A hydrodynamic wing swing model attitude control device based on water tunnel

Abstract

The present invention provides a water tunnel-based attitude control device for a hydrodynamic wing swing model. The water tunnel connection portion enables the test device and corresponding counterweight to rotate about a rotation axis within a limited angle range. This allows for flexible simulation of the pitch attitude changes of the hydrodynamic wing swing model during supercavitation navigation during water tunnel testing. The designed power output portion precisely drives the rudders of the test device to rotate, thereby controlling lift and adjusting the model's attitude. The data acquisition system utilizes data from multiple sensors to not only achieve closed-loop control of the model's attitude but also, combined with collected image data, perform comprehensive analysis of flow fields and rudder dynamics. Furthermore, the device provided by the present invention offers significant advantages over existing technologies in terms of cost and size.

Description

Technical Field

[0001] The present invention belongs to the field of ship and underwater vehicle engineering experimental equipment, and in particular relates to a hydrodynamic wing swing model attitude control device based on a water tunnel. Background Art

[0002] At present, water tunnel experimental platforms are one of the important means to conduct experiments or simulations on new underwater vehicles such as supercavitating vehicles. Most of them are designed separately for research on cavitation phenomena, vehicle rudder and wing dynamics, etc. In the existing practical platforms of this type, there is still a lack of underwater ventilation cavitating vehicle closed-loop control experimental systems and corresponding methods that integrate the cavitation generation and rudder and wing attitude control of supercavitating vehicles. This also limits the comprehensive research on the relevant mechanisms and performance of this new type of vehicle. Summary of the Invention

[0003] In view of this, and in response to the technical problems existing in this field, the present invention provides a hydrodynamic wing swing model attitude control device based on a water tunnel, which consists of a water tunnel connection part, a test device part, a power output part, a counterweight part and a data acquisition system;

[0004] Among them, the water tunnel connection part includes the water tunnel window cover, the supporting hollow circular shaft, the hollow test device rotating shaft, the outer retaining ring, the test device three-way shaft, the double angular contact ball bearing, and the test device external rotating shaft; one side of the water tunnel window cover is used to fix the main components of the power output part set outside the watertight environment, and the other side is used to support the experimental device part and the counterweight part set in the watertight environment; the supporting hollow circular shaft is fixedly set on the water tunnel window cover, and a group of double angular contact ball bearings are fixed at both ends; the hollow test device rotating shaft is set on the supporting hollow Inside the circular shaft, both ends are fixedly connected to the inner rings of a set of double angular contact ball bearings, thereby supporting the rotation of the hollow circular shaft relative to each other; the double angular contact bearings are composed of a pair of angular contact bearings connected back to back, and the inner rings of the angular contact bearings supporting both ends of the hollow circular shaft are fixedly connected to the external rotating shaft of the test device and the connection between the test device part and the counterweight part through an outer retaining ring, so that the test device part, the counterweight part, the hollow test device rotating shaft and the external rotating shaft of the test device can rotate as a whole to change the posture of the test device part in the water;

[0005] The test device comprises a rotor tail support, a rotor rudder section, rudder wings, a rotor internal connection section, a rotor body section, a ventilation adapter, and a rotor head; one end of the rotor tail support is rigidly connected to the hollow test device rotating shaft and the counterweight section, and the other end is connected to the rotor rudder section; the rotor rudder section is provided with a rudder wing, and is connected to one end of the rotor body section via the rotor internal connection section; the rotor body section has a hollow inner cavity, and a plurality of ventilation holes connected to the inner cavity are provided on its side wall; the other end of the rotor body section is connected to the rotor head, and a ventilation adapter connected to an external air supply system is provided in the inner cavity of the rotor body section near the rotor head, for generating ventilation supercavitation through the ventilation holes, and the ventilation holes also serve as pressure measuring holes for measuring the surface pressure of the rotor;

[0006] The power output section includes a motor, a transmission shaft, and a gear transmission mechanism. The motor is located outside the watertight environment. One end of the transmission shaft is connected to the power output end of the motor and passes through the inner cavity of the rotating shaft of the hollow test device to connect to the gear transmission mechanism located at the connection between the tail support and the counterweight portion of the rotating body. The gear transmission mechanism is connected to the rudder wing and can transmit the power provided by the motor to the rudder wing to drive its swing.

[0007] The counterweight part consists of a counterweight mechanism used to balance the gravity moment and buoyancy moment when the test device rotates and changes its posture, as well as various sensors required for the water tunnel test;

[0008] The data acquisition system consists of an image acquisition system, a computer, an air supply system, and a variety of sensors; the image acquisition system is used to collect image data during the water tunnel test; the air supply system is used to control and monitor the occurrence process of ventilation supercavitation; the computer uses image data and various sensor data provided by a variety of sensors for comprehensive analysis.

[0009] Furthermore, the water tunnel connection part also includes a fixed motor support plate, a limit frame, and a limit rod; wherein, the limit frame is fixedly mounted on the fixed motor support plate and distributed in pairs on both horizontal sides of the external rotating shaft of the test device; the external rotating shaft of the test device is also provided with a cross bar extending to both sides thereof, which is used to cooperate with the limit rod provided on the limit frame to limit the rotation angle of the external rotating shaft of the test device; the installation height of the limit rod on the limit frame is adjustable, which is used to change the rotation angle range of the external rotating shaft of the test device; the fixed motor support plate is also used to fix the motor.

[0010] Furthermore, the transmission shaft in the power output part is specifically composed of a sleeve, a motor section gear shaft and an external gear shaft connected in sequence, and the sleeve is connected to the motor output shaft; the gear transmission mechanism is specifically composed of a first ring-type elastic coupling, a gear box, a second ring-type elastic coupling, a built-in gear shaft, a bevel gear set and a pair of rudder rods connected in sequence; wherein, the first ring-type elastic coupling, the gear box and the second ring-type elastic coupling are arranged inside the connection of the test device part, the counterweight part and the hollow test device rotating shaft, and the built-in The gear shaft, bevel gear set and a pair of rudder rods are arranged inside the tail support of the rotating body and the rotating body rudder wing section; the first ring-type elastic coupling is connected to the gear shaft; two angular contact ball bearings are arranged inside the rotating body rudder wing section to support the built-in gear shaft; a pair of stepped through holes are symmetrically opened on the wall surface of the rotating body rudder wing section, and a deep groove ball bearing is installed in each stepped through hole to support a rudder rod respectively; each rudder rod is connected to a rudder wing respectively; after the power provided by the motor is transmitted to the bevel gear set and changes the direction of rotation, the rudder wing is driven by the rudder rod to achieve deflection.

[0011] Furthermore, the counterweight mechanism in the counterweight part is specifically composed of a counterweight rod, a counterweight block and a counterweight tail rod; one end of the counterweight rod is connected to the tail support of the rotating body, and the other end is connected to the counterweight tail rod; the counterweight block can be slidably set on the counterweight rod by means of wire pulling, etc., and is used to balance the test device part; the counterweight tail rod is used to install various sensors required for the water tunnel test.

[0012] Furthermore, a three-way shaft is specifically used to realize the connection between the test device part, the counterweight part, and the hollow test device rotating shaft. The first ring-type elastic coupling, the gear box, the second ring-type elastic coupling, the air path between the external air supply system and the ventilation adapter, and the sensor wiring all pass through the interior of the three-way shaft.

[0013] Furthermore, the image acquisition system in the data acquisition system is specifically composed of a high-speed camera and a light source. The high-speed camera is used to collect image data of the water tunnel test process, and the light source is used to illuminate the test scene; the sensor includes at least an inertial measurement unit, a pressure sensor and an air flow meter; the air supply system is composed of a compressor located outside the watertight environment and an air path connected to the ventilation adapter, and the ventilation volume can be adjusted by a computer based on the measurement results of the air flow meter; the inertial measurement unit is arranged at the end of the counterweight part, preferably on the counterweight tail rod, for measuring the rotation angle data of the test device part and feeding it back to the computer, and the computer provides torque and / or angle instructions to the motor based on the rotation angle data, so that the motor provides driving force to the rudder based on the instructions to change its deflection angle, thereby realizing the attitude adjustment of the test device part; the pressure sensor is installed at the vent on the body of the rotating body, for measuring the surface pressure of the rotating body; the computer uses image data and sensor data to perform closed-loop control of the water tunnel test, and performs relevant data processing and analysis such as rudder dynamics analysis.

[0014] Furthermore, the rudder wing and the rotating body head are both detachable and can be replaced to conduct tests on different hydrodynamic wing swing models.

[0015] Accordingly, the present invention also provides a water tunnel-based hydrofoil swing model test method implemented using the above-mentioned device, which specifically includes the following steps:

[0016] S1. Complete the assembly of the device in the water tunnel test environment, and then fill the water tunnel with water; after the water filling is completed, adjust the counterweight part to balance the force of the test device and set the angle range of its rotation;

[0017] S2. Adjust the image acquisition system and the lighting conditions in the test scene so that the image acquisition system can obtain clear images of the test device; complete the calibration of each sensor before the test;

[0018] S3. Open the water tunnel to provide a predetermined flow rate, and open the air supply system to adjust the ventilation volume to the target value;

[0019] S4. releasing the test device portion so that it can rotate within a set angle range to change its posture; simultaneously, an image acquisition system acquires an image of the test device portion, and a sensor acquires rotation angle and surface pressure data of the test device portion;

[0020] S5. Providing torque and / or angle instructions to the motor according to the measured partial rotation angle data of the test device, so that the rudder wing rotates under the drive of the motor, thereby achieving closed-loop control of the rudder wing lift and the partial attitude of the test device;

[0021] S6. Perform correlation analysis on the flow field data of the hydrofoil swing model and the rudder wing dynamics data based on the sensor data and image data in the integrated test.

[0022] The water tunnel-based hydrodynamic wing swing model attitude control device provided by the present invention has a water tunnel connection portion that enables the test device portion and the corresponding counterweight portion to rotate around the rotation axis within a limited angle range. This allows for more flexible simulation of the pitch attitude changes of the hydrodynamic wing swing model during supercavitation navigation in water tunnel tests. The designed power output portion can accurately drive the rudder of the test device portion to rotate, thereby achieving the purpose of controlling lift and adjusting the model's attitude. The data acquisition system utilizes data from multiple sensors to not only achieve closed-loop control of the model's attitude, but also can perform comprehensive analysis of the flow field, rudder dynamics, and other aspects in combination with the collected image data. In addition, the device provided by the present invention also has significant advantages over existing technologies in terms of cost and volume. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1It is an overall top view of the device provided by the present invention;

[0024] Figure 2 A top view of the water tunnel connection portion of the device provided by the present invention;

[0025] Figure 3 A top view of the test component portion of the device provided by the present invention;

[0026] Figure 4 A top view of the power output portion of the device provided by the present invention;

[0027] Figure 5 The side view and top view of the counterweight portion of the device provided by the present invention;

[0028] Figure 6 This is a schematic diagram of the data acquisition system in the device provided by the present invention;

[0029] Figure 7 The figure shows the closed-loop control and test flow chart of the hydrodynamic wing swing model performed by the device provided by the present invention. Explanation of the accompanying symbols: 1-water tunnel connection part, 1.1-water tunnel window cover, 1.2-supporting hollow circular shaft, 1.3-test device rotating shaft, 1.4.1, 1.4.2-external retaining ring, 1.5-test device three-way shaft, 1.6.1, 1.6.2, 1.6.3, 1.6.4-angular contact ball bearing, 1.7-fixed motor support plate, 1.8-test device external rotating shaft, 1.9-limiting frame, 1.10-limiting rod; 2-test component part, 2.1-rotating body tail support, 2.2-rotating body rudder wing section, 2.3-rudder wing, 2.4-rotating body internal connecting section, 2.5-rotating body section, 2.6-ventilation adapter, 2.7-rotating body head, 2.8.1, 2.8.2-angular contact ball bearing, 2 .9—deep groove ball bearing; 3—power take-off section, 3.1—motor, 3.2—sleeve, 3.3—motor section gear shaft, 3.4—external gear shaft, 3.5.1—first ring-type elastic coupling, 3.5.2—second ring-type elastic coupling, 3.6—gearbox, 3.7—internal gear shaft, 3.8.1, 3.8.2—bevel gears, 3.9—rudder stock; 4—counterweight section, 4.1—counterweight rod, 4.2—counterweight block, 4.3—counterweight tail boom; 5—data acquisition system, 5.1—high-speed camera, 5.2—light source, 5.3—inertial measurement unit, 5.4—pressure sensor, 5.5—air flow meter, 5.6—motor torque sensor, 5.7—compressor, 5.8.1, 5.8.2—computer. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0033] The present invention provides a hydrodynamic wing swing model attitude control device based on a water tunnel, such as Figure 1 As shown, it consists of a water tunnel connection part 1, a test device part 2, a power output part 3, a counterweight part 4 and a data acquisition system 5;

[0034] Among them, the water tunnel connection part is as follows Figure 2As shown, it includes a water tunnel window cover 1.1, a supporting hollow circular shaft 1.2, a hollow test device rotating shaft 1.3, an outer retaining ring 1.4, a test device three-way shaft 1.5, a double angular contact ball bearing, and an external test device rotating shaft 1.8; one side of the water tunnel window cover 1.1 is used to fix the main components of the power output part placed outside the watertight environment, and the other side is used to support the experimental device part and the counterweight part placed in the watertight environment; the supporting hollow circular shaft 1.2 is fixedly set on the water tunnel window cover 1.1, and a group of double angular contact ball bearings are fixedly set at both ends of the hollow test device rotating shaft 1.3. It is set inside the supporting hollow circular shaft 1.2, and its two ends are respectively connected to a group of double angular contact The inner rings of the ball bearings are fixedly connected so as to be rotatable relative to the supporting hollow circular shaft 1.2. The double angular contact bearings are each composed of a pair of angular contact bearings 1.6.1 and 1.6.2, and 1.6.3 and 1.6.4 connected back to back. The inner rings of the angular contact bearings 1.6.1 and 1.6.4 supporting the two ends of the hollow circular shaft 1.2 are respectively fixedly connected to the external rotating shaft 1.8 of the test device through an outer retaining ring 1.4.1 and 1.4.2, and to the connection between the test device part 2 and the counterweight part 4. This allows the test device part 2, the counterweight part 4, the hollow test device rotating shaft 1.3, and the external rotating shaft 1.8 of the test device to rotate as a whole to change the posture of the test device part in the water.

[0035] Test device part 2 Figure 3 As shown, it includes a rotating body tail support 2.1, a rotating body rudder wing section 2.2, a rudder wing 2.3, a rotating body built-in connecting section 2.4, a rotating body body section 2.5, a ventilation adapter 2.6, and a rotating body head 2.7; one end of the rotating body tail support 2.1 is rigidly connected to the hollow test device rotating shaft 1.3 and the counterweight part 4, and the other end is connected to the rotating body rudder wing section 2.2; the rotating body rudder wing section 2.2 is provided with a rudder wing 2.3 and is connected to the rotating body built-in connecting section 2.4. Segment 2.4 is connected to one end of rotor body segment 2.5; rotor body segment 2.5 has a hollow interior cavity, with a plurality of vent holes disposed on its sidewalls, communicating with the interior cavity. The other end of rotor body segment 2.5 is connected to rotor head 2.7. A vent adapter 2.6, connected to an external air supply system, is disposed within the interior cavity of rotor body segment 2.5 near rotor head 2.7. The vent holes are used to generate ventilated supercavitation bubbles, and the vent holes also serve as pressure taps for measuring rotor surface pressure.

[0036] Power output part 3 Figure 4As shown, it includes a motor 3.1, a transmission shaft, and a gear transmission mechanism; the motor 3.1 is arranged outside the watertight environment, and one end of the transmission shaft is connected to the power output end of the motor 3.1, passes through the inner cavity of the rotating shaft 1.3 of the hollow test device, and is connected to the gear transmission mechanism arranged at the connection between the tail support 2.1 of the rotating body and the counterweight part 4; the gear transmission mechanism is connected to the rudder 2.3, and can transmit the power provided by the motor to the rudder 2.3 to drive its swing.

[0037] The counterweight part 4 is as follows Figure 5 As shown, it consists of a counterweight mechanism for balancing the gravity moment and buoyancy moment when the test device part 2 rotates and changes its posture, as well as various sensors required for the water tunnel test;

[0038] Data acquisition system 5 Figure 6 As shown, it consists of an image acquisition system, a computer, an air supply system and a variety of sensors; the image acquisition system is used to collect image data during the water tunnel test; the air supply system is used to control and monitor the occurrence process of ventilation supercavitation; the computer uses the image data and various sensor data provided by the various sensors to perform comprehensive analysis.

[0039] In a preferred embodiment of the present invention, the water tunnel connection part also includes a fixed motor support plate 1.7, a limit frame 1.9, and a limit rod 1.10; wherein the limit frame 1.9 is fixedly mounted on the fixed motor support plate 1.7 and distributed in pairs on both horizontal sides of the external rotating shaft 1.8 of the test device; the external rotating shaft 1.8 of the test device is also provided with a cross bar extending to both sides thereof, which is used to cooperate with the limit rod 1.10 provided on the limit frame 1.9 to limit the rotation angle of the external rotating shaft 1.8 of the test device; the installation height of the limit rod 1.10 on the limit frame 1.9 is adjustable, which is used to change the rotation angle range of the external rotating shaft 1.8 of the test device; the fixed motor support plate 1.7 is also used to fix the motor 3.1.

[0040] In a preferred embodiment of the present invention, the transmission shaft in the power output part is specifically composed of a sleeve 3.2, a motor section gear shaft 3.3 and an external gear shaft 3.4 connected in sequence, and the sleeve 3.2 is connected to the motor output shaft; the gear transmission mechanism is specifically composed of a first ring-type elastic coupling 3.5.1, a gear box 3.6, a second ring-type elastic coupling 3.5.2, an internal gear shaft 3.7, a bevel gear set 3.8.1, 3.8.2 and a pair of rudders 3.9.1, 3.9.2 connected in sequence; wherein the first ring-type elastic coupling 3.5.1, the gear box 3.6, and the second ring-type elastic coupling 3.5.2 are arranged inside the connection of the test device part 2, the counterweight part 4, and the hollow test device rotating shaft 1.3, the internal gear shaft 3.7, the bevel gear The gear groups 3.8.1, 3.8.2 and a pair of rudder stocks 3.9.1, 3.9.2 are arranged inside the rotor tail support 2.1 and the rotor rudder wing section 2.2; the first ring-type elastic coupling 3.5.1 is connected to the gear shaft 3.4; two angular contact ball bearings 2.8.1, 2.8.2 are arranged inside the rotor rudder wing section 2.2 to support the built-in gear shaft 3.7; a pair of stepped through holes are symmetrically provided on the wall surface of the rotor rudder wing section 2.2, and a deep groove ball bearing 2.9 is installed in each stepped through hole to support a rudder stock; the rudder stocks 3.9.1, 3.9.2 are respectively connected to a rudder wing 2.3; after the power provided by the motor is transmitted to the bevel gear groups 3.8.1, 3.8.2 and changes the direction of rotation, the rudder stocks 3.9.1, 3.9.2 drive the rudder wing 2.3 to achieve deflection. In this embodiment, the total transmission ratio is specifically set to 2:1, wherein the transmission ratio of the gear box is 2:1 and the transmission ratio of the bevel gear set is 1:1.

[0041] In a preferred embodiment of the present invention, the counterweight mechanism in the counterweight part 4 is specifically composed of a counterweight rod 4.1, a counterweight block 4.2 and a counterweight tail rod 4.3; one end of which is connected to the tail support 2.1 of the rotating body, and the other end is connected to the counterweight tail rod 4.3; the counterweight block 4.2 can be slidably set on the counterweight rod 4.1 by wire pulling or the like, and is used to balance the test device part 2 and can be fixed after adjustment; the counterweight tail rod 4.3 is used to install various sensors required for the water tunnel test.

[0042] In a preferred embodiment of the present invention, a three-way shaft 1.5 is specifically used to connect the test device part 2, the counterweight part 4, and the hollow test device rotating shaft 1.3. The first ring-type elastic coupling 3.5.1, the gear box 3.6, the second ring-type elastic coupling 3.5.2, the air path between the external air supply system and the ventilation adapter 2.6, and the sensor wiring all pass through the interior of the three-way shaft 1.5.

[0043] In a preferred embodiment of the present invention, the image acquisition system in the data acquisition system 5 is specifically composed of a high-speed camera 5.1 and a light source 5.2. The high-speed camera 5.1 is used to collect image data of the water tunnel test process, and the light source 5.2 is used to illuminate the test scene. The sensors include at least an inertial measurement unit 5.3, a pressure sensor 5.4, and an air flow meter 5.5. The air supply system is composed of a compressor 5.7 located outside the watertight environment and an air path connected to the ventilation adapter 2.6. The ventilation volume can be adjusted by a computer based on the measurement results of the air flow meter 5.5. The inertial measurement unit 5.3 is connected to the air flow meter 5.5. .3 is set at the end of the counterweight part 4, preferably on the counterweight tail rod 4.3, for measuring the rotation angle data of the test device part 2 and feeding it back to the computer. The computer provides torque and / or angle instructions to the motor based on the rotation angle data, so that the motor provides driving force to the rudder 2.3 based on the instructions to change its deflection angle, thereby achieving the attitude adjustment of the test device part 2; the pressure sensor 5.4 is installed at the vent on the rotating body section 2.5, for measuring the surface pressure of the rotating body; the computer uses image data and various sensor data to perform closed-loop control of the water tunnel test, and performs relevant data processing and analysis such as rudder dynamics analysis. In specific implementation, it can be as follows Figure 6 As shown, a computer 5.8.1 is used to execute the data acquisition and processing of the air supply system, the rudder-rotating body attitude closed-loop control and the related sensors, and another computer 5.8.2 is used to specifically execute the acquisition and processing of image data.

[0044] In a preferred embodiment of the present invention, the rudder wing 2.3 and the rotating body head 2.7 are both detachable and can be used to replace heads and wing surfaces of various shapes or sizes to test different hydrodynamic wing swing models.

[0045] Accordingly, the present invention also provides a water tunnel-based hydrofoil swing model test method implemented using the above-mentioned device, which specifically includes the following steps:

[0046] S1. Complete the assembly of the device in the water tunnel test environment, and then fill the water tunnel with water; after the water filling is completed, adjust the counterweight part to balance the force of the test device and set the angle range of its rotation;

[0047] S2. Adjust the image acquisition system and the lighting conditions in the test scene so that the image acquisition system can obtain clear images of the test device; complete the calibration of each sensor before the test;

[0048] S3. Open the water tunnel to provide a predetermined flow rate, and open the air supply system to adjust the ventilation volume to the target value;

[0049] S4. releasing the test device portion so that it can rotate within a set angle range to change its posture; simultaneously, an image acquisition system acquires an image of the test device portion, and a sensor acquires rotation angle and surface pressure data of the test device portion;

[0050] S5. Providing torque and / or angle instructions to the motor according to the measured partial rotation angle data of the test device, so that the rudder wing rotates under the drive of the motor, thereby achieving closed-loop control of the rudder wing lift and the partial attitude of the test device;

[0051] S6. Perform correlation analysis on the flow field data of the hydrofoil swing model and the rudder wing dynamics data based on the sensor data and image data in the integrated test.

[0052] Figure 7 The closed-loop control and optional test process of the hydrofoil swing model performed by the above-mentioned equipment in an example based on the present invention are shown.

[0053] It should be understood that the size of the serial numbers of the steps in the embodiment of the present invention does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0054] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A hydrofoil swing model attitude control device based on a water tunnel, characterized by: It consists of a water tunnel connection part, a test device part, a power output part, a counterweight part and a data acquisition system; Among them, the water tunnel connection part includes the water tunnel window cover, the supporting hollow circular shaft, the hollow test device rotating shaft, the outer retaining ring, the test device three-way shaft, the double angular contact ball bearing, and the test device external rotating shaft; one side of the water tunnel window cover is used to fix the main components of the power output part set outside the watertight environment, and the other side is used to support the experimental device part and the counterweight part set in the watertight environment; the supporting hollow circular shaft is fixedly set on the water tunnel window cover, and a group of double angular contact ball bearings are fixed at both ends; the hollow test device rotating shaft is set on the supporting hollow Inside the circular shaft, both ends are fixedly connected to the inner rings of a set of double angular contact ball bearings, thereby supporting the rotation of the hollow circular shaft relative to each other; the double angular contact bearings are composed of a pair of angular contact bearings connected back to back, and the inner rings of the angular contact bearings supporting both ends of the hollow circular shaft are fixedly connected to the external rotating shaft of the test device and the connection between the test device part and the counterweight part through an outer retaining ring, so that the test device part, the counterweight part, the hollow test device rotating shaft and the external rotating shaft of the test device can rotate as a whole to change the posture of the test device part in the water; The test device comprises a rotor tail support, a rotor rudder section, rudder wings, a rotor internal connection section, a rotor body section, a ventilation adapter, and a rotor head; one end of the rotor tail support is rigidly connected to the hollow test device rotating shaft and the counterweight section, and the other end is connected to the rotor rudder section; the rotor rudder section is provided with a rudder wing, and is connected to one end of the rotor body section via the rotor internal connection section; the rotor body section has a hollow inner cavity, and a plurality of ventilation holes connected to the inner cavity are provided on its side wall; the other end of the rotor body section is connected to the rotor head, and a ventilation adapter connected to an external air supply system is provided in the inner cavity of the rotor body section near the rotor head, for generating ventilation supercavitation through the ventilation holes, and the ventilation holes also serve as pressure measuring holes for measuring the surface pressure of the rotor; The power output section includes a motor, a transmission shaft, and a gear transmission mechanism. The motor is located outside the watertight environment. One end of the transmission shaft is connected to the power output end of the motor and passes through the inner cavity of the rotating shaft of the hollow test device to connect to the gear transmission mechanism located at the connection between the tail support and the counterweight portion of the rotating body. The gear transmission mechanism is connected to the rudder wing and can transmit the power provided by the motor to the rudder wing to drive its swing. The counterweight part consists of a counterweight mechanism used to balance the gravity moment and buoyancy moment when the test device rotates and changes its posture, as well as various sensors required for the water tunnel test; The data acquisition system consists of an image acquisition system, a computer, an air supply system, and a variety of sensors; the image acquisition system is used to collect image data during the water tunnel test; the air supply system is used to control and monitor the occurrence process of ventilation supercavitation; the computer uses image data and various sensor data provided by a variety of sensors for comprehensive analysis.

2. The device for controlling the attitude of a hydrofoil swing model based on a water tunnel according to claim 1, characterized in that: The water tunnel connection part also includes a fixed motor support plate, a limit frame, and a limit rod; wherein the limit frame is fixedly installed on the fixed motor support plate and distributed in pairs on both horizontal sides of the external rotating shaft of the test device; the external rotating shaft of the test device is also provided with a cross bar extending to its two sides, which is used to cooperate with the limit rod provided on the limit frame to limit the rotation angle of the external rotating shaft of the test device; the installation height of the limit rod on the limit frame is adjustable, which is used to change the rotation angle range of the external rotating shaft of the test device; the fixed motor support plate is also used to fix the motor.

3. The water tunnel-based hydrofoil swing model attitude control device according to claim 1, characterized in that: The transmission shaft in the power output part is specifically composed of a sleeve, a motor section gear shaft and an external gear shaft connected in sequence, and the sleeve is connected to the motor output shaft; the gear transmission mechanism is specifically composed of a first ring-type elastic coupling, a gear box, a second ring-type elastic coupling, a built-in gear shaft, a bevel gear set and a pair of rudders connected in sequence; wherein, the first ring-type elastic coupling, the gear box and the second ring-type elastic coupling are arranged inside the connection of the test device part, the counterweight part and the hollow test device rotating shaft, and the built-in gear The shaft, bevel gear set and a pair of rudder rods are arranged inside the tail support of the rotating body and the rudder wing section of the rotating body; the first ring-type elastic coupling is connected to the gear shaft; two angular contact ball bearings are arranged inside the rudder wing section of the rotating body to support the built-in gear shaft; a pair of stepped through holes are symmetrically opened on the wall surface of the rudder wing section of the rotating body, and a deep groove ball bearing is installed in each stepped through hole to support a rudder rod respectively; each rudder rod is connected to a rudder wing respectively; after the power provided by the motor is transmitted to the bevel gear set and changes the direction of rotation, the rudder wing is driven by the rudder rod to achieve deflection.

4. The water tunnel-based hydrofoil swing model attitude control device according to claim 1, characterized in that: The counterweight mechanism in the counterweight part is specifically composed of a counterweight rod, a counterweight block and a counterweight tail rod; one end of the counterweight rod is connected to the tail support of the rotating body, and the other end is connected to the counterweight tail rod; the counterweight block is slidably set on the counterweight rod and is used to balance the test device part; the counterweight tail rod is used to install various sensors required for the water tunnel test.

5. The device for controlling the attitude of a hydrofoil swing model based on a water tunnel according to claim 3, characterized in that: Specifically, a three-way shaft is used to connect the test device part, the counterweight part, and the hollow test device rotating shaft. The first ring-type elastic coupling, the gear box, the second ring-type elastic coupling, the air path between the external air supply system and the ventilation adapter, and the sensor wiring all pass through the interior of the three-way shaft.

6. The device for controlling the attitude of a hydrofoil swing model based on a water tunnel according to claim 1, characterized in that: The image acquisition system in the data acquisition system is specifically composed of a high-speed camera and a light source. The high-speed camera is used to collect image data of the water tunnel test process, and the light source is used to illuminate the test scene. The sensor includes at least an inertial measurement unit, a pressure sensor, and an air flow meter. The air supply system consists of a compressor located outside the watertight environment and an air path connected to the ventilation adapter, and the ventilation volume can be adjusted by a computer based on the measurement results of the air flow meter; the inertial measurement unit is set at the end of the counterweight part, used to measure the rotation angle data of the test device part and feed it back to the computer. The computer provides torque and / or angle instructions to the motor based on the rotation angle data, so that the motor provides driving force to the rudder based on the instructions to change its deflection angle, thereby realizing the attitude adjustment of the test device part; the pressure sensor is installed at the vent on the body of the rotating body, used to measure the surface pressure of the rotating body; the computer uses image data and data from various sensors to perform closed-loop control of the water tunnel test, and performs relevant data processing and analysis including rudder dynamics analysis.

7. The device for controlling the attitude of a hydrofoil swing model based on a water tunnel according to claim 1, characterized in that: The rudder wing and the rotating body head are both detachable and can be replaced to test different hydrodynamic wing swing models.

8. A method for testing a hydrofoil swing model in a water tunnel using the apparatus according to any one of claims 1 to 7, characterized in that: The specific steps include: S1. Complete the assembly of the device in the water tunnel test environment, and then fill the water tunnel with water; after the water filling is completed, adjust the counterweight part to balance the force of the test device and set the angle range of its rotation; S2. Adjust the image acquisition system and the lighting conditions in the test scene so that the image acquisition system can obtain clear images of the test device; complete the calibration of each sensor before the test; S3. Open the water tunnel to provide a predetermined flow rate, and open the air supply system to adjust the ventilation volume to the target value; S4. releasing the test device portion so that it can rotate within a set angle range to change its posture; simultaneously, an image acquisition system acquires an image of the test device portion, and a sensor acquires rotation angle and surface pressure data of the test device portion; S5. Providing torque and / or angle instructions to the motor according to the measured partial rotation angle data of the test device, so that the rudder wing rotates under the drive of the motor, thereby achieving closed-loop control of the rudder wing lift and the partial attitude of the test device; S6. Based on the sensor data and image data from the comprehensive test, the hydrofoil swing model is subjected to relevant analysis including flow field data and rudder-wing dynamics.

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