A wind tunnel dynamic derivative test device and method for large-scale underwater vehicles

Abstract

A large-scale underwater vehicle wind tunnel dynamic derivative test device and method, belonging to the technical field of wind tunnel test, the present invention is to solve the problem of cumbersome test by using a variety of different test facilities. The device includes an underwater vehicle model and a torque measuring device, the torque measuring device is arranged in the underwater vehicle model, the torque measuring device includes a front cone sleeve of a balance, a torque balance, a rear cone sleeve of a balance, a suspension beam and an outer sleeve connected in sequence from front to back along the axial direction of the underwater vehicle model, the transmission shaft is rotatably arranged on the outer sleeve, one end of the transmission shaft extends out of the tail end of the underwater vehicle model and is connected to the propeller, the sideslip angle adjustment mechanism is connected to the output end of the angle of attack adjustment mechanism, and the output end of the sideslip angle adjustment mechanism is connected to the rear cone sleeve of the balance, the present invention can synchronously simulate the oscillating motion of the model and the high-speed rotation motion of the propeller, and has the advantages of low test risk, small funding requirements, short preparation period, high test repeatability, etc. compared with field verification.

Description

Technical Field

[0001] The invention belongs to the technical field of wind tunnel tests, and in particular relates to a wind tunnel dynamic derivative test device and method for a large-scale underwater vehicle. Background Art

[0002] In order to solve the maneuverability equations of large-scale underwater vehicles and predict the underwater maneuverability of the vehicle, it is necessary to accurately obtain the various dynamic derivative coefficients, which are usually obtained by forced simple harmonic motion measurement tests in engineering. However, at present, for large-scale underwater vehicles with conventional single stern propellers, it is necessary to use a variety of different test facilities and carry out different types of restraint force measurement tests to obtain the various dynamic derivative coefficients in the motion equations. The tests are cumbersome, and conventional hydrodynamic test systems have problems such as large support interference and large drive load. Summary of the invention

[0003] The purpose of the present invention is to provide a large-scale underwater vehicle wind tunnel dynamic derivative test device and method to solve the problem of using a variety of different test facilities to carry out different types of restraint force measurement tests to obtain the dynamic derivative coefficients in the motion equation, which is cumbersome. The technical solution adopted by the present invention is as follows:

[0004] A large-scale underwater vehicle wind tunnel dynamic derivative test device comprises an underwater vehicle model, a torque measuring device, an angle of attack adjustment mechanism and a sideslip angle adjustment mechanism. The underwater vehicle model is a hollow structure. The torque measuring device is arranged in the underwater vehicle model. The torque measuring device comprises a front cone sleeve of a balance, a torque balance, a rear cone sleeve of a balance, a suspension beam and an outer sleeve which are sequentially connected from front to back along the axial direction of the underwater vehicle model. The front cone sleeve of the balance is connected to the underwater vehicle model, a transmission shaft is rotatably arranged on the outer sleeve, a high-speed motor is connected to the outer sleeve, one end of the transmission shaft is connected to the output shaft of the high-speed motor, the other end of the transmission shaft extends out of the tail end of the underwater vehicle model and is connected to a propeller, the sideslip angle adjustment mechanism is connected to the output end of the angle of attack adjustment mechanism, the output end of the sideslip angle adjustment mechanism extends into the underwater vehicle model and is connected to the rear cone sleeve of the balance, and the underwater vehicle model is arranged in the airflow in the test section.

[0005] Furthermore, the sideslip angle adjustment mechanism includes a main support rod, a rotating shaft and a curved blade frame. A vertically opened mounting hole is provided at one end of the curved blade frame. The rotating shaft is rotatably arranged in the mounting hole. A torque motor is provided at the lower end of the mounting hole. The lower end of the rotating shaft is connected to the output shaft of the torque motor. The upper end of the rotating shaft is connected to the lower end of the main support rod. The upper end of the main support rod is the output end of the sideslip angle adjustment mechanism.

[0006] Furthermore, the sideslip angle adjustment mechanism also includes an auxiliary pull rod assembly, which includes an upper tube clamp, a lower tube clamp, a front pull rod, a rear pull rod, a length adjustment screw sleeve and a rear clamp. The upper tube clamp and the lower tube clamp are clamped on both sides of the suspension beam, and the rear clamp is fixed on the main support rod. One end of the front pull rod is hinged to the lower tube clamp, and one end of the rear pull rod is hinged to the rear clamp. The other end of the front pull rod and the other end of the rear pull rod are respectively threadedly matched with the two ends of the length adjustment screw sleeve, and the auxiliary pull rod assembly is obliquely supported between the main support rod and the suspension beam.

[0007] Furthermore, a plurality of first pin holes are processed on the suspension beam along the length direction, and a through second pin hole is provided on the upper tube clamp and the lower tube clamp, and the second pin hole and any first pin hole are matched with a pin.

[0008] Furthermore, the rotating shaft is a hollow shaft, and the outer periphery of the output shaft of the torque motor is connected to the inner periphery of the rotating shaft through two tension sleeves.

[0009] Furthermore, the mounting hole and the rotating shaft are rotationally matched via two angular contact bearings.

[0010] Furthermore, the angle of attack adjustment mechanism includes a guide rail base, an arc-shaped slide rail, a support, a slider and a reduction motor. Two arc-shaped slide rails and two arc-shaped racks are coaxially arranged on the guide rail base. The axis lines of the two arc-shaped slide rails are horizontally perpendicular to the airflow direction of the test section. Two sliders are arranged on the angle of attack base. The two sliders slide in a one-to-one corresponding manner with the two arc-shaped slide rails. A reduction motor is arranged on the angle of attack base. Gears are sleeved on both ends of the output shaft of the reduction motor. The two gears and the two arc-shaped racks are meshed in a one-to-one manner. The lower end of the support is connected to the angle of attack base, and the upper end of the support is the output end of the angle of attack adjustment mechanism. A hanging basket is provided below the test section, and the guide rail base is fixed in the hanging basket. The upper end of the support is connected to the lower wall panel passing through the test section and is connected to the curved knife frame.

[0011] Furthermore, the transmission shaft and the outer sleeve are rotationally matched via two deep groove ball bearings.

[0012] Furthermore, long holes are provided on the lower side and the right side of the underwater vehicle model for the output end of the sideslip angle adjustment mechanism to be inserted into. When a yaw oscillation test is carried out, the output end of the sideslip angle adjustment mechanism is inserted into the underwater vehicle model through the long hole on the lower side of the underwater vehicle model, and is connected to the rear cone sleeve of the balance, and the long hole on the right side of the underwater vehicle model is blocked by a cover plate; when a pitch oscillation test is carried out, the underwater vehicle model is rotated 90° around the axis, and the long hole on the right side of the underwater vehicle model is arranged downward, and the output end of the sideslip angle adjustment mechanism is inserted into the underwater vehicle model through the long hole on the right side of the underwater vehicle model, and is connected to the rear cone sleeve of the balance, and the long hole on the lower side of the underwater vehicle model is blocked by a cover plate.

[0013] The present invention also provides a large-scale underwater vehicle wind tunnel dynamic derivative test method, which is implemented based on the large-scale underwater vehicle wind tunnel dynamic derivative test device, and includes the following steps:

[0014] Step 1: Determine the underwater vehicle test scaling ratio according to the wind tunnel test blockage requirements and the test device load capacity, and process an underwater vehicle wind tunnel test model with similar mass inertia and consistent appearance according to the scaling ratio;

[0015] Step 2: Install the test device on the test section, and connect the control system of the test device and the data line of the moment balance to the wind tunnel control and acquisition system;

[0016] Step 3: Control the angle of attack adjustment mechanism and the sideslip angle adjustment mechanism to adjust the underwater vehicle model to the angle of attack and sideslip angle of the test target, start the high-speed motor, and make the propeller reach the test target speed;

[0017] Step 4: start the wind tunnel. When the wind speed of the wind tunnel reaches the target value, control the output end of the sideslip angle adjustment mechanism to drive the underwater vehicle model to oscillate at a given frequency and amplitude, start the wind tunnel data acquisition system, and collect and record the dynamic derivative values ​​of the underwater vehicle model.

[0018] Step 5: Stop the wind tunnel and reduce the wind speed to zero;

[0019] Step 6: Repeat steps 3 to 5 to complete the oscillation test under different angles of attack, sideslip angles and propeller speed combinations.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The size of the underwater vehicle model of the present invention is relatively large, and the torque measuring device can be set inside it. The present invention has the characteristics of simulating the navigation speed of a large-sized underwater vehicle in real time and long simulation duration, which can realize the test of a large-sized underwater vehicle model, and the simulation of the appearance details of the underwater vehicle model is more realistic. The device of the present invention is used to carry out the wind tunnel test of the underwater vehicle, and the oscillation movement of the underwater vehicle model is controlled by the intermittent switching of the torque motor output shaft steering, and the reduction motor adjusts the angle of attack of the underwater vehicle model. The oscillation movement of the model and the high-speed rotation movement of the propeller can be simulated synchronously, and the model angle of attack and sideslip angle can be automatically and continuously adjusted. Compared with the field verification, it has the advantages of low test risk, small funding requirements, short preparation period, high test repeatability, etc., which can speed up the design and development progress of the underwater vehicle. In addition, the device has a compact structure, a high degree of automation, and strong versatility, which can meet the wind tunnel dynamic derivative tests of underwater vehicles of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a front view of the device of the present invention installed in the test section;

[0023] Figure 2 is an axonometric view of the device of the present invention installed in the test section;

[0024] Figure 3 is an axonometric view of the device of the present invention;

[0025] Figure 4 is a schematic diagram of a torque measurement device arranged in an underwater vehicle model;

[0026] Figure 5 is a structural schematic diagram of a sideslip angle adjustment mechanism;

[0027] Figure 6 yes Figure 1 AA section view;

[0028] Figure 7 yes Figure 6 BB cross-sectional view.

[0029] In the figure, 1. torque measuring device, 11. front cone sleeve of balance, 12. torque balance, 13. rear cone sleeve of balance, 14. suspension beam, 15. outer sleeve, 16. transmission shaft, 17. high-speed motor, 18. first pin hole, 2. underwater vehicle model, 21. propeller, 3. sideslip angle adjustment mechanism, 31. scimitar holder, 32. torque motor, 33. tensioning sleeve, 34. angular contact bearing, 35. rotating shaft, 36. rear clamp, 37. main support rod, 38. rear pull rod, 39. length adjustment screw sleeve, 310. front pull rod, 311. lower pipe clamp, 312. upper pipe clamp, 4. angle of attack adjustment mechanism, 41. guide rail base, 42. reduction motor, 43. arc rack, 44. arc slide rail, 45. slider, 46. gear, 47. support, 48. angle of attack base, 5. test section, 6. hanging basket. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0031] The connection mentioned in the present invention is divided into fixed connection and detachable connection. The fixed connection is a non-detachable connection including but not limited to conventional fixed connection methods such as folding connection, rivet connection, bonding connection and welding connection. The detachable connection includes but not limited to conventional detachable methods such as bolt connection, snap connection, pin connection and hinge connection. When the specific connection method is not clearly defined, it is assumed that at least one connection method can be found in the existing connection methods to achieve the function, and those skilled in the art can choose according to their needs. For example: welding connection is selected for fixed connection, and bolt connection is selected for detachable connection.

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings. The following embodiments are provided to explain the present invention, but the present invention is not limited to the following embodiments.

[0033] Embodiment 1: Figure 1 to Figure 7 As shown, a large-scale underwater vehicle wind tunnel dynamic derivative test device includes an underwater vehicle model 2, a torque measuring device 1, an angle of attack adjustment mechanism 4 and a sideslip angle adjustment mechanism 3. The underwater vehicle model 2 is a hollow structure. The torque measuring device 1 is arranged in the underwater vehicle model 2. The torque measuring device 1 includes a balance front cone sleeve 11, a torque balance 12, a balance rear cone sleeve 13, a suspension beam 14 and an outer sleeve 15 which are sequentially connected from front to back along the axial direction of the underwater vehicle model 2. The balance front cone sleeve 11 and the underwater vehicle model 2 are connected in sequence from front to back. 2 is connected, a transmission shaft 16 is rotatably arranged on the outer shell 15, a high-speed motor 17 is connected to the outer shell 15, one end of the transmission shaft 16 is connected to the output shaft of the high-speed motor 17, the other end of the transmission shaft 16 extends out of the tail end of the underwater vehicle model 2 and is connected to the propeller 21, the sideslip angle adjustment mechanism 3 is connected to the output end of the angle of attack adjustment mechanism 4, the output end of the sideslip angle adjustment mechanism 3 is inserted into the underwater vehicle model 2 and is connected to the balance rear cone sleeve 13, and the underwater vehicle model 2 is arranged in the test section 5 to face the airflow.

[0034] The sideslip angle adjustment mechanism 3 includes a main support rod 37, a rotating shaft 35 and a scimitar frame 31. A vertically opened mounting hole is provided at one end of the scimitar frame 31. The rotating shaft 35 is rotatably arranged in the mounting hole. A torque motor 32 is provided at the lower end of the mounting hole. The lower end of the rotating shaft 35 is connected to the output shaft of the torque motor 32. The upper end of the rotating shaft 35 is connected to the lower end of the main support rod 37. The upper end of the main support rod 37 is the output end of the sideslip angle adjustment mechanism 3.

[0035] The sideslip angle adjustment mechanism 3 also includes an auxiliary tie rod assembly, which includes an upper tube clamp 312, a lower tube clamp 311, a front tie rod 310, a rear tie rod 38, a length adjustment screw sleeve 39 and a rear clamp 36. The upper tube clamp 312 and the lower tube clamp 311 are clamped on both sides of the suspension beam 14, and the rear clamp 36 is fixed on the main support rod 37. One end of the front tie rod 310 is hinged to the lower tube clamp 311, and one end of the rear tie rod 38 is hinged to the rear clamp 36. The other end of the front tie rod 310 and the other end of the rear tie rod 38 are respectively threadedly matched with the two ends of the length adjustment screw sleeve 39. The auxiliary tie rod assembly is obliquely supported between the main support rod 37 and the suspension beam 14.

[0036] A plurality of first pin holes 18 are processed along the length direction of the suspension beam 14, and a through second pin hole is provided on the upper pipe clamp 312 and the lower pipe clamp 311, and the second pin hole and any first pin hole 18 are matched with a pin.

[0037] The rotating shaft 35 is a hollow shaft, and the outer periphery of the output shaft of the torque motor 32 and the inner periphery of the rotating shaft 35 are matched and connected via two tension sleeves 33 .

[0038] The mounting hole and the rotating shaft 35 are rotatably matched via two angular contact bearings 34 .

[0039] The angle of attack adjustment mechanism 4 includes a guide rail base 41, an arc-shaped slide rail 44, a support 47, a slider 45 and a reduction motor 42. Two arc-shaped slide rails 44 and two arc-shaped racks 43 are coaxially arranged on the guide rail base 41. The axis lines of the two arc-shaped slide rails 44 are horizontally perpendicular to the airflow direction of the test section 5. Two sliders 45 are arranged on the angle of attack base 48. The two sliders 45 slide in a one-to-one correspondence with the two arc-shaped slide rails 44. The angle of attack base 48 is provided with a reduction motor 42. Gears 46 are sleeved on both ends of the output shaft of the reduction motor 42. The two gears 46 and the two arc-shaped racks 43 are meshed in a one-to-one correspondence. The lower end of the support 47 is connected to the angle of attack base 48, and the upper end of the support 47 is the output end of the angle of attack adjustment mechanism 4. A hanging basket 6 is provided below the test section 5. The guide rail base 41 is fixed in the hanging basket 6. The upper end of the support 47 is connected to the lower wall plate passing through the test section 5 and is connected to the curved knife frame 31.

[0040] The transmission shaft 16 and the outer sleeve 15 are rotationally matched via two deep groove ball bearings.

[0041] The lower side and right side of the underwater vehicle model 2 are both provided with long holes for the output end of the sideslip angle adjustment mechanism 3 to be inserted into. When the yaw oscillation test is carried out, the output end of the sideslip angle adjustment mechanism 3 is inserted into the underwater vehicle model 2 through the long hole on the lower side of the underwater vehicle model 2, and is connected to the rear cone sleeve 13 of the balance, and the long hole on the right side of the underwater vehicle model 2 is blocked by a cover plate; when the pitch oscillation test is carried out, the underwater vehicle model 2 is rotated 90° around the axis, the long hole on the right side of the underwater vehicle model 2 is set downward, and the output end of the sideslip angle adjustment mechanism 3 is inserted into the underwater vehicle model 2 through the long hole on the right side of the underwater vehicle model 2, and is connected to the rear cone sleeve 13 of the balance, and the long hole on the lower side of the underwater vehicle model 2 is blocked by a cover plate.

[0042] In view of the problem that it is currently necessary to use a variety of different test facilities to carry out different types of restraint force measurement tests to obtain various dynamic derivative coefficients in the motion equation, and the test is cumbersome, the present invention designs and develops a large-scale underwater vehicle wind tunnel dynamic derivative test device. Based on the "body static wind dynamic" principle, under the premise of ensuring that the test Reynolds number and Strouhal number are similar, a set of test devices can be used in the wind tunnel to achieve accurate measurement of the dynamic derivative coefficients of the large-scale underwater vehicle. It has the characteristics of greatly improving the degree of automation of the test system, reducing the driving load, reducing support interference, and improving data accuracy, and can effectively improve the correlation between different data and the test efficiency. It has certain practicality for the measurement of dynamic derivatives of underwater vehicles and can be used as a reference and popularized.

[0043] The torque motor 32 drives the rotating shaft 35 to perform reciprocating oscillation around its axis, driving the main support rod 37, the torque balance 12 and the balance rear cone sleeve 13 to move. The underwater vehicle model 2 is installed on the torque balance 12 through the balance front cone sleeve 11, so as to perform the same reciprocating oscillation movement following the movement law of the torque motor 32. One end of the suspension beam 14 is connected to the balance rear cone sleeve 13, and the other end is connected to the outer sleeve 15. The outer sleeve 15 is equipped with a high-speed motor 17 and a transmission shaft 16. The transmission shaft 16 is connected to the propeller 21 through a transmission key, which can realize the high-speed rotation of the propeller 21. The suspension beam 14 is reinforced by the principle of tightening and lifting by the front pull rod 310 and the rear pull rod 38 to ensure the rigidity and stability of the propeller 21 during high-speed rotation. At the same time, the upper pipe clamp 312 and the lower pipe clamp 311 adopt the gap locking principle, and the locking position can be adjusted along the axial direction of the suspension beam 14, so as to adapt to the changes in the position of the belly opening of different underwater vehicle models 2. The reduction motor 42 drives the gear 46 to mesh with the arc rack 43, and the angle of attack base 48 is rotated along the center of mass of the underwater vehicle model 2 through the guidance of the slider 45 and the arc slide rail 44, thereby realizing the change of the angle of attack of the underwater vehicle model 2. The guide rail base 41 and the four sets of support columns are all installed on the hanging basket 6.

[0044] The size of the underwater vehicle model 2 of the present invention is relatively large, and the torque measuring device 1 can be set therein. The present invention has the characteristics of simulating the navigation speed of a large-sized underwater vehicle in real time and long simulation duration, which can realize the test of a large-sized underwater vehicle model, and the simulation of the appearance details of the underwater vehicle model 2 is more realistic. The device of the present invention is used to carry out the wind tunnel test of the underwater vehicle, and the oscillation movement of the underwater vehicle model 2 is controlled by the intermittent switching of the output shaft of the torque motor 32, and the reduction motor 42 adjusts the angle of attack of the underwater vehicle model 2, which can synchronously simulate the oscillation movement of the model and the high-speed rotation movement of the propeller, and the model angle of attack and sideslip angle can be automatically and continuously adjusted. Compared with the field verification, it has the advantages of low test risk, small funding requirements, short preparation period, high test repeatability, etc., which can speed up the design and development progress of the underwater vehicle. In addition, the device has a compact structure, a high degree of automation, and strong versatility, which can meet the wind tunnel dynamic derivative test of underwater vehicles of different sizes.

[0045] Embodiment 2: A large-scale underwater vehicle wind tunnel dynamic derivative test method is implemented based on a large-scale underwater vehicle wind tunnel dynamic derivative test device described in Embodiment 1, and includes the following steps:

[0046] Step 1: Determine the underwater vehicle test scaling ratio according to the wind tunnel test blockage requirements and the test device load capacity, and process an underwater vehicle wind tunnel test model with similar mass inertia and consistent appearance according to the scaling ratio; in this embodiment, the wind tunnel test blockage does not exceed 5%, and the test device load capacity does not exceed 100 kg;

[0047] Step 2: Install the test device on the test section 5, and connect the control system of the test device and the data line of the moment balance 12 to the wind tunnel control and acquisition system;

[0048] Step 3: Control the angle of attack adjustment mechanism 4 and the sideslip angle adjustment mechanism 3 to adjust the underwater vehicle model 2 to the angle of attack and sideslip angle of the test target, start the high-speed motor 17, and make the propeller 21 reach the test target speed;

[0049] Step 4: Start the wind tunnel. When the wind speed of the wind tunnel reaches the target value, control the output end of the sideslip angle adjustment mechanism 3 to drive the underwater vehicle model 2 to oscillate at a given frequency and amplitude, start the wind tunnel data acquisition system, and collect and record the dynamic derivative values ​​of the underwater vehicle model 2;

[0050] Step 5: Stop the wind tunnel and reduce the wind speed to zero;

[0051] Step 6: Repeat steps 3 to 5 to complete the oscillation test under different angles of attack, sideslip angles and propeller 21 speed combinations.

[0052] The above embodiments are merely exemplary descriptions of the present invention and do not limit its protection scope. Those skilled in the art may also make partial changes thereto, which are within the protection scope of the present invention as long as they do not exceed the spirit of the present invention.

Claims

1. A wind tunnel dynamic derivative test device for large-scale underwater vehicles, characterized by: The invention comprises an underwater vehicle model (2), a torque measuring device (1), an angle of attack adjustment mechanism (4) and a sideslip angle adjustment mechanism (3); the underwater vehicle model (2) is a hollow structure; the torque measuring device (1) is arranged in the underwater vehicle model (2); the torque measuring device (1) comprises a front cone sleeve (11) of a balance, a torque balance (12), a rear cone sleeve (13) of a balance, a suspension beam (14) and an outer sleeve (15) which are connected in sequence from front to rear along the axial direction of the underwater vehicle model (2); the front cone sleeve (11) of the balance is connected to the underwater vehicle model (2); a transmission shaft (16) The rotation is arranged on the outer shell (15), the high-speed motor (17) is connected to the outer shell (15), one end of the transmission shaft (16) is connected to the output shaft of the high-speed motor (17), the other end of the transmission shaft (16) extends out of the tail end of the underwater vehicle model (2) and is connected to the propeller (21), the sideslip angle adjustment mechanism (3) is connected to the output end of the angle of attack adjustment mechanism (4), the output end of the sideslip angle adjustment mechanism (3) is inserted into the underwater vehicle model (2) and is connected to the balance rear cone sleeve (13), and the underwater vehicle model (2) is arranged in the airflow in the test section (5); The bottom and right sides of the underwater vehicle model (2) are both provided with long holes through which the output end of the sideslip angle adjustment mechanism (3) can be inserted. When a yaw oscillation test is performed, the output end of the sideslip angle adjustment mechanism (3) is inserted into the underwater vehicle model (2) through the long hole on the bottom side of the underwater vehicle model (2) and is connected to the balance rear cone sleeve (13). The long hole on the right side of the underwater vehicle model (2) is blocked by a cover plate. When a pitch oscillation test is performed, the underwater vehicle model (2) is rotated 90 degrees around the axis, the long hole on the right side of the underwater vehicle model (2) is arranged downward, the output end of the sideslip angle adjustment mechanism (3) is inserted into the underwater vehicle model (2) through the long hole on the right side of the underwater vehicle model (2) and is connected to the balance rear cone sleeve (13). The long hole on the bottom side of the underwater vehicle model (2) is blocked by a cover plate.

2. A large-scale underwater vehicle wind tunnel dynamic derivative test device according to claim 1, characterized in that: The sideslip angle adjustment mechanism (3) comprises a main support rod (37), a rotating shaft (35) and a scimitar frame (31); one end of the scimitar frame (31) is provided with a mounting hole opened vertically; the rotating shaft (35) is rotatably arranged in the mounting hole; a torque motor (32) is arranged at the lower end of the mounting hole; the lower end of the rotating shaft (35) is connected to the output shaft of the torque motor (32); the upper end of the rotating shaft (35) is connected to the lower end of the main support rod (37); and the upper end of the main support rod (37) is the output end of the sideslip angle adjustment mechanism (3).

3. A large-scale underwater vehicle wind tunnel dynamic derivative test device according to claim 2, characterized in that: The side slip angle adjustment mechanism (3) also includes an auxiliary pull rod assembly, which includes an upper tube clamp (312), a lower tube clamp (311), a front pull rod (310), a rear pull rod (38), a length adjustment screw sleeve (39) and a rear clamp (36). The upper tube clamp (312) and the lower tube clamp (311) are clamped on both sides of the suspension beam (14), and the rear clamp (36) is fixed on the main support rod (37). One end of the front pull rod (310) is hinged to the lower tube clamp (311), and one end of the rear pull rod (38) is hinged to the rear clamp (36). The other end of the front pull rod (310) and the other end of the rear pull rod (38) are respectively threadedly matched with the two ends of the length adjustment screw sleeve (39). The auxiliary pull rod assembly is obliquely supported between the main support rod (37) and the suspension beam (14).

4. A large-scale underwater vehicle wind tunnel dynamic derivative test device according to claim 3, characterized in that: A plurality of first pin holes (18) are machined on the suspension beam (14) along the length direction, and a through second pin hole is provided on the upper pipe clamp (312) and the lower pipe clamp (311), and the second pin hole and any first pin hole (18) are matched with a pin.

5. A large-scale underwater vehicle wind tunnel dynamic derivative test device according to claim 2, characterized in that: The rotating shaft (35) is a hollow shaft, and the outer periphery of the output shaft of the torque motor (32) and the inner periphery of the rotating shaft (35) are matched and connected via two tension sleeves (33).

6. A large-scale underwater vehicle wind tunnel dynamic derivative test device according to claim 2, characterized in that: The mounting hole and the rotating shaft (35) are rotationally matched via two angular contact bearings (34).

7. A large-scale underwater vehicle wind tunnel dynamic derivative test device according to claim 2, characterized in that: The angle of attack adjustment mechanism (4) comprises a guide rail base (41), an arc-shaped slide rail (44), a support (47), a slider (45) and a reduction motor (42); two arc-shaped slide rails (44) and two arc-shaped racks (43) are coaxially arranged on the guide rail base (41); the axis lines of the two arc-shaped slide rails (44) are horizontally perpendicular to the airflow direction of the test section (5); two sliders (45) are arranged on the angle of attack base (48); the two sliders (45) are slidably matched with the two arc-shaped slide rails (44) in a one-to-one correspondence; and a gearbox (45) is arranged on the angle of attack base (48). A reduction motor (42) is provided, and gears (46) are sleeved at both ends of the output shaft of the reduction motor (42). The two gears (46) and the two arc-shaped racks (43) are meshed one by one. The lower end of the support (47) is connected to the angle of attack base (48), and the upper end of the support (47) is the output end of the angle of attack adjustment mechanism (4). A hanging basket (6) is provided below the test section (5), and the guide rail base (41) is fixed in the hanging basket (6). The upper end of the support (47) is connected to the lower wall plate passing through the test section (5) and is connected to the curved knife frame (31).

8. The large-scale underwater vehicle wind tunnel dynamic derivative test device according to claim 1, characterized in that: The transmission shaft (16) and the outer sleeve (15) are rotationally matched via two deep groove ball bearings.

9. A large-scale underwater vehicle wind tunnel dynamic derivative test method, implemented by relying on a large-scale underwater vehicle wind tunnel dynamic derivative test device according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: Determine the underwater vehicle test scaling ratio according to the wind tunnel test blockage requirements and the test device load capacity, and process an underwater vehicle wind tunnel test model with similar mass inertia and consistent appearance according to the scaling ratio; Step 2: Install the test device on the test section (5), and connect the control system of the test device and the data line of the moment balance (12) to the wind tunnel control and acquisition system; Step 3: Controlling the angle of attack adjustment mechanism (4) and the sideslip angle adjustment mechanism (3) to adjust the underwater vehicle model (2) to the angle of attack and sideslip angle of the test target, and starting the high-speed motor (17) to make the propeller (21) reach the test target rotation speed; Step 4: start the wind tunnel. When the wind speed in the wind tunnel reaches the target value, control the output end of the sideslip angle adjustment mechanism (3) to drive the underwater vehicle model (2) to oscillate at a given frequency and amplitude, start the wind tunnel data acquisition system, and collect and record the dynamic derivative values ​​of the underwater vehicle model (2); Step 5: Stop the wind tunnel and reduce the wind speed to zero; Step 6: Repeat steps 3 to 5 to complete the oscillation test under different combinations of angles of attack, sideslip angles and propeller (21) rotation speeds.

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