the killer whale bionic device (2) to move along the length direction of the guide rail (7); Step 3: using a three-dimensional force sensor (9) to measure the force of the killer whale bionic device (2) during the movement along the length direction of the guide rail (7); using a binocular displacement measurement system (4) to measure the change in the deflection of the ice layer model (3) induced by the movement of the killer whale bionic device (2); using a flow field velocity measurement system to measure the flow field velocity in the horizontal and vertical directions, and obtaining the test results, and a set of tests is completed; Step 4: Repeat steps 1 to 3, and complete multiple groups of experiments by changing the output parameters of the power supply (24), so as to obtain the relationship between the motion parameters of the killer whale bionic device (2) and the deformation of the layer ice model (3).

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