Internal solitary wave acting force measuring method

Abstract

The invention relates to an internal solitary wave acting force measurement method, which comprises the steps that S1, a first acting force F1'applied by an internal solitary wave to a first connecting rod is measured through a first dynamometer on the first connecting rod, and the first connecting rod is fixedly connected with the mass center of an underwater target in the Z-axis direction; s2, a second force meter on a second connecting rod is used for measuring a second acting force F2'applied by the internal solitary wave, the second connecting rod is fixedly connected with the mass center of the underwater target in the theta angle direction, and the theta angle direction is the direction which forms an included angle theta with the Z axis in the XZ plane; and S3, based on the measurement results of the first acting force F1'and the second acting force F2 ', the acting force FX applied to the mass center of the underwater target along the X-axis direction by the internal solitary wave is determined, and the components of the F1' and the FX in the direction of the second connecting rod are balanced with the F2 '. The problem that a complex multi-connecting-rod force measuring structure is large in error due to too many connecting points is effectively solved, a high-precision multi-component force sensor is not needed, and the multi-connecting-rod force measuring structure has the advantages of being simple in structure, low in cost, more accurate in measuring result and the like.

Description

Technical Field

[0001] The present application belongs to the technical field of internal solitary wave experiments, and in particular, relates to a method for measuring the force of internal solitary waves with adjustable depth. Background Art

[0002] Internal waves are disturbances existing in stratified fluids in the ocean. Generally, ocean internal waves with a wavelength of 1 to 2 times the length of a submerged body are called internal solitary waves. As a special type of nonlinear internal wave, internal solitary waves will cause the submerged body to fluctuate up and down significantly during its propagation, which will have a great impact on the stability and controllability of the submerged body.

[0003] Internal solitary wave tank experiment is an important means to study the influence of internal solitary waves on the hydrodynamic performance of underwater submersibles. At present, quite a number of schemes for internal solitary wave tank experiments have been disclosed. For example, Patent 201810114516.7 discloses an experimental system for the interaction between internal waves and submersibles. Three pressure sensors arranged on the head, middle and side of the submersible model are used to measure the forces in three directions respectively. However, the measurement position of the above method is the surface of the submersible model, and the force condition at its center of mass cannot be directly obtained. At the same time, due to the characteristics of internal solitary waves, the horizontal and vertical forces may differ by an order of magnitude. In order to ensure the accuracy of the experiment, sensors with different ranges and accuracies need to be used to increase The price and usage cost of the experimental equipment have been improved; for example, patent 202211064910.7 proposes an embedded force measurement method for the interaction between underwater structures and internal solitary waves. The force sensor is embedded in the underwater structure model, and the three-dimensional force data of the structure model when the internal solitary wave passes is measured. However, multi-component force sensors that meet the requirements of one-tenth of the horizontal force and vertical force precision and range generally need to be customized separately, and their price is much higher than that of single-component force sensors. In addition, the sensor is built into the underwater submersible model in its solution. Since the fluid environment of the experiment usually contains oil and water, the complexity of operations such as sensor installation and sealing is greatly increased, which undoubtedly increases the probability of sensor damage.

[0004] To this end, the applicant has developed a multi-link structure, through which the force on the underwater submersible can be decomposed into two components, horizontal and vertical. Two single-component force sensors can be used to measure the two components separately. However, in actual operation, when there are too many rods and too many connection points, new error problems will arise. In addition, the friction generated when there is too much contact between the parts will also affect the smaller force measurement.

[0005] It is necessary to optimize the measurement system in a targeted manner, minimize the number of rods, and then reduce the number of connection points, in order to solve the problems existing in the various existing water tank test schemes mentioned above. Summary of the invention

[0006] The purpose of the present application is to provide a method for measuring the force of an internal solitary wave, so as to measure the force condition at the center of mass of a submerged body model at a relatively low cost and with relatively high accuracy.

[0007] The embodiments of the present application can be implemented through the following technical solutions:

[0008] A method for measuring internal solitary wave force comprises the following steps:

[0009] S1, measuring a first force F′1 exerted by the internal solitary wave on the first connecting rod by a first dynamometer mounted on the first connecting rod, wherein the first connecting rod is fixedly connected to the center of mass of the underwater target along the Z-axis direction;

[0010] S2, measuring a second force F′2 exerted by the internal solitary wave on the second connecting rod by a second dynamometer mounted on the second connecting rod, wherein the second connecting rod is fixedly connected to the center of mass of the underwater target along an angle θ direction, wherein the angle θ direction is a direction in the XZ plane with an angle θ with the Z axis;

[0011] S3, based on the measurement results of the first force F′1 and the second force F′2, determine the force F along the X-axis direction exerted by the internal solitary wave on the center of mass of the underwater target X , where F′1 and F X The component in the direction of the second link is balanced with F'2.

[0012] Further, the upper limit of the angle θ is determined based on the measurement result of the first force F′1, the first force arm L1 of the second dynamometer and the anti-torque limit M′ of the second dynamometer;

[0013] Or based on the maximum force F exerted by the internal solitary wave along the Z-axis direction Z.max , the second force arm L2 of the second dynamometer and the anti-torque limit M′ of the second dynamometer are determined.

[0014] Furthermore, the upper limit of the angle θ is obtained according to the following formula:

[0015] M′=(F′1×sinθ+F′ X.max × cosθ) × L1,

[0016] Among them, F′1 is the measurement result of the first dynamometer, F′ X.max is the empirical value of the maximum force exerted by the internal solitary wave along the X-axis direction, L1 is the distance from the second dynamometer to the mass center of the underwater target, and M′ is the anti-torque limit of the second dynamometer.

[0017] Furthermore, the upper limit of the angle θ is obtained according to the following formula:

[0018] M′=(F′Z.max ×sinθ+F′ X.max × cosθ) × L2,

[0019] Among them, F′ Z.Max is the empirical value of the maximum force exerted by the internal solitary wave along the Z axis, F′ X.max is the empirical value of the maximum force applied by the internal solitary wave along the X-axis direction, L2 is the distance from the second dynamometer to the inflection point A along the direction of the second connecting rod, and M′ is the anti-torque limit of the second dynamometer.

[0020] Furthermore, step S12 is included between step S1 and step S2:

[0021] Based on the upper limit of the angle θ, the angle between the second connecting rod and the Z axis in the XZ plane is adjusted.

[0022] Further, when the angle θ between the second connecting rod and the Z axis in the XZ plane is given, the installation position of the second dynamometer relative to the second connecting rod can be set by calculating the limit value of the lever arm L, and the lever arm L is determined according to the following formula,

[0023] M′=(F′1×sinθ+F′ X.max × cosθ) × L,

[0024] Among them, F′1 is the measurement result of the first dynamometer, F′ X.max is the empirical value of the maximum force exerted by the internal solitary wave along the X-axis direction, and M′ is the anti-torque limit of the second dynamometer.

[0025] Furthermore, the first dynamometer and / or the second dynamometer is arranged at a position close to the center of mass of the underwater target and above the liquid surface of the experimental water pool.

[0026] Furthermore, the force balance is decomposed along the direction of the second connecting rod, and the force F of the internal solitary wave along the X-axis direction is obtained according to the following formula: X ,

[0027] F X =(F′ Z2 -F′ Z1 ×cosθ) / sinθ,

[0028] Among them, F′ Z1 is the internal solitary wave force on the first dynamometer along the Z-axis direction, F′ Z1 =F′1,F′ Z2 is the internal solitary wave force on the second dynamometer along the direction of the second connecting rod, F′ Z2 =F′2.

[0029] Furthermore, the inner isolated waves applied in step S1 and step S2 have the same characteristics.

[0030] Furthermore, the forces measured in step S1 and step S2 are the results measured when the underwater target is in a state of gravity and buoyancy equilibrium in the experimental water pool.

[0031] Furthermore, the first connecting rod and the second connecting rod are of split structure, or the first connecting rod and the second connecting rod are fixedly connected to form an integrated structure.

[0032] Further, when the first connecting rod and the second connecting rod are an integrated structure, a measuring device is used to measure the internal solitary wave, the measuring device includes a first connecting rod, a second connecting rod, a force transmission part and a supporting structure, and a limiting structure, the supporting structure is arranged above the experimental water pool, the force transmission part is a hinged structure, and the adjusting limiting mechanism is slidably connected to the supporting unit of the supporting structure;

[0033] The adjustment limit mechanism comprises a first limit block and a second limit block, wherein the first limit block is fixedly connected to the support structure, and the second limit block is rotatably connected to one side of the first limit block along the Y-axis direction, and the rotation direction is parallel to the XZ plane;

[0034] The first connecting rod comprises a first upper connecting rod and a first lower connecting rod fixedly connected to two ends of the first dynamometer along the Z-axis direction, the other end of the first lower connecting rod is fixedly connected to the center of mass of the underwater target, and the other end of the first upper connecting rod is connected to the first connecting portion of the force transmission portion;

[0035] The second connecting rod includes a second upper connecting rod and a second lower connecting rod respectively fixedly connected to two ends of the second dynamometer along the θ angle direction, wherein the second upper connecting rod is connected to the supporting structure through the first limit block, and the second lower connecting rod is fixedly connected to the first upper connecting rod through a force transmission part.

[0036] Furthermore, between step S12 and step S2,

[0037] Based on the position of the underwater target in S1, the length of the second connecting rod in the XZ plane is adjusted to keep the depth information and position information of the underwater target in the experimental pool unchanged.

[0038] Further, when the first connecting rod and the second connecting rod are an integrated structure, a measuring device is used to measure the internal solitary wave, the measuring device includes the first connecting rod, the second connecting rod, a force transmission part and a supporting structure, and the supporting structure is arranged above the experimental water pool;

[0039] The force transmission part includes an integral connection member consisting of a first connection part, a corner part and a second connection part;

[0040] The first connecting rod comprises a first upper connecting rod and a first lower connecting rod fixedly connected to two ends of the first dynamometer along the Z-axis direction, the other end of the first lower connecting rod is fixedly connected to the center of mass of the underwater target, and the other end of the first upper connecting rod is connected to the first connecting portion of the force transmission portion;

[0041] The second connecting rod includes a second upper connecting rod, one end of which is connected to the supporting structure along the θ angle direction, and the other end is connected to one end of a second dynamometer, and the other end of the second dynamometer is connected to the second connecting part of the force transmission part.

[0042] The internal solitary wave force measurement method provided by the embodiment of the present application has at least the following beneficial effects:

[0043] The present application only needs to set up two connecting rods, and set up single-component force sensors on the two connecting rods respectively. Through simple force decomposition, the force condition at the center of mass of the underwater submersible can be measured. There is no need for a complex multi-link structure, which effectively avoids the problem of large errors caused by too many connection points, and does not require high-precision multi-component force sensors. It has the advantages of simple structure, lower cost, and more accurate measurement results.

[0044] In addition, the measurement of internal solitary waves at different depths can be achieved by adjusting the upper connecting rod and cooperating with the horizontal moving bracket, without increasing or decreasing the number of devices, which is simple and easy.

[0045] On this basis, by upgrading the first connecting rod and the second connecting rod to an integrated structure, that is, two dynamometers are installed on the connecting rod at the same time for measurement, not only can the measurement be integrated, but also the influence of torque on the measurement accuracy can be avoided by setting the range of the θ angle. This makes this solution low in cost and simple to measure compared to the existing solution, and can ensure the accuracy of the measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of a sensor arrangement for testing the internal solitary wave force on an underwater target is provided;

[0047] Figure 2 A schematic diagram of the arrangement of a measurement system for measuring an internal solitary wave according to an internal solitary wave force measurement method of the present application;

[0048] Figure 3 A step diagram of a method for measuring internal solitary wave force for this application;

[0049] Figures 4 to 7 It is a principle diagram of force analysis according to an embodiment of the present application;

[0050] Figure 8 A schematic diagram showing a specific structure of an internal solitary wave force measurement device provided according to some embodiments of the present application is shown;

[0051] Fig. 9 is a cross-sectional view of a force transmission portion according to an embodiment of the present application;

[0052] Fig.10 is a cross-sectional view of a force transmission portion according to an embodiment of the present application;

[0053] Fig.11 It is a schematic diagram of an adjustment and limiting mechanism according to an embodiment of the present application.

[0054] Numbers in the figure

[0055] 11-first dynamometer; 12-first lower connecting rod; 13-first upper connecting rod;

[0056] 21-second dynamometer; 22-second lower connecting rod; 23-second upper connecting rod;

[0057] 3-force transmission part; 31-first connection part; 32-corner part; 33-second connection part;

[0058] 4- Support structure;

[0059] 5-adjusting limit mechanism; 51-first limit block; 52-second limit block; 521-through hole; 522-fastening structure;

[0060] 7- experimental pool; 71- pool wall; 72- pool horizontal support; 73- pool vertical support;

[0061] 8- Measuring device;

[0062] 9- underwater target; 91- centroid 91; 901- first measuring point; 902- second measuring point; 903- third measuring point. DETAILED DESCRIPTION

[0063] Hereinafter, the present application will be further described based on preferred embodiments with reference to the accompanying drawings.

[0064] In addition, various components on the drawings are enlarged (thickened) or reduced (thinned) for ease of understanding, but this practice is not intended to limit the scope of protection of the present application.

[0065] Words importing the singular also include the plural and vice versa.

[0066] In the description of the embodiments of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the products of the embodiments of the present application are usually placed when in use, it is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, in the description of the present application, in order to distinguish different units, the words first, second, etc. are used in this specification, but these are not limited by the order of manufacture, nor can they be understood as indicating or implying relative importance, and their names may be different in the detailed description and claims of the present application.

[0067] The vocabulary in this specification is used to illustrate the embodiments of the present application, but is not intended to limit the present application. It should also be noted that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" 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, a direct connection, an indirect connection through an intermediate medium, or a connection between the two elements. For those skilled in the art, the specific meanings of the above terms in this application can be specifically understood.

[0068] In order to explain the technical solution of the present application in detail, the method of measuring the force of internal solitary waves on underwater targets in existing water tank experiments is first introduced.

[0069] Figure 1 A solution for measuring the internal solitary wave force is shown in which a plurality of force sensors are arranged on the surface of an underwater target 9, wherein the underwater target 9 may be a scaled-down model of a real underwater submersible, such as Figure 1 As shown, pressure sensors are arranged at the first measuring point 901 in front of the underwater target 9, the second measuring point 902 on the side, and the third measuring point 903 above the underwater target 9, respectively, to obtain the components of the internal solitary wave force in each direction on the underwater target 9. However, this measurement scheme has the following problems to be overcome in the actual force measurement process:

[0070] 1) Since the sensors are arranged at various places on the outer surface of the underwater target 9, the measured results are not the forces acting on the center of mass 91 (obviously, it is impossible to place more than one sensor at the center of mass 91). At the same time, since the outer shape of the underwater target 9 is irregular, it is necessary to ensure that the force directions of each sensor are orthogonal to each other, which requires cumbersome calibration or the addition of additional attitude measurement devices such as gyroscopes, which undoubtedly increases the complexity of experimental operation and data processing;

[0071] 2) Due to the characteristics of internal solitary waves, the vertical force at the action position is often one order of magnitude greater than the horizontal force along the propagation direction. At the same time, the horizontal force along the propagation direction is significantly greater than the force in another horizontal direction perpendicular to it. Figure 1 For the arrangement shown, the force components of the internal solitary waves measured at the three measurement points have the following relationship:

[0072] F 903 >>F 901 >>F 902 ,

[0073] Obviously, if a single-component force sensor of the same specification is selected, when it meets the resolution requirements, it can achieve the smaller force such as F 901 or F 902 When the precise measurement of 903 The measuring range may have been exceeded. On the contrary, if the safety of the measuring range is given priority, the precise measurement of the tiny components of the force may not be satisfied.

[0074] 3) In this solution, multiple sensors are placed directly in liquids such as oil and water, which not only greatly increases the probability of sensor damage, but also is not conducive to flexible adjustment of the depth of underwater targets;

[0075] Apart from Figure 1 In addition to the scheme shown, there is also a technical scheme in which a multi-component force sensor is directly set inside the underwater target 9, for example, at the center of mass 91, so as to directly collect the three orthogonal components of the internal solitary wave force there. Generally, this scheme requires the use of a high-precision measuring instrument: a six-component force sensor, which can simultaneously measure the force and torque of an object on three mutually perpendicular main axes, and is therefore called a six-component force sensor.

[0076] The measurement principle of the six-component force sensor is based on the bridge balance of the strain gauge. The magnitude of the force and torque is calculated by measuring the resistance change of the strain gauge. In the six-component force sensor, three mutually perpendicular strain gauges are usually used as the bridge arms of the bridge, two of which are used to measure the force and torque in the X-axis and Y-axis directions, and the third strain gauge is used to measure the force and torque in the Z-axis direction. When an object is placed on the measuring platform of the six-component force sensor, the strain gauge will deform due to the action of force and torque, causing its resistance to change. By measuring the change in resistance, the magnitude of the force and torque applied to the object can be calculated.

[0077] There are many factors that affect the accuracy of the six-component force sensor. The most important reason is inter-dimensional coupling. In physics, it refers to the phenomenon that two or more systems or two forms of motion influence each other and even combine through interaction. The input signal in each of the six channels in the six-component force sensor will affect the output signal of other channels. Therefore, it is almost impossible to control only one output with one input without affecting other channels. Therefore, the original signal collected by the multi-component force sensor must undergo a decoupling operation to eliminate the coupling between signals in each direction.

[0078] Generally, coupling elimination or suppression can be done in two ways. The first is the work performed before the production of the sensor, which is generally called structural decoupling, that is, eliminating or suppressing coupling from the design of the sensor. This method involves the manufacturing process of the sensor, which is often more difficult and may increase costs. The second is to use a systematic mathematical model to perform matrix operation decoupling.

[0079] However, as analyzed above, since the sizes of the three orthogonal components of the internal solitary wave differ by orders of magnitude, the multi-component force sensor needs to achieve high-precision measurement within a range that spans orders of magnitude. Therefore, if structural decoupling is used, it is necessary to customize the multi-component force sensor separately according to the range and accuracy indicators in each direction; if mathematical matrix operation decoupling is used, the cross-order of magnitude differences in signals in each direction will have a great impact on the matrix operation accuracy, and may even make it impossible to obtain a stable solution.

[0080] In addition, since the expensive multi-component force sensor needs to be placed below the liquid surface of a mixed liquid such as water and oil, in order to reduce the probability of damage to the multi-component force sensor, it is obvious that higher requirements are placed on the watertight structure of the underwater target 9.

[0081] It can be seen that how to achieve accurate, low-cost and convenient measurement of internal solitary wave force in a water tank experimental environment is an urgent problem to be solved. To this end, the present application provides an internal solitary wave force measurement method different from the aforementioned one through an embodiment.

[0082] Figure 2 A schematic diagram of the arrangement of a measurement system for measuring an internal solitary wave according to an internal solitary wave force measurement method of the present application is shown. Figure 2 As shown, the measurement system includes an experimental water pool 7, a measurement device 8, an underwater target 9 (indicated by dotted lines in the figure), and a wave-making mechanism and a wave-breaking mechanism not shown in the figure.

[0083] The experimental water pool 7 can be constructed using methods known to those skilled in the art. For example, a frame structure of the water pool can be constructed using multiple horizontal water pool supports 72 and vertical water pool supports 73. Various types of watertight materials are used as water pool walls 71 and a bottom of the water pool within the frame structure to obtain the experimental water pool 7.

[0084] The experimental pool 7 is generally used as follows Figure 2 The long strip structure extending along the X-axis direction shown in the figure has a wave-making mechanism at one end, which can generate an internal solitary wave that propagates unidirectionally along the X-axis direction at the interface between the two liquids. When the internal solitary wave passes through the underwater target 9, the internal solitary wave force on the underwater target 9 below the liquid level in the experimental water pool 7 can be measured by the measuring device 8. The other end of the experimental water pool 7 is provided with a wave-breaking mechanism to prevent the internal solitary wave from propagating in the opposite direction in the experimental water pool.

[0085] In the embodiment of the present application, the X-axis direction represents the horizontal propagation direction of the internal solitary wave, the Z-axis direction represents the vertical direction, and the force exerted by the internal solitary wave along the Z-axis is assumed to be F Z , the force applied along the X-axis is F X , the Y-axis direction is another direction perpendicular to the X-axis. Obviously, the X, Y, and Z axes are orthogonal to each other.

[0086] Based on the above measurement system, the present application provides a method for measuring the internal solitary wave force, such as Figure 3 As shown, the following steps are included:

[0087] S1, measuring a first force F′1 exerted by the internal solitary wave on the first connecting rod by a first dynamometer mounted on the first connecting rod, wherein the first connecting rod is fixedly connected to the center of mass of the underwater target 9 along the Z-axis direction;

[0088] S2, measuring the second force F′2 exerted by the internal solitary wave on the second connecting rod by a second dynamometer mounted on the second connecting rod, wherein the second connecting rod is fixedly connected to the center of mass of the underwater target 9 along an angle θ direction, wherein the angle θ direction is a direction in the XZ plane with an angle θ with the Z axis;

[0089] S3, based on the measurement results of the first force F′1 and the second force F′2, determine the force F along the X-axis direction exerted by the internal solitary wave on the center of mass of the underwater target 9 X , where F′1 and F X The component in the direction of the second connecting rod is balanced with the second force F′2.

[0090] In some preferred embodiments, the first connecting rod and the second connecting rod are of split structure, or the first connecting rod and the second connecting rod are fixedly connected to form an integrated structure. When the first connecting rod and the second connecting rod are respectively fixedly connected to the underwater target 9, two measurements are required to obtain the measurement result. When the first connecting rod and the second connecting rod are fixedly connected to form an integrated structure, the measurement result is obtained through only one measurement.

[0091] Specifically, Figures 4 to 6 As shown, when the first connecting rod and the second connecting rod are respectively fixedly connected to the underwater target 9, the measurement steps are as follows:

[0092] S100, assembling the first dynamometer 11 on the first connecting rod, and fixing one end of the first connecting rod to the center of mass of the underwater target 9, and fixing the other end to the supporting structure 4;

[0093] S200, generating an internal solitary wave in the experimental water pool;

[0094] S300, measuring, by a first dynamometer 11, a first force F′1 exerted on the underwater target 9 in the Z-axis direction by the internal solitary wave when the internal solitary wave passes through the underwater target 9;

[0095] S400, assembling the second dynamometer 21 on the second connecting rod, and replacing the first connecting rod with the second connecting rod, wherein the second connecting rod has an angle θ with the Z axis in the XZ plane, one end of the second connecting rod is fixedly connected to the center of mass of the underwater target 9, and the other end is fixedly connected to the support structure 4;

[0096] S500, generating an internal solitary wave in the experimental water pool;

[0097] S600, measuring, by a second dynamometer 21, a force F′2 exerted by the internal solitary wave on the underwater target 9 when the internal solitary wave passes through the underwater target 9;

[0098] S700, based on the measurement results of the first force F′1 and the second force F′2, determine the force in the X-axis direction exerted by the internal solitary wave on the center of mass of the underwater target 9, where T′1 and F′2 are X The component in the direction of the second connecting rod is balanced with the second force F′2.

[0099] Obviously, the above operation steps only need to complete two separate measurements, and there is no order requirement for whether to measure the first force F′1 of the first connecting rod first or the second force F′2 of the second connecting rod first.

[0100] In some preferred embodiments, the internal solitary waves produced in step S200 and step S500 have the same characteristics, that is, the internal solitary waves produced twice have the same characteristics such as amplitude, period and flow velocity.

[0101] In some preferred embodiments, the first dynamometer 11 and the second dynamometer 21 are single-component S-type sensors, whose working principle mainly relies on the deformation of the elastic body (or sensitive beam) under the action of external force. When the external force acts on the elastic body of the sensor, the elastic body will undergo elastic deformation, causing the resistance strain gauge attached to the surface of the elastic body to deform accordingly. This deformation will cause the resistance value of the resistance strain gauge to change (increase or decrease), and then the resistance change will be converted into an electrical signal (usually voltage or current) through the corresponding measurement circuit, thereby completing the process of converting the external force into a measurable electrical signal. When the S-type sensor measures the force in the measuring direction, if it is also subject to forces and torques in other directions, it will have a certain impact on the safety and accuracy of the sensor. In order to ensure its normal and safe operation and accurate accuracy, it is necessary to operate within the extreme force conditions of the sensor.

[0102] When the internal solitary wave is transmitted head-on to the underwater target 9, Figure 4 As shown, the underwater target 9 is mainly subjected to the horizontal force F X , vertical component F Z The horizontal component of the internal solitary wave is F X The force transmitted to the first dynamometer 11 is the first horizontal force component F′ X1 , the vertical component of the internal solitary wave F Z The force transmitted to the first dynamometer 11 is the first vertical component force F′ Z1 , in the first horizontal component F′ X1 , the first vertical force F′ Z1 Under the action of the first dynamometer 11 on the first connecting rod, the first torque M′1 will affect the measurement accuracy of the first dynamometer 11. However, due to the characteristics of the internal solitary wave, the vertical force at the action position often exceeds the horizontal force along the propagation direction by one order of magnitude, resulting in the horizontal component force F of the internal solitary wave. X is very small, therefore, the first horizontal component F′ X1 It can be ignored, which means that the first torque M′1 generated by the internal solitary wave on the first dynamometer 11 is very small and does not exceed the anti-torque limit of the first dynamometer 11, which ensures that the measurement result of the first dynamometer 11 is very accurate.

[0103] On this basis, when the horizontal force of the internal solitary wave is transmitted to the underwater target 9, since the two ends of the first connecting rod are fixedly connected to the center of mass of the underwater target 9 and the supporting structure 4 respectively, and the first dynamometer 11 is arranged along the Z-axis direction, the vertical component force F of the internal solitary wave Z Directly transmitted as the first vertical force component F′ of the first dynamometer 11 Z1At this time, the first measurement result F′1 displayed by the first dynamometer 11 is the first vertical force component F′ of the first dynamometer 11. Z1 , which is also the vertical force F of the internal solitary wave Z .

[0104] Of course, the measurement result of the first dynamometer 11 is also related to the distance from the first dynamometer 11 to the center of mass of the underwater target 9. The closer the first dynamometer 11 is to the center of mass of the underwater target 9, the more accurate the measurement result of the first dynamometer 11. However, if the first dynamometer 11 is installed at the center of mass of the underwater target 9, the first dynamometer 11 needs to be watertight, which obviously puts higher requirements on the watertight structure of the underwater target 9. For this reason, we can choose to set the first dynamometer 11 close to the center of mass of the underwater target 9 and above the liquid surface of the experimental water tank.

[0105] As for the setting of the angle θ between the second connecting rod and the center of mass of the underwater target 9, it is also to make the measurement result of the second dynamometer 21 more accurate. The upper limit of the angle θ is determined based on the measurement result of the first force F′1, the first force arm L1 of the second dynamometer and the anti-torque limit M′ of the second dynamometer.

[0106] Specifically, in theory, Figure 5 As shown, if the second connecting rod is connected to the center of mass of the underwater target 9 along the X-axis direction (i.e., θ is 90°), when the underwater target 9 is in a state of gravity and buoyancy equilibrium in the experimental water pool and there is no torque, the result measured by the second dynamometer 21 is the horizontal force applied to the underwater target 9 in the X-axis direction when the internal solitary wave passes through it. However, due to the characteristics of the internal solitary wave, a vertical force will be transmitted at its action position, which causes the second connecting rod to generate a torque under the vertical force and lateral force of the internal solitary wave. The second torque M′2 of the internal solitary wave on the underwater target 9 can be obtained according to the following formula:

[0107] M′2=(F Z ×sinθ+F X × cosθ) × L1,

[0108] At this time, the first force arm L1 is the distance from the second dynamometer 21 to the mass center of the underwater target 9. Z The anti-torque limit M′ of the second dynamometer 21 can be obtained by reading the measurement result F′1 of the first dynamometer according to the following formula:

[0109] M′=(F′1×sinθ+F′ X.max × cosθ) × I1,

[0110] Wherein, F′1 is the measurement result of the first dynamometer, L1 is the distance from the second dynamometer to the center of mass of the underwater target, and F′ X.max is the empirical value of the maximum force exerted by the internal solitary wave along the X-axis direction, and M′ is the anti-torque limit of the second dynamometer.

[0111] In order to reduce the influence of the second torque M′2 on the measurement accuracy of the second dynamometer, in addition to reducing the length of the first force arm L1, the angle θ can be reduced according to the torque resistance limit value of the second dynamometer 21 and set within a reasonable range to improve the measurement accuracy.

[0112] For example, for an S-type sensor with a 10N range, its torque limit M' cannot exceed 0.25Nm. The calculation formula is as follows:

[0113] M′=(F′1×sinθ+F′ X.max ×cosθ)×L1≤0.25Nm,

[0114] According to the numerical simulation results, when the first force arm L1 is 0.2m, according to the measurement result F′1 of the first dynamometer, the measurement result F′1 of the first dynamometer is 5N, F′ X.max When the value is 0.3N, the maximum value of the angle θ is obtained, and it is calculated that the maximum value of θ does not exceed 16°.

[0115] In some preferred embodiments, since the first link and the second link are two independent links, the angle between the second link and the Z axis in the XZ plane can be adjusted according to the first measurement result, and step S12 is also included between step S1 and step S2: based on the upper limit of the angle θ, adjusting the angle between the second link and the Z axis in the XZ plane, so that the angle between the second link and the Z axis in the XZ plane is set within a reasonable range, thereby improving the measurement accuracy.

[0116] In some preferred embodiments, when the value of the angle θ is selected within a reasonable range, such as Figure 6 As shown, since the angle θ is an angle selected within a reasonable range according to the torque resistance limit value of the second dynamometer 21, the generated second torque force M′2 will not affect the measurement result of the second dynamometer 21. At this time, the second force F′2 displayed by the second dynamometer 21 is the second vertical force F′ Z2 , where F′1 and F X The component in the direction of the second link is balanced with F′2, which can be obtained from F Z ×cosθ+F X ×sinθ=F′ Z2 , the following formula is derived:

[0117] F X =(F′ Z2 -F′ Z1 ×cosθ) / sinθ,

[0118] Among them, it is known that F′1=F′ Z1 =F Z , F′2=F′ Z2 , F′1 and F′2 can be read by the corresponding dynamometers respectively, and the angle θ is known, so F can be directly obtained X .

[0119] Obviously, when the angle θ between the second connecting rod and the Z axis in the XZ plane is fixed, the distance from the second dynamometer 21 to the center of mass of the underwater target 9 can be adjusted by reducing the lever arm L to improve the measurement accuracy. The lever arm L is based on the torque resistance limit M′ of the second dynamometer, and its reasonable range is determined by numerical simulation results according to the following formula:

[0120] M′=(F′1×sinθ+F′ X.max × cosθ) × L,

[0121] Wherein, F′1 is the measurement result of the first dynamometer 11, M′ is the anti-torque limit of the second dynamometer 21, and F′ X.max is the empirical value of the maximum force exerted by the internal solitary wave along the X-axis direction. Under the condition of a given angle θ, L is obtained, and the distance from the second dynamometer 21 to the center of mass of the underwater target 9 is adjusted according to the value of the obtained lever arm L.

[0122] In some preferred embodiments, when the first connecting rod and the second connecting rod are fixedly connected to form an integrated structure, and the measurement result can be obtained with only one operation, the measurement steps are as follows:

[0123] S100, assembling the first dynamometer 11 on the first connecting rod, assembling the second dynamometer 21 on the second connecting rod, the ends of the first connecting rod and the second connecting rod are fixedly connected at an angle θ in the XZ plane, and the other end of the first connecting rod is fixedly connected to the center of mass of the underwater target 9 along the Z-axis direction, and the other end of the second connecting rod is fixedly connected to the support structure 4;

[0124] S200, generating an internal solitary wave in the experimental water pool;

[0125] S300, reading the first force F′1 measured by the first dynamometer 11 and the second force F′2 measured by the second dynamometer 21 respectively;

[0126] S400, based on the measurement results of the first force F′1 and the second force F′2, determine the X-axis direction force exerted by the internal solitary wave on the center of mass of the underwater target 9, where F′1 and F′2 are X The component in the direction of the second link is balanced with F'2.

[0127] In some preferred embodiments, the first dynamometer 11 and the second dynamometer 21 are single-component force S-type sensors.

[0128] Of course, since the first connecting rod and the second connecting rod are fixedly connected, the angle θ between the second connecting rod and the first connecting rod in the XZ plane needs to be set before measurement. The upper limit of the angle θ is based on the maximum force F exerted by the internal solitary wave along the Z axis. z.max , the second force arm L2 of the second dynamometer and the anti-torque limit M′ of the second dynamometer are determined.

[0129] Specifically, the force applied to the second dynamometer 21 can be decomposed into a second vertical force F′ along the angle θ: Z2 and a second horizontal force F′ perpendicular to the angle θ X2 , where the horizontal component of the internal solitary wave F X 、Vertical component of internal solitary wave F z The second force arm L2 causes the second dynamometer 21 to be subjected to a second torque M′2. At this time, the upper limit of the angle θ is obtained according to the following formula:

[0130] M′=(F′ Z.max ×sinθ+F′ X.max × cosθ) × L2,

[0131] Among them, F′ Z.max is the empirical value of the maximum force exerted by the internal solitary wave along the Z axis, F′ X.max is the empirical value of the maximum force applied by the internal solitary wave along the X-axis direction, the second force arm L2 is the distance from the second dynamometer 21 to the inflection point A where the first connecting rod and the second connecting rod intersect, and M′ is the anti-torque limit of the second dynamometer 21 .

[0132] Obviously, when the angle θ between the second connecting rod and the Z axis in the XZ plane is fixed, the measurement accuracy can be improved by reducing the force arm L.

[0133] It should be added that since the angle θ has only a maximum value but no minimum value, the minimum value is infinitely close to 0, and it is usually set as close to the maximum value as possible, while the second arm L2 is set as close to the minimum value as possible. In general, the angle is determined based on the second arm L2, and the selection of the second arm L2 takes into account factors such as changes in test conditions and strength of the connection point.

[0134] For example, in some specific embodiments, the maximum horizontal force F′ of the internal solitary wave provided by the experimental water pool 7 is determined based on experience. X.max and the maximum vertical force F′ Z.max When the values ​​of the second force arm L2 are 0.8N and 10N respectively, the torque measurement limit of the selected dynamometer is 0.25Nm. When the second force arm L2 takes a value of 0.03m, the angle θ takes a value range of 0.5° to 51.5°. When the second force arm L2 takes a value of 0.2m, the angle θ takes a value range of 0.5° to 2.5°. Since the selection of the second force arm L2 takes into account factors such as changes in test conditions and strength of connection points, determining the angle based on the second force arm L2 can ensure that the second torque M′2 generated by different internal solitary waves on the second dynamometer during the measurement process does not exceed its anti-torque limit M′, thereby ensuring the accuracy of the measurement results.

[0135] In some preferred embodiments, when the value of the angle θ is selected within a reasonable range, such as Figure 7 As shown, since the angle θ is an angle selected within a reasonable range according to the limit value of the bending moment resistance capacity of the second dynamometer 21, the generated second torque force M′2 will not affect the accuracy of the measurement result of the second dynamometer 21. At this time, the second force F′2 displayed by the second dynamometer 21 is the second vertical force F′ Z2 , the force balance decomposition along the direction of the second connecting rod can be obtained by F Z ×cosθ+F X ×sinθ=F′ Z2 , the following formula is derived:

[0136] F X =(F′ Z2 -F′ Z1 ×cosθ) / sinθ,

[0137] Among them, it is known that F′1=F′ Z1 =F Z , F′2=F′ Z2 , F′1 and F′2 can be read by the corresponding dynamometers respectively, and the angle θ is known, so F can be directly obtained X .

[0138] In some preferred embodiments, since the distance from the second dynamometer 21 to the inflection point A and the value of the angle θ will affect the accuracy of the measurement result, the applicant optimizes the structures of the first connecting rod and the second connecting rod.

[0139] Specifically, Figure 8 FIG. 8 shows a specific structural schematic diagram of an internal solitary wave force measurement device 8 provided according to some embodiments of the present application. Figure 8As shown, the measuring device 8 includes a first connecting rod, a second connecting rod, a force transmission part 3 and a supporting structure 4, wherein the supporting structure 4 is arranged above the experimental water pool 7 for positioning and supporting the measuring device 8.

[0140] Specifically, the first connecting rod includes a first upper connecting rod 13 and a first lower connecting rod 12, which are respectively fixedly connected to the two ends of the first dynamometer 11 along the Z-axis direction, the other end of the first lower connecting rod 12 is fixedly connected to the center of mass 91 of the underwater target 9, and the other end of the first upper connecting rod 13 is connected to the force transmission part 3.

[0141] The second connecting rod includes a second upper connecting rod 23 and a second lower connecting rod 22 which are respectively fixedly connected to two ends of the second dynamometer 21 along the θ angle direction, wherein the second upper connecting rod 23 is connected to the supporting structure 4 .

[0142] Furthermore, the first connecting rod and the second connecting rod are rigidly connected via the force transmission part 3, and the force transmission part 3 can transmit all the force applied to the center of mass 91 of the underwater target 9 to the second connecting rod via the first connecting rod without being affected by other forces at the connection point; specifically, Fig. 9 The specific structure of the force transmission part 3 in some embodiments of the present application is shown, which includes an integral connecting part composed of a first connecting part 31, a corner part 32 and a second connecting part 33. The first connecting part 31 and the second connecting part 33 are respectively provided with a first fixing groove and a second fixing groove that cooperate with the first upper connecting rod 13 and the second lower connecting rod 22. The ends of the first upper connecting rod 13 and the ends of the second lower connecting rod 22 are respectively inserted into the fixing grooves at both ends to realize fixed connection. The corner part 32 has a corner deviated along the Z-axis direction to realize the connection of the second lower connecting rod 22 in the direction of the deflection angle θ relative to the first upper connecting rod 13; specifically, the fixing groove and the rod member can be connected by threaded connection or interference fit.

[0143] In some preferred embodiments, in order to further achieve more accurate measurement, such as Fig.10 As shown, it can also be arranged that one end of the force transmission part 3 is connected to the first connecting rod, and the other end is connected to the second dynamometer 21, that is, one end of the second upper connecting rod 23 is connected to the supporting structure 4 along the θ angle direction, and the other end is connected to one end of the second dynamometer 21, and the other end of the second dynamometer is connected to the second connecting part 33 of the force transmission part 3, for reducing the second force arm L2.

[0144] In some other embodiments, the force transmission part 3 may also be some conventional rigid connection methods in the art, such as screw connection, welding, etc., as long as the rigid connection of the two rods at a certain angle can be achieved.

[0145] In some preferred embodiments, the force transmission part 3 is specifically a hinged structure, so that the appropriate angle θ can be adjusted according to changes in experimental conditions such as the amplitude of the internal solitary wave and the measurement position during the experiment, so as to achieve more accurate measurement; specifically, the hinged structure includes through holes respectively arranged at the ends of the first upper connecting rod 13 and the second lower connecting rod 22, and bolts that cooperate with them.

[0146] In addition, in order to be able to measure the force of the internal solitary wave at different positions in the experimental water pool 7 and to better study the characteristics of the internal solitary wave, the applicant has further improved the above-mentioned measuring device 8.

[0147] In some preferred embodiments, the support structure 4 is movably connected to the experimental water pool 7, so that the measuring device 8 can slide along the experimental water pool 7 along the X-axis direction. Alternatively, the upper top plate of the support structure 4 is movably connected to other supporting units, so that the measuring device 8 can slide relative to the experimental water pool 7 along the Y-axis direction, so as to adjust the force measuring position of the measuring device 8.

[0148] In some preferred embodiments, the second upper connecting rod 23 is connected to the supporting structure 4 by adjusting the limiting mechanism 5, such as Fig.11 As shown, the adjustment limit mechanism 5 is detachably connected to the second upper connecting rod 23 for limiting the second upper connecting rod 23. The second upper connecting rod 23 is provided with scale lines. When in use, different measurement position changes can be achieved by adjusting the limiting positions of the second upper connecting rod 23 and the adjustment limit mechanism 5.

[0149] The adjustment limit mechanism 5 in some embodiments of the present application includes a first limit block 51 and a second limit block 52, which are rotatably connected to each other, wherein the first limit block 51 is fixedly connected to the support structure 4, and the second limit block 52 is rotatably connected to one side of the first limit block 51 along the Y-axis direction, and its rotation direction is parallel to the XZ plane; further, the second limit block 52 is provided with a through hole 521 matching the second upper connecting rod 23, and a fastening structure 522, specifically, the fastening structure 522 is a top screw type; the positioning of the second connecting rod and its rotation in the XZ plane can be achieved by adjusting the limit mechanism 5.

[0150] Furthermore, the adjustment and limiting mechanism 5 can be slidably connected to the support unit of the support structure 4. Specifically, the slidable connection can be achieved by setting a sliding groove and slider structure. Preferably, the sliding direction is parallel to the X-axis direction.

[0151] In some preferred embodiments, the first lower connecting rod 12 is a length-adjustable connecting rod, and the measurement depth of the underwater target 9 can be quickly changed by adjusting the length of the first lower connecting rod 12. In some specific embodiments, the length-adjustable connecting rod can be formed by the first lower connecting rod 12 being composed of two mutually sleeved rods, that is, one of the rods is set in the form of a hollow cylindrical tube so that it can be sleeved on the outside of the other, and the two have mutually matching stud structures and screw hole structures, and the telescopic degree between the two is adjusted by rotation; in some other embodiments, the length-adjustable connecting rod is formed by the first lower connecting rod 12 being composed of two mutually sleeved rods, one of the rods is provided with a plurality of through holes arranged at intervals along the axial direction, and the other rod is provided with a ball that can be pressed and bounces up after the pressing is released, and when the two rods move axially relative to each other, the ball bounces up after entering a through hole, and the positions of the two rods are limited, thereby achieving the adjustable length.

[0152] Furthermore, the second upper connecting rod 23 is a length-adjustable connecting rod, which cooperates with the force transmission part 3 and the adjustment limit mechanism 5 to achieve adjustment of different θ angles, and ensures that the measurement depth and position of the underwater target 9 in the experimental water pool 7 are maintained unchanged at different angles. The specific structure of the length-adjustable connecting rod is similar to that of the first lower connecting rod 12, and will not be repeated here.

[0153] Correspondingly, between step S12 and step S2, the method also includes adjusting the length of the second connecting rod in the XZ plane based on the position of the underwater target in S1, so that the depth information and position of the underwater target in the experimental pool remain unchanged, so as to avoid errors in the results caused by different measurement depths.

[0154] Obviously, by optimizing the structure of the measuring device 8, when it is necessary to measure the internal solitary wave force after the water depth information is changed, it is only necessary to adjust the length of the second connecting rod and adjust the connection position of the adjustment limit mechanism 5 and the support structure 4.

[0155] In some preferred embodiments, a counterweight is also provided inside the underwater target 9. An appropriate counterweight can be provided according to the weight and buoyancy of the underwater target 9 so that the underwater target 9 does not exert any force on each dynamometer when the internal solitary wave does not arrive.

[0156] The above is a detailed introduction to the specific implementation methods of the present application. For those skilled in the art, several improvements and modifications may be made to the present application without departing from the principles of the present application. These improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A method for measuring internal solitary wave force, characterized in that: The following steps are involved: S1, the first force F1 exerted by the internal solitary wave on the first connecting rod is measured by the first dynamometer installed on the first connecting rod ′ , wherein the first connecting rod is fixedly connected to the center of mass of the underwater target along the Z-axis direction; S2, the second force F2 exerted by the internal solitary wave is measured by the second dynamometer installed on the second connecting rod ′ , wherein the second connecting rod is fixedly connected to the center of mass of the underwater target along the θ angle direction, wherein the θ angle direction is a direction in the XZ plane with an angle of θ with the Z axis; S3, based on the first force F1 ′ And the second force F2 ′ The measurement results determine the force F along the X-axis direction exerted by the internal solitary wave on the center of mass of the underwater target X , among which, F1 ′ and F X The component in the direction of the second link is equal to F2 ′ balance.

2. The method for measuring internal solitary wave force according to claim 1, characterized in that: The upper limit of the angle θ is based on the first force F1 ′ The measurement results of the first force arm L1 of the second dynamometer and the torque resistance limit M of the second dynamometer ′ Sure; Or based on the maximum force F exerted by the internal solitary wave along the Z-axis direction Z.max , the second force arm L2 of the second dynamometer and the torque resistance limit M of the second dynamometer ′ Sure.

3. The method for measuring internal solitary wave force according to claim 2, characterized in that: The upper limit of the angle θ is obtained according to the following formula, M ′ =(F1 ′ ×sinθ+F X ′ .max ×cosθ)×L1, Among them, F1 ′ is the measurement result of the first dynamometer, F X ′ .max is the empirical value of the maximum force exerted by the internal solitary wave along the X-axis direction, L1 is the distance from the second dynamometer to the mass center of the underwater target, M ′ is the anti-torque limit of the second dynamometer.

4. The method for measuring internal solitary wave force according to claim 2, characterized in that: The upper limit of the angle θ is obtained according to the following formula, M ′ =(F Z ′ .max ×sinθ+F X ′ .max ×cosθ)×L2, Among them, F Z ′ .max is the empirical value of the maximum force exerted by the internal solitary wave along the Z axis, F X ′ .max is the empirical value of the maximum force exerted by the internal solitary wave along the X-axis direction, L2 is the distance from the second dynamometer to the inflection point A along the direction where the second connecting rod is located, M ′ is the anti-torque limit of the second dynamometer.

5. The method for measuring the internal solitary wave force according to any one of claims 3 or 4, characterized in that: Also included between step S1 and step S2 is step S12: Based on the upper limit of the angle θ, the angle between the second connecting rod and the Z axis in the XZ plane is adjusted.

6. The method for measuring internal solitary wave force according to claim 1, characterized in that: When the angle θ between the second connecting rod and the Z axis in the XZ plane is given, the installation position of the second dynamometer relative to the second connecting rod can be set by calculating the limit value of the lever arm L, and the lever arm L is determined according to the following formula: M ′ =(F1 ′ ×sinθ+F X ′ .max ×cosθ)×L, Among them, F1 ′ is the measurement result of the first dynamometer, F X ′ .max is the empirical value of the maximum force exerted by the internal solitary wave along the X-axis direction, M ′ is the anti-torque limit of the second dynamometer.

7. The method for measuring internal solitary wave force according to claim 6, characterized in that: The first dynamometer and / or the second dynamometer are arranged at a position close to the center of mass of the underwater target and above the liquid surface of the experimental water pool.

8. The method for measuring internal solitary wave force according to claim 1, characterized in that: The force balance is decomposed along the direction of the second connecting rod, and the force F of the internal solitary wave along the X-axis direction is obtained according to the following formula: x , F x =(F ′ Z2 -F ′ Z1 ×cosθ) / sinθ, Among them, F Z ′ 1 is the internal solitary wave force on the first dynamometer along the Z axis, F Z ′ 1=F1 ′ , F Z ′ 2 is the internal solitary wave force on the second dynamometer along the direction of the second connecting rod, F Z ′ 2=F2 ′ .

9. The method for measuring internal solitary wave force according to claim 1, characterized in that: The internal isolated waves applied in step S1 and step S2 have the same characteristics.

10. The method for measuring internal solitary wave force according to claim 1, characterized in that: The forces measured in step S1 and step S2 are the results of measurements when the underwater target is in a state of gravity and buoyancy equilibrium in the experimental pool.

11. The method for measuring internal solitary wave force according to claim 5, characterized in that: The first connecting rod and the second connecting rod are of split structure, or the first connecting rod and the second connecting rod are fixedly connected to form an integrated structure.

12. The method for measuring internal solitary wave force according to claim 11, characterized in that: When the first connecting rod and the second connecting rod are an integrated structure, a measuring device is used to measure the internal solitary wave, the measuring device comprises a first connecting rod, a second connecting rod, a force transmission part, a supporting structure, and a limiting structure, the supporting structure is arranged above the experimental water pool, the force transmission part is a hinged structure, and the adjusting limiting mechanism is slidably connected to the supporting unit of the supporting structure; The adjustment limit mechanism comprises a first limit block and a second limit block, wherein the first limit block is fixedly connected to the support structure, and the second limit block is rotatably connected to one side of the first limit block along the Y-axis direction, and the rotation direction is parallel to the XZ plane; The first connecting rod comprises a first upper connecting rod and a first lower connecting rod fixedly connected to two ends of the first dynamometer along the Z-axis direction, the other end of the first lower connecting rod is fixedly connected to the center of mass of the underwater target, and the other end of the first upper connecting rod is connected to the first connecting portion of the force transmission portion; The second connecting rod includes a second upper connecting rod and a second lower connecting rod respectively fixedly connected to two ends of the second dynamometer along the θ angle direction, wherein the second upper connecting rod is connected to the supporting structure through the first limit block, and the second lower connecting rod is fixedly connected to the first upper connecting rod through a force transmission part.

13. The method for measuring internal solitary wave force according to claim 11, characterized in that: Also included between step S12 and step S2, Based on the position of the underwater target in S1, the length of the second connecting rod in the XZ plane is adjusted to keep the depth information and position information of the underwater target in the experimental pool unchanged.

14. The method for measuring internal solitary wave force according to claim 7, characterized in that: When the first connecting rod and the second connecting rod are an integrated structure, a measuring device is used to measure the internal solitary wave, the measuring device comprises a first connecting rod, a second connecting rod, a force transmission part and a supporting structure, and the supporting structure is arranged above the experimental water pool; The force transmission part includes an integral connection member consisting of a first connection part, a corner part and a second connection part; The first connecting rod comprises a first upper connecting rod and a first lower connecting rod fixedly connected to two ends of the first dynamometer along the Z-axis direction, the other end of the first lower connecting rod is fixedly connected to the center of mass of the underwater target, and the other end of the first upper connecting rod is connected to the first connecting portion of the force transmission portion; The second connecting rod includes a second upper connecting rod, one end of which is connected to the supporting structure along the θ angle direction, and the other end is connected to one end of a second dynamometer, and the other end of the second dynamometer is connected to the second connecting part of the force transmission part.

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