Device and method for testing hydrodynamic performance of flexible umbilical cable for wave glider

Abstract

The present invention discloses a hydrodynamic performance test device for a flexible umbilical cable of a wave glider, comprising: a connecting frame, used to connect the device to a crossbeam of a towing tank vehicle; a slide rail, installed at the lower part of the connecting frame; a horizontal slide, slidably arranged on the slide rail; an umbilical cable to be tested, the first end of which is connected to the connecting frame through a two-degree-of-freedom conversion device and a three-component force sensor, and the second end is connected to the horizontal slide through a two-degree-of-freedom conversion device and a single-component force sensor; a pre-tension adjustment device, installed on the crossbeam, and the pre-tension adjustment device is connected to the horizontal slide; an image acquisition device, arranged on the connecting frame above the umbilical cable to be tested, for recording the motion state of the umbilical cable to be tested. The present invention can restore the real state of the flexible umbilical cable to the greatest extent, eliminate the influence of other components of the wave glider on the hydrodynamic characteristics of the flexible umbilical cable, and directly obtain the hydrodynamic characteristics of the flexible umbilical cable.

Description

Technical Field

[0001] The present invention belongs to the technical field of surface unmanned aerial vehicles, and in particular, relates to a hydrodynamic performance testing device and method for a flexible umbilical cable of a wave glider. Background Art

[0002] The wave glider is an unmanned autonomous surface vehicle driven by wave energy, mainly composed of a surface float, an underwater tractor, and a flexible umbilical cable connecting the two. The surface float is used to absorb wave energy for heaving motion. The flexible umbilical cable transmits the heaving motion of the surface float to the underwater tractor. The underwater tractor converts the heaving motion into forward driving force through its own mechanical structure, and then drives the surface float to move forward together through the umbilical cable. The flexible umbilical cable plays a vital role in the movement of the wave glider. The tensile strength of the umbilical cable affects the reliability of the wave glider system. Therefore, the umbilical cable needs to have sufficient tensile strength, which means that the umbilical cable needs to have sufficient cross-sectional area. However, umbilical cables with different cross-sectional sizes and shapes have different motion states and resistance performance during the movement process. In order to obtain the hydrodynamic performance of the flexible umbilical cable in detail and realistically, it is necessary to carry out hydrodynamic performance experiments on the flexible umbilical cable to provide data support for the research of the umbilical cable.

[0003] At present, most of the existing technologies conduct hydrodynamic tests on the combination of the flexible umbilical cable and the underwater tractor in the wave glider, which makes it difficult to obtain the hydrodynamic characteristics of the flexible umbilical cable itself. At the same time, the existing technology cannot arbitrarily adjust the pre-tension of the flexible umbilical cable, so it is impossible to obtain the hydrodynamic characteristics of the flexible umbilical cable under different pre-tensions.

[0004] Since the flexible umbilical cable is an important component of the wave glider, its specificity needs to be paid attention to when conducting experimental research on it, and the connection state and actual movement process of the flexible umbilical cable in the wave glider need to be restored. In addition, during the movement of the wave glider, the movement of the flexible umbilical cable itself is an extremely complex coupled movement. It is difficult for existing technologies to simulate its continuous movement state alone and it is difficult to accurately measure the mechanical characteristics and movement characteristics of the flexible umbilical cable. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a hydrodynamic performance test device and method for a flexible umbilical cable of a wave glider, which is intended to be used for the selection of a flexible umbilical cable of a wave glider and provide an experimental basis for the drag reduction design of the flexible umbilical cable.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a hydrodynamic performance test device for a flexible umbilical cable of a wave glider, comprising: a connecting frame, used to connect the hydrodynamic performance test device to a crossbeam of a towing tank vehicle; a slide rail, installed at the lower part of the connecting frame; a horizontal slide, slidably arranged on the slide rail and movable horizontally along the slide; an umbilical cable to be tested, wherein the first end of the umbilical cable to be tested is connected to the connecting frame via a two-degree-of-freedom conversion device and a three-component force sensor, and the second end is connected to the horizontal slide via a two-degree-of-freedom conversion device and a single-component force sensor; a pretension adjustment device, installed on the crossbeam of the towing tank vehicle, and the pretension adjustment device is connected to the horizontal slide, and is used to provide a set pretension to the umbilical cable to be tested through the horizontal slide; an image acquisition device, arranged on the connecting frame above the umbilical cable to be tested, and is used to record the motion state of the umbilical cable to be tested.

[0008] Preferably: the horizontal slide device includes a mobile connector, a slide and a slide block; the slide is slidably arranged on the slide rail through the slide block, the mobile connector is fixed to the outside of the slide, the inner side of the mobile connector is connected to the second end of the umbilical cable to be tested through the two-degree-of-freedom conversion device and the single-component force sensor in sequence, and the outer side of the mobile connector is connected to the pre-tension adjustment device.

[0009] Preferably: the two-degree-of-freedom conversion device includes an adapter plate, a vertical hinge device and a transverse hinge device; the adapter plate is hinged to one end of the vertical hinge device, the transverse hinge device is hinged to the other end of the vertical hinge device, and the rotation axis of the transverse hinge device and the vertical hinge device is perpendicular to the rotation axis of the adapter plate and the vertical hinge device.

[0010] Preferably, the slide rails of the slide table are two slide rails which are parallel and spaced apart and connected to the connection frame, and the umbilical cable to be tested is arranged between the two slide rails of the slide table.

[0011] Preferably, the slide is an I-shaped slide, the four slide blocks are respectively arranged at the four diagonal positions of the I-shaped slide, and the slide blocks are slidably sleeved on two slide rails.

[0012] Preferably: the pre-tension adjustment device comprises a horizontal hanging plate, a traction rope holder, a first traction rope, a movable pulley, a first fixed pulley, a pre-tension counterweight, a second traction rope and a second fixed pulley; the horizontal hanging plate is fixed to the crossbeam of the towing tank vehicle, the traction rope holder and the first fixed pulley are fixed to the horizontal hanging plate at intervals, one end of the first traction rope is connected to the traction rope holder, and the other end is connected to the pre-tension counterweight after passing through the movable pulley and the first fixed pulley in sequence; the second fixed pulley is installed on the connecting frame below the movable pulley, and the second fixed pulley and the umbilical cable to be tested are in the same horizontal plane, one end of the second traction rope is connected to the movable pulley, and the other end is connected to the movable connector after passing through the second fixed pulley.

[0013] Preferably, an umbilical cable camera background plate is further provided on the connection frame, and the umbilical cable camera background plate is located below the umbilical cable to be tested and arranged parallel to the umbilical cable.

[0014] Preferably, the image acquisition device is two high-speed cameras installed on the connecting frame.

[0015] In a second aspect, the present invention provides a method for testing the hydrodynamic performance of a flexible umbilical cable for a wave glider, comprising the following steps:

[0016] Step S1. First, a plurality of flexible umbilical cables of wave gliders with different cross-sectional shapes and / or sizes are selected, and then one of them is selected and installed at the umbilical cable to be tested in the hydrodynamic performance test device described in the first aspect of the present invention;

[0017] Step S2. Select the pre-tension according to the preset working condition, and perform the corresponding weighting on the pre-tension weight; after the weighting is completed, the readings of the single-component force sensor and the three-component force sensor in the static state are recorded by the monitoring system, and the image acquisition device is turned on for video recording to record the posture of the umbilical cable to be tested in the initial state of the preset working condition;

[0018] Step S3. Start the vehicle and set a vehicle speed according to the preset working condition, record the readings of the three-component force sensor and the single-component force sensor, and use the image acquisition device to record the motion state of the umbilical cable to be tested during the operation of the vehicle; when the readings of the three-component force sensor and the single-component force sensor are stable, the value and the posture of the umbilical cable to be tested at this moment are the instantaneous motion data of the umbilical cable to be tested under the preset working condition;

[0019] Step S4. Adjust the speed of the vehicle and repeat step S3;

[0020] Step S5. Change the pre-tension, and repeat steps S2 to S4;

[0021] Step S6. Replace the umbilical cable to be tested and repeat steps S1 to S5;

[0022] Step S7. Through the above steps, the hydrodynamic data and motion data of different umbilical cables to be tested under different vehicle speeds and different pre-tensions are obtained.

[0023] Preferably, in step S7, the single-component force sensor is used to obtain the axial tension change data of the umbilical cable to be tested, and the reading of the single-component force sensor in a stable state is the weight of the pre-tension counterweight; the three-component force sensor is used to obtain the resistance change data of the umbilical cable to be tested in the upstream direction; the image acquisition device is used to record the motion state of the umbilical cable to be tested, and the posture and motion change data of the umbilical cable to be tested are extracted by visual measurement.

[0024] The present invention adopts the above technical solution, which has the following advantages:

[0025] 1. The hydrodynamic performance testing device provided by the present invention is only for the flexible umbilical cable. It is fixedly connected to the two ends of the flexible umbilical cable through two two-degree-of-freedom conversion devices, restoring the connection mode of the flexible umbilical cable with the surface float and the underwater tractor in the wave glider. The hydrodynamic performance testing device can be carried on the vehicle in the towing pool and immersed in the water, restoring the real state of the flexible umbilical cable to the greatest extent, thereby completely eliminating the influence of other components of the wave glider on the hydrodynamic characteristics of the flexible umbilical cable, directly obtaining the hydrodynamic characteristics of the flexible umbilical cable, thereby providing important data support for the selection and performance optimization of the flexible umbilical cable, and laying an important foundation for the motion simulation of the wave glider and the improvement of the speed of the wave glider.

[0026] 2. The hydrodynamic performance testing device provided by the present invention arranges a single-component force sensor and a three-component force sensor at both ends of the flexible umbilical cable respectively for measuring the stress condition of the flexible umbilical cable, decomposing the continuous motion process of the flexible umbilical cable into instantaneous motion, and arranges an image acquisition device above the flexible umbilical cable to record the motion state of the flexible umbilical cable, thereby directly and accurately obtaining the instantaneous mechanical parameters and motion parameters of the flexible umbilical cable, thereby optimizing the design parameters of the flexible umbilical cable, which is of great significance for improving the speed of the wave glider.

[0027] 3. The hydrodynamic performance testing device provided by the present invention sequentially connects a single-component force sensor, a two-degree-of-freedom conversion device, a horizontal slide, a traction rope and a fixed pulley at one end of the flexible umbilical cable, and the extended traction rope is connected to the pre-tension adjustment device above the testing device. The pre-tension of the flexible umbilical cable can be arbitrarily adjusted by adjusting the weight of the counterweight in the pre-tension adjustment device, thereby obtaining the continuous motion characteristics of the flexible umbilical cable by testing the hydrodynamic characteristics and motion characteristics of the flexible umbilical cable under multiple pre-tensions and towing speeds.

[0028] 4. The hydrodynamic performance testing device provided by the present invention adopts a purely mechanical design, which makes the operation simple and convenient. Moreover, since the experiment is carried out underwater, the use of a purely mechanical design instead of an electronic control design also improves the safety and reliability of the experiment and greatly reduces the experimental cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Throughout the accompanying drawings, the same reference numerals are used to represent the same components. In the accompanying drawings:

[0030] Figure 1 It is a schematic diagram of the overall structure of a hydrodynamic performance testing device provided by a preferred embodiment of the present invention;

[0031] Figure 2 It is a structural schematic diagram of a two-degree-of-freedom conversion device provided by a preferred embodiment of the present invention;

[0032] Figure 3 It is a structural schematic diagram of a horizontal slide device and its surrounding connecting devices provided by a preferred embodiment of the present invention;

[0033] Figure 4 It is a structural schematic diagram of a pretension adjustment device provided in a preferred embodiment of the present invention.

[0034] The reference numerals in the figures are as follows:

[0035] 1-beam of the towing tank vehicle; 2-connecting frame; 3-image acquisition device; 4-three-force sensor; 5-two-degree-of-freedom conversion device; 6-umbilical cable to be tested; 7-single-component force sensor; 8-horizontal slide; 9-umbilical cable camera background plate; 10-slide rail; 11-pretension adjustment device;

[0036] 51-adapter plate; 52-vertical hinge device; 53-lateral hinge device;

[0037] 81-mobile connector; 82-I-shaped slide; 83-slide block;

[0038] 111-horizontal hanging plate; 112-traction rope fixer; 113-first traction rope; 114-movable pulley; 115-first fixed pulley; 116-pretension counterweight; 117-second traction rope; 118-second fixed pulley. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the present invention clearer, the specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0040] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0042] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0044] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0045] The hydrodynamic performance test device for the flexible umbilical cable of a wave glider provided by the present invention comprises: a connecting frame, used to connect the device to the crossbeam of a towing tank vehicle; a slide rail, installed at the lower part of the connecting frame; a horizontal slide, slidably arranged on the slide rail; an umbilical cable to be tested, the first end of which is connected to the connecting frame through a two-degree-of-freedom conversion device and a three-component force sensor, and the second end is connected to the horizontal slide through a two-degree-of-freedom conversion device and a single-component force sensor; a pre-tension adjustment device, installed on the crossbeam, and the pre-tension adjustment device is connected to the horizontal slide; an image acquisition device, arranged on the connecting frame above the umbilical cable to be tested, for recording the motion state of the umbilical cable to be tested. The present invention can restore the real state of the flexible umbilical cable to the greatest extent, eliminate the influence of other components of the wave glider on the hydrodynamic characteristics of the flexible umbilical cable, and directly obtain the hydrodynamic characteristics of the flexible umbilical cable.

[0046] Hereinafter, a device and method for testing the hydrodynamic performance of a flexible umbilical cable for a wave glider provided by an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

[0047] Embodiment 1:

[0048] See also Figure 1The present embodiment provides a hydrodynamic performance test device for an umbilical cable to be tested for a wave glider, comprising: a connecting frame 2, used to connect the hydrodynamic performance test device to a crossbeam 1 of a towing tank vehicle; a slide rail 10, two slide rails 10 are connected to the lower part of the connecting frame 2 in parallel and at intervals; a horizontal slide 8, slidably arranged on the two slide rails 10 and capable of horizontally moving along the two slide rails; an umbilical cable 6 to be tested, arranged between the two slide rails 10, and a first end of the umbilical cable 6 to be tested is connected to the lower part of the connecting frame 2 by a two-degree-of-freedom conversion device 5. The three-component force sensor 4 is connected to the connecting frame 2, and the second end of the umbilical cable 6 to be tested is connected to the horizontal slide 8 through the two-degree-of-freedom conversion device 5 and the single-component force sensor 7; the pre-tension adjustment device 11 is installed on the crossbeam 1 of the towing tank vehicle, and the pre-tension adjustment device 11 is connected to the horizontal slide 8, and is used to provide the set pre-tension to the umbilical cable 6 to be tested through the horizontal slide 8; the image acquisition device 3 is arranged on the connecting frame 2 above the umbilical cable 6 to be tested, and is used to record the movement state of the umbilical cable 6 to be tested.

[0049] In the above embodiments, preferably, please refer to Figure 2 The two-degree-of-freedom conversion device 5 includes an adapter plate 51, a vertical hinge device 52 and a transverse hinge device 53. The adapter plate 51 is hinged to one end of the vertical hinge device 52, and the transverse hinge device 53 is hinged to the other end of the vertical hinge device 52, and the rotation axis of the transverse hinge device 53 and the vertical hinge device 52 is perpendicular to the rotation axis of the adapter plate 51 and the vertical hinge device 52. Through the above-mentioned setting, the two two-degree-of-freedom conversion devices 5 are fixedly connected to the two ends of the umbilical cable 6 to be tested, and the connection mode of the umbilical cable 6 to be tested with the surface float and the underwater tractor in the wave glider is restored.

[0050] In the above embodiments, preferably, please refer to Figure 3 , the horizontal slide 8 includes a movable connector 81, an I-shaped slide 82 and a slide block 83. The movable connector 81 is fixed on the outside of the I-shaped slide 82, and the inner side of the movable connector 81 is connected to the second end of the umbilical cable 6 to be tested through the two-degree-of-freedom conversion device 5 and the single-component force sensor 7 in sequence, and the outer side of the movable connector 81 is connected to the pretension adjustment device 11. The four slide blocks 83 are respectively arranged at the four diagonal positions of the I-shaped slide 82, and the slide blocks 83 are slidably sleeved on two slide rails 10. Through the above arrangement, when the stress state of the umbilical cable 6 to be tested changes, the umbilical cable 6 to be tested and the single-component force sensor 7 and the two-degree-of-freedom conversion device 5 connected thereto will jointly drive the horizontal slide 8 to move horizontally left and right on the slide rail 10 until the stress state of the umbilical cable 6 to be tested is stable.

[0051] In the above embodiments, preferably, please refer to Figure 1 , Figure 4The pre-tension adjusting device 11 comprises a horizontal hanging plate 111, a traction rope fixing device 112, a first traction rope 113, a movable pulley 114, a first fixed pulley 115, a pre-tension counterweight 116, a second traction rope 117 and a second fixed pulley 118. The horizontal hanging plate 111 is fixed on the crossbeam 1 of the towing tank vehicle, the traction rope fixing device 112 and the first fixed pulley 115 are fixed on the horizontal hanging plate 111 at intervals, one end of the first traction rope 113 is connected to the traction rope fixing device 112, and the other end is connected to the pre-tension counterweight 116 after passing through the movable pulley 114 and the first fixed pulley 115 in sequence. The second fixed pulley 118 is installed on the connecting frame 2 below the movable pulley 114, and the second fixed pulley 118 and the umbilical cable 6 to be tested are in the same horizontal plane, and one end of the second traction rope 117 is connected to the movable pulley 114, and the other end is connected to the movable connector 81 after passing through the second fixed pulley 118. With the above settings,

[0052] When the resistance of the umbilical cable 6 to be tested changes, the umbilical cable 6 to be tested will drive the horizontal slide 8 to move left and right. At this time, the second traction rope 117 will be stretched and changed, driving the movable pulley 114 to move in the vertical direction, thereby driving the pre-tension counterweight 116 to move in the vertical direction. As a result, in the direction parallel to the slide rail 10, the tension value of the umbilical cable 6 to be tested and the dead weight of the pre-tension counterweight 116 are always equal, achieving the purpose of fixing the tension value of the umbilical cable 6 to be tested, and then the change process of the umbilical cable 6 to be tested in the water under different headwind velocities under the premise of a given tension value can be studied.

[0053] In the above embodiments, preferably, please refer to Figure 1 An umbilical cable camera background plate 9 is also provided on the connection frame 2, and the umbilical cable camera background plate 9 is located below the umbilical cable 6 to be tested and arranged in parallel therewith. Through the above arrangement, during the shooting process of the image acquisition device 3, the umbilical cable camera background plate 9 can block the noisy background below the umbilical cable 6 to be tested, optimize the shooting effect, and provide convenience for the later extraction of the movement process data of the umbilical cable 6 to be tested.

[0054] In the above embodiment, preferably, the image acquisition device 3 is two high-speed cameras installed on the connecting frame 2 .

[0055] Before the test of the hydrodynamic performance test device for the umbilical cable to be tested for the wave glider provided in the above embodiment is carried out, the hydrodynamic performance test device needs to be installed according to the following steps:

[0056] The connecting frame 2 is installed on the crossbeam 1 of the towing tank vehicle by using a clamp;

[0057] according to Figure 1 In the position shown, two image acquisition devices 3 are mounted on the connecting frame 2;

[0058] Fix the three-force sensor 4 to the lower left of the connecting frame 2 by bolts;

[0059] Fix the adapter plate 51 in the first set of two-degree-of-freedom conversion device 5 and the three-force sensor 4 by bolts;

[0060] The transverse hinge device 53 in the first set of two-degree-of-freedom conversion device 5 is fixedly connected to the first end of the umbilical cable 6 to be tested by bolts;

[0061] The second end of the umbilical cable 6 to be tested is fixedly connected to one side of the single-component force sensor 7 with bolts;

[0062] The other side of the single-component force sensor 7 is fixedly connected to the transverse hinge device 53 in the second set of two-degree-of-freedom conversion device 5 by bolts;

[0063] Connect the vertical hinge device 52 in the second two-degree-of-freedom conversion device 5 to one side of the mobile connector 81;

[0064] Connect the I-shaped slide 82 to the movable connector 81, sleeve the slide block 83 on the upper and lower slide rails 10, and connect the I-shaped slide 82 to the slide block 83;

[0065] The other side of the movable connector 81 is connected to one end of the second traction rope 117 , and the other end of the second traction rope 117 is connected below the movable pulley 114 .

[0066] Embodiment 2:

[0067] Based on the hydrodynamic performance testing device for the flexible umbilical cable of a wave glider provided in Example 1, this embodiment also provides a hydrodynamic performance testing method for the flexible umbilical cable of a wave glider, comprising the following steps:

[0068] Step S1. First, select a plurality of flexible umbilical cables of wave gliders with different cross-sectional shapes and / or sizes, and the models can be set to A, B, C, etc. Then select one of them and install it at the umbilical cable 6 to be tested in the hydrodynamic performance test device.

[0069] Step S2. Select the pre-tension according to the preset working condition, and perform corresponding weighting on the pre-tension weight 116. After the weighting is completed, the shore-based monitoring system records the readings of the single-component force sensor 7 and the three-component force sensor 4 in the static state, and turns on the image acquisition device 3 for video recording to record the posture of the umbilical cable 6 to be tested in the initial state of the preset working condition.

[0070] Step S3. Start the vehicle and set a vehicle speed according to the preset working condition, record the readings of the three-force sensor 4 and the single-component force sensor 7, and use the image acquisition device 3 to record the motion state of the umbilical cable 6 to be tested during the operation of the vehicle. When the readings of the three-force sensor 4 and the single-component force sensor 7 are stable, the value and the posture of the umbilical cable 6 to be tested at this moment are the instantaneous motion data of the umbilical cable 6 to be tested under the preset working condition.

[0071] Step S4: Adjust the speed of the vehicle and repeat step S3.

[0072] Step S5: Change the pre-tension and repeat steps S2 to S4.

[0073] Step S6: Replace the umbilical cable 6 to be tested, and repeat steps S1 to S5.

[0074] Step S7. Obtain the hydrodynamic data and motion data of different umbilical cables 6 to be tested under different speeds and different tensions through the above steps. The single-component force sensor 7 can be used to obtain the axial tension change data of the umbilical cable 6 to be tested. The reading of the single-component force sensor 7 in a stable state is the weight of the pre-tension counterweight 116; the three-component force sensor 4 can be used to obtain the resistance change data of the umbilical cable 6 to be tested in the upstream direction; the image acquisition device 3 can be used to capture the motion state of the umbilical cable 6 to be tested, and the posture and motion change data of the umbilical cable 6 to be tested can be extracted by visual measurement.

[0075] In summary, this method can be used to decompose the continuous dynamic motion process of the flexible umbilical cable of the wave glider into multiple instantaneous states, and obtain the mechanical properties and motion performance of the flexible umbilical cable under different working conditions. This embodiment can be used for the selection of the flexible umbilical cable of the wave glider, and provides an experimental basis for the drag reduction design of the flexible umbilical cable. This embodiment is also applicable to the experimental study of the mechanical properties and motion performance of other flexible slender structures.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A hydrodynamic performance test device for a wave glider flexible umbilical cable, characterized in that: include: A connecting frame is used to connect the hydrodynamic performance test device to the crossbeam of the towing tank vehicle; A slide rail for a slide table, mounted at the bottom of the connecting frame; A horizontal slide, slidably disposed on the slide rail and horizontally movable along the slide rail; An umbilical cable to be tested, wherein the first end of the umbilical cable to be tested is connected to the connecting frame via a two-degree-of-freedom conversion device and a three-component force sensor, and the second end of the umbilical cable to be tested is connected to the horizontal slide via a two-degree-of-freedom conversion device and a single-component force sensor; A pre-tension adjusting device is installed on the crossbeam of the towing tank vehicle, and the pre-tension adjusting device is connected to the horizontal slide table, and is used to provide a set pre-tension to the umbilical cable to be tested through the horizontal slide table; An image acquisition device, arranged on the connection frame above the umbilical cable to be tested, and used for recording the motion state of the umbilical cable to be tested; The horizontal slide device comprises a mobile connector, a slide and a slide block; the slide is slidably arranged on the slide rail through the slide block, the mobile connector is fixed to the outside of the slide, the inner side of the mobile connector is connected to the second end of the umbilical cable to be tested through the two-degree-of-freedom conversion device and the single-component force sensor in sequence, and the outer side of the mobile connector is connected to the pre-tension adjustment device; The two-degree-of-freedom conversion device comprises an adapter plate, a vertical hinge device and a transverse hinge device; the adapter plate is hinged to one end of the vertical hinge device, the transverse hinge device is hinged to the other end of the vertical hinge device, and the rotation axis of the transverse hinge device and the vertical hinge device is perpendicular to the rotation axis of the adapter plate and the vertical hinge device; The pretension adjusting device includes a horizontal hanging plate, a traction rope holder, a first traction rope, a movable pulley, a first fixed pulley, a pretension counterweight, a second traction rope and a second fixed pulley; the horizontal hanging plate is fixed to the crossbeam of the towing tank vehicle, the traction rope holder and the first fixed pulley are fixed to the horizontal hanging plate at intervals, one end of the first traction rope is connected to the traction rope holder, and the other end is connected to the pretension counterweight after passing through the movable pulley and the first fixed pulley in sequence; the second fixed pulley is installed on the connecting frame below the movable pulley, and the second fixed pulley and the umbilical cable to be tested are in the same horizontal plane, one end of the second traction rope is connected to the movable pulley, and the other end is connected to the movable connector after passing through the second fixed pulley.

2. The hydrodynamic performance testing device according to claim 1, characterized in that: The slide rails of the slide table are two rails which are parallel and spaced apart and connected to the connection frame, and the umbilical cable to be tested is arranged between the two slide rails of the slide table.

3. The hydrodynamic performance testing device according to claim 2, characterized in that: The slide is an I-shaped slide, and the four slide blocks are respectively arranged at the four diagonal positions of the I-shaped slide, and the slide blocks are slidably sleeved on the two slide rails.

4. The hydrodynamic performance testing device according to claim 2 or 3, characterized in that: An umbilical cable camera background plate is also provided on the connection frame. The umbilical cable camera background plate is located below the umbilical cable to be tested and arranged parallel to the umbilical cable.

5. The hydrodynamic performance testing device according to claim 2 or 3, characterized in that: The image acquisition device is two high-speed cameras installed on the connection frame.

6. A method for testing the hydrodynamic performance of a flexible umbilical cable for a wave glider, characterized in that: The following steps are involved: Step S1. First, a plurality of flexible umbilical cables of wave gliders with different cross-sectional shapes and / or sizes are selected, and then one of them is selected and installed at the umbilical cable to be tested in the hydrodynamic performance testing device according to any one of claims 2 to 5; Step S2. Select the pre-tension according to the preset working condition and perform corresponding weighting on the pre-tension weight; After the weight is counterweighted, the readings of the single-component force sensor and the three-component force sensor in the static state are recorded through the monitoring system, and the image acquisition device is turned on for video recording to record the posture of the umbilical cable to be tested in the initial state of the preset working condition; Step S3. Start the vehicle and set a vehicle speed according to the preset working conditions, record the readings of the three-component force sensor and the single-component force sensor, and use the image acquisition device to record the motion state of the umbilical cable to be tested during the operation of the vehicle; When the readings of the three-component force sensor and the single-component force sensor are stable, the readings and the posture of the umbilical cable to be tested at this moment are the instantaneous motion data of the umbilical cable to be tested under the preset working condition; Step S4. Adjust the speed of the vehicle and repeat step S3; Step S5. Change the pre-tension, and repeat steps S2 to S4; Step S6. Replace the umbilical cable to be tested and repeat steps S1 to S5; Step S7. Obtain the hydrodynamic data and motion data of different umbilical cables to be tested under different vehicle speeds and different pre-tensions through steps S1-S6.

7. The hydrodynamic performance testing method according to claim 6, characterized in that: In step S7, the single-component force sensor is used to obtain the axial tension change data of the umbilical cable to be tested, and the reading of the single-component force sensor in a stable state is the weight of the pre-tension counterweight; the three-component force sensor is used to obtain the resistance change data of the umbilical cable to be tested in the upstream direction; the motion state of the umbilical cable to be tested is recorded by the image acquisition device, and the posture and motion change data of the umbilical cable to be tested are extracted by visual measurement.

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