Underwater vehicle model dragging mechanism and water surface wake test method

Abstract

The invention relates to an underwater vehicle model dragging mechanism and a water surface wake test method.The upper surface of a vehicle model is provided with a plurality of flow deflectors along the axis of the model, and the dragging mechanism comprises a trailer driving above a test pool; the guide line is used for penetrating through the through hole in the flow deflector and guiding the navigation of the navigation body model; the dragging thin cable group comprises a plurality of cable assemblies, one end of each cable assembly is connected with the navigation body model, and the other end of each cable assembly is connected with the trailer; the ballast is arranged in the navigation body model and is used for ensuring the net weight of the navigation body model in water, so that all the cable assemblies are in a tensioned state; the navigation body model is hoisted on the trailer by dragging the thin cable group, and the navigation body model is kept in a stable test posture while the traction force is transmitted, so that the navigation body model moves in the test pool along the guide line, the influence of the dragging mechanism on the water surface wake of the underwater navigation body is reduced, and the accuracy of test measurement of the water surface wake is improved.

Description

Technical Field

[0001] The invention relates to the technical field of ship and ocean engineering, in particular to an underwater navigation body model towing mechanism and a water surface wake test method. Background Art

[0002] During the diving process, underwater vehicles disturb the surrounding water to produce internal waves, surface waves, turbulence, vortices and other wakes. At a certain diving depth and a certain speed, these surface wakes can be detected by microwaves, visible light, infrared and other means.

[0003] With the continuous improvement of vibration reduction and noise reduction technology, the difficulty of noise detection for underwater vehicles is increasing. The surface wake generated by the navigation of underwater vehicles can be used to detect, determine and identify the position, speed and direction of underwater vehicles, and realize the target detection of underwater vehicles. It can be seen that it is necessary to study the surface wake of underwater vehicles from the perspective of wake feature detection and stealth, and model test research is an indispensable and important means, among which the installation and towing motion of the underwater vehicle wake test model is an important part of the model test.

[0004] In traditional hydrodynamic tank tests of underwater vehicles, one or two vertical swords are usually connected to a fixed model. However, the vertical swords in this installation method are above the model, and the wake generated by the movement of the swords, especially the surface wake, directly interferes with the surface wake of the underwater vehicle model, which has an adverse effect on the test research of the surface wake of the underwater vehicle. Summary of the invention

[0005] In view of the shortcomings of the above-mentioned existing production technology, the applicant provides an underwater vehicle model towing mechanism and a water surface wake test method, thereby reducing the influence of the towing mechanism on the water surface wake of the underwater vehicle and improving the accuracy of the water surface wake test measurement.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A towing mechanism for an underwater vehicle model, wherein a plurality of guide vanes are arranged on the upper surface of the vehicle model along the axis of the model, and the vehicle model is in a negative buoyancy state in water, and the towing mechanism comprises:

[0008] A trailer, traveling above the test pool;

[0009] A guide line, used to pass through the perforations on the guide plate to guide the navigation of the navigation body model;

[0010] A towing cable group, wherein the towing cable group includes a plurality of cable assemblies, one end of each cable assembly is connected to the navigation body model, and the other end of each cable assembly is connected to the trailer;

[0011] A ballast is arranged in the navigation body model, and the ballast is used to ensure the net weight of the navigation body model in water so that all cable components are in a tensioned state;

[0012] The navigation body model is hoisted on the trailer by the towing cable group, and while transmitting the traction force, the navigation body model is kept in a stable test posture, so that the navigation body model moves along the guide line in the test water pool.

[0013] As a further improvement of the above technical solution:

[0014] There are three groups of cable assemblies, one group of cable assemblies is connected to the front end of the navigation body model, and two groups of cable assemblies are connected to the middle and rear parts of the navigation body model, and are respectively located on both sides of the navigation body model. When all the cable assemblies are tensioned, the posture of the navigation body model is kept stable when moving in the water pool.

[0015] There are four groups of cable assemblies, two groups of cable assemblies are respectively connected to the two sides of the front end of the navigation body model, and the other two groups of cable assemblies are connected to the two sides of the rear end or the two sides of the middle and rear end of the navigation body model. When all the cable assemblies are tensioned, the posture of the navigation body model is kept stable when moving in the pool.

[0016] The structure of each set of cable assemblies includes a suspension point base connected to the trailer, and also includes a thin cable, one end of the thin cable is connected to the suspension point base, and the other end of the thin cable is fixedly connected to the navigation body model.

[0017] A tension sensor is arranged on the thin cable.

[0018] The vehicle model is provided with an attitude sensor.

[0019] A winch is installed on the suspension point base plate, and one end of the thin cable is wound around the drum of the winch.

[0020] The moving mechanism of the trailer is provided with a hoisting base plate, and a transverse moving module and a longitudinal moving module are provided on the hoisting base plate. The moving end of the transverse moving module is installed with the longitudinal moving module, and the moving end of the longitudinal moving module is installed with the hoisting point base plate.

[0021] A method for testing the surface wake of an underwater vehicle model, using any of the above-mentioned underwater vehicle model towing mechanisms, the method comprising the following steps:

[0022] Connecting the vehicle model to the towing mechanism;

[0023] Place the navigation body model into a predetermined depth of the test pool;

[0024] Adjusting the elongation length of each cable assembly and the opening angle between the cable assemblies and the adjacent cable assemblies so that the intersection of the thin cables of each cable assembly and the water surface avoids the water surface wake interval of the vehicle model, and the vehicle model is in a test posture;

[0025] Conducting underwater model test run under the drive of the trailer, and detecting whether the attitude of the navigation body model meets the test attitude requirements;

[0026] When the posture of the vehicle model meets the test posture requirements, a water surface wake test is performed.

[0027] As a further improvement of the above technical solution:

[0028] When the attitude of the navigation body model does not meet the test attitude requirement, the opening angle between adjacent cable assemblies or the length of the thin cable is adjusted, and the underwater model test run is performed again;

[0029] If the posture of the navigation body model still does not meet the test posture requirement during underwater model trial operation after adjusting the opening angle between adjacent cable assemblies or the length of the thin cable, reduce the opening angle between the cable assemblies, reduce the length of the thin cable, lift the navigation body model out of the water, and readjust the weight of the ballast.

[0030] The beneficial effects of the present invention are as follows:

[0031] The present invention has a compact and reasonable structure and is easy to operate. By adopting multiple groups of cable assemblies for towing, the multiple groups of cable assemblies are combined with guide wires to guide the navigation body model in a stable test posture under the action of the net weight of the navigation body model, thereby reducing the cross-sectional area of ​​the towing mechanism on the water surface and facilitating the dispersion of the intersection point of the towing mechanism and the water surface, thereby reducing the influence of the towing mechanism on the water surface wake of the underwater navigation body and improving the accuracy of the water surface wake test measurement.

[0032] At the same time, the present invention also has the following advantages:

[0033] (1) A winch is used to connect the thin cable to the suspension point base plate, and a transverse moving module and a longitudinal moving module corresponding to a group of cable components are set on the trailer to automatically drive the suspension point base plate to move and adjust the length of the thin cable, thereby controlling the suspension point position of each group of cable components and the opening angle of adjacent cable components.

[0034] (2) Multiple sets of cable assemblies are used to pull the underwater model from the periphery of the vehicle model, greatly reducing the interference of the traditional sword fixed above the model and dragging the vehicle model on the water surface wake. Tension sensors and attitude sensors are used to measure the tension of the thin cables and the attitude of the model to assist in adjusting the tension and inclination of each thin cable and the attitude of the model, so that the thin cables maintain sufficient pre-tension to overcome the hydrodynamic disturbance caused by the underwater movement of the model. At the same time, guide lines are used to assist in overcoming the hydrodynamic disturbance caused by the underwater movement of the model to ensure the smooth movement of the model. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram (front view) of an embodiment of the present invention.

[0036] Figure 2 It is a structural schematic diagram (top view) of an embodiment of the present invention.

[0037] Figure 3 It is a schematic diagram (front view) of the lifting process of an embodiment of the present invention.

[0038] Figure 4 The figure is a schematic diagram (top view) of the lifting process of an embodiment of the present invention.

[0039] Figure 5 It is a structural schematic diagram (front view) of another embodiment of the present invention.

[0040] Figure 6 It is a structural schematic diagram (top view) of another embodiment of the present invention.

[0041] Figure 7 It is a schematic diagram (front view) of the lifting process of another embodiment of the present invention.

[0042] Figure 8 It is a schematic diagram (top view) of the lifting process of another embodiment of the present invention.

[0043] Fig. 9 The figure is a schematic diagram of a suspension point substrate moving mechanism according to an embodiment of the present invention.

[0044] in:

[0045] 1. Cable assembly; 11. Lifting point base plate; 12. Tension sensor; 13. Thin cable; 14. Winch;

[0046] 2. Guide wire; 3. Guide vane; 4. Vehicle model; 5. Attitude sensor; 6. Ballast;

[0047] 7. lateral movement module; 71. first rack; 72. first guide rail; 73. first servo motor;

[0048] 8. Longitudinal moving module; 81. Second rack; 82. Second guide rail; 83. Second servo motor; 9. Lifting base plate. DETAILED DESCRIPTION

[0049] The specific implementation of the present invention will be described below in conjunction with the accompanying drawings.

[0050] like Figure 1 , Figure 2 , Figure 5 , Figure 6 As shown, an embodiment of the present application provides an underwater vehicle model towing mechanism, wherein the upper surface of the vehicle model 4 is provided with a plurality of guide vanes 3 along the axis direction of the model, the vehicle model 4 is in a negative buoyancy state in the water, and the towing mechanism comprises: a trailer, a guide line 2, a towing cable group and a ballast 6.

[0051] The trailer travels over the test pool;

[0052] The guide line 2 is used to pass through the perforation on the guide plate 3 to guide the navigation of the navigation body model 4;

[0053] The towing cable group includes a plurality of cable assemblies 1, one end of each cable assembly 1 is connected to the navigation body model 4, and the other end of each cable assembly 1 is connected to the trailer;

[0054] The ballast 6 is arranged in the navigation body model 4, and the ballast 6 is used to ensure the net weight of the navigation body model 4 in the water, so that all the cable assemblies 1 are in a tensioned state;

[0055] The navigation body model 4 is hoisted on the trailer by dragging a thin cable group, and while transmitting traction, the navigation body model 4 is kept in a stable test posture, so that the navigation body model 4 moves along the guide line 2 in the test water tank.

[0056] For example, Figure 1 , Figure 2 , Figure 5 , Figure 6 As shown, the main structure of the cable assembly 1 is a cable, through which the navigation model 4 is towed. The cable is a thin cable 13, which is smaller than the size of the navigation model 4 to reduce the disturbance of the thin cable 13 to the water surface. The thin cable 13 is made of a material with a large elastic coefficient to reduce its own stretching deformation. The cross-section of the thin cable 13 is circular, and the contact area of ​​the towing thin cable group as a whole with the water surface is small during the test, and the influence on the water surface wake is small.

[0057] In this embodiment, the navigation body model 4 is in a negative buoyancy state in the water, the net weight of the navigation body model 4 in the water is expressed as ΔG, the total weight of the navigation body model 4 is G, and the buoyancy it receives in the water is B, then the net weight ΔG=GB, the net weight ΔG>0, so that all cable components 1 are in a tensioned state; a guide line 2 is arranged above the navigation body model 4 along the direction of movement of the model, the guide line 2 is located underwater and is fixed, the guide line 2 is connected to the model through two guide plates 3 arranged at intervals in front and behind, so as to enhance the ability of the navigation body model 4 to resist multi-component hydrodynamic interference during movement, and further ensure the stability of the underwater model movement, the guide line 2 limits the pitch of the navigation body 4 from the fore and stern directions of the navigation body model 4, and the guide line 2 is generally used to guide the horizontal movement of the navigation body model 4; the dragging cable group provides traction from the front or both sides of the navigation direction, limits the posture of the navigation body model 4 from both sides or both ends of the navigation direction of the navigation body model 4, keeps the navigation body model 4 in a stable test posture, and realizes the smooth movement of the navigation body model 4.

[0058] The test posture is the motion posture of the verification model. During the test, under the hydrodynamic conditions, the heel angle, the pitch angle and the drift angle of the navigation body model 4 are kept unchanged during the movement.

[0059] like Figure 1 , Figure 2 , Figure 5 , Figure 6 As shown, the total weight G of the navigation body model 4 allows the model to maintain negative buoyancy while leaving a margin, so that the cable components 1 are in a tensioned state while each cable component 1 maintains a tension reserve, so as to help overcome the multi-component hydrodynamic interference during the movement of the navigation body model 4 and maintain the smooth movement of the model.

[0060] For example, Figure 1 , Figure 2 As shown, there are three groups of cable assemblies 1, one group of cable assemblies 1 is connected to the front end of the navigation body model 4, two groups of cable assemblies 1 are connected to the middle and rear parts of the navigation body model 4, and are respectively located on both sides of the navigation body model 4. When all the cable assemblies 1 are tensioned, the posture of the navigation body model 4 is kept stable when moving in the pool.

[0061] For example, Figure 5 , Figure 6 As shown, there are four groups of cable assemblies 1, two groups of cable assemblies 1 are respectively connected to the two sides of the front end of the navigation body model 4, and the other two groups of cable assemblies 1 are connected to the two sides of the rear end or the two sides of the middle and rear end of the navigation body model 4. When all the cable assemblies 1 are tensioned, the posture of the navigation body model 4 is kept stable when moving in the pool.

[0062] In the above embodiments, the connection points between the multiple groups of cable assemblies 1 and the vehicle model 4 are dispersed around the upper part of the vehicle model 4. The opening angles between different cable assemblies 1 can be changed according to the different positions of the hanging points of the cable assemblies 1 on the trailer, so that the intersection point of each cable assembly 1 with the water surface is located outside the wake area.

[0063] Taking four sets of cable assemblies 1 as an example, the four sets of cable assemblies 1 are connected to the underwater model from the front and back, left and right of the model respectively. Each adjacent cable assembly 1 is in an inverted figure eight shape. The four cable assemblies 1 are radial from bottom to top. One end of each cable assembly 1 is fixed on the pool trailer, and the other end is connected to the underwater vehicle model 4. Combined with the limit of the guide line 2, a stable test posture is achieved. When the trailer moves, the four sets of cable assemblies 1 jointly pull the vehicle model 4 forward. In order to ensure that the four sets of cable assemblies 1 have no effect on the water surface wake, the distance between the intersection of the two left and right sets of cable assemblies 1 at the front and the two left and right sets of cable assemblies 1 at the rear and the water surface is much larger than the width of the underwater vehicle wake area.

[0064] The installation and movement method of the navigation body model 4 of this embodiment is different from the installation and movement method of the prior art in which the navigation body model 4 is fixed to the trailer by a vertical sword in the longitudinal plane above the navigation body model 4, which reduces or even eliminates the wake generated by the sword body in the traditional hydrodynamic test model installation method and its interference with the wake of the underwater navigation body.

[0065] A plurality of cable assemblies 1 are used for towing. Under the net weight of the vehicle model 4, the plurality of cable assemblies 1 are combined with the guide lines 2 to guide and keep the vehicle model 4 in a stable test posture, thereby reducing the cross-sectional area of ​​the towing mechanism on the water surface and facilitating the dispersion of the intersection of the towing mechanism and the water surface, thereby reducing the influence of the towing mechanism on the water surface wake of the underwater vehicle and improving the accuracy of the water surface wake test measurement.

[0066] In an exemplary embodiment, Figure 1 , Figure 2 , Figure 5 , Figure 6 As shown, the structure of each cable assembly 1 includes a suspension point base plate 11 connected to the trailer, and also includes a thin cable 13, one end of the thin cable 13 is connected to the suspension point base plate 11, and the other end of the thin cable 13 is fixedly connected to the navigation body model 4.

[0067] A tension sensor 12 is provided on the thin cable 13 .

[0068] The vehicle model 4 is provided with a posture sensor 5 .

[0069] An attitude sensor 5 is installed inside the model to measure changes in the model's attitude heel angle, pitch angle, and drift angle. Each thin cable 13 is installed with a tension sensor 12, which can timely sense changes in the tension between the navigation body model 4 and the thin cable 13, and can conveniently guide the position of the tie point of each thin cable 13 on the trailer and adjust the inclination angle of the thin cable 13.

[0070] The test signal lines of the attitude sensor 5, tension sensor 12 and the like are connected from underwater along the guide line 2 to the measurement and control computer on the trailer, so as to timely test the attitude changes of the navigation body model 4 and record the corresponding test data.

[0071] During the movement of the navigation body model 4, the three-component force and the three-component moment of the fluid may cause the tension of each thin cable 13 to change, among which there are factors that increase the tension of the thin cable 13 and there are factors that reduce the tension of the thin cable 13.

[0072] The layout of multiple groups of cable assemblies 1 or thin cables 13 in the towing mechanism in the above embodiment and the maintenance of a certain ratio of net weight of the navigation body model 4 and reserve tension of the thin cables 13 help to overcome the hydrodynamic disturbance caused by the underwater movement of the navigation body model 4 to maintain the smooth movement of the navigation body model 4.

[0073] During the process of debugging the hoisting method of the navigation body model 4, the hoisting position of the hanging point of the thin cable 13 can be manually adjusted, and the length of the thin cable 13 can be changed while changing the hanging point position.

[0074] In an exemplary embodiment, Fig. 9 As shown, a winch 14 is installed on the suspension point base plate 11, and one end of the thin cable 13 is wound on the drum of the winch 14. The winch 14 has the function of recording the length of the retracted and released cable.

[0075] In an exemplary embodiment, Fig. 9 As shown, a lifting base plate 9 is provided on the moving mechanism of the trailer, and a transverse moving module 7 and a longitudinal moving module 8 are provided on the lifting base plate 9. The longitudinal moving module 8 is installed at the moving end of the transverse moving module 7, and the lifting point base plate 11 is installed at the moving end of the longitudinal moving module 8.

[0076] Exemplarily, the lifting base 9 is a platform for installing the equipment to be towed on a whole board or a trailer, wherein each cable assembly 1 corresponds to a set of lateral moving modules 7 and longitudinal moving modules 8, the lateral moving module 7 includes a pair of first guide rails 72 arranged in parallel on the lifting base 9, a first rack 71 is arranged on one side of one first guide rail 72, the longitudinal moving module 8 includes a second guide rail 82, a second rack 81 is fixedly installed on one side of the second guide rail 82, a first servo motor 73 is installed at one end of the second guide rail 82, both ends of the second guide rail 82 are respectively slidably connected to the first guide rail 72, the first servo motor 73 is transmission connected to the first rack 71, a lifting point base 11 is slidably installed on the second guide rail 82, a second rack 81 is fixedly installed on the second guide rail 82, a second servo motor 83 is installed on the lifting point base 11, and the second servo motor 83 is transmission connected to the second rack 81.

[0077] A winch 14 is used to connect the thin cable 13 to the suspension point base plate 11, and a transverse moving module 7 and a longitudinal moving module 8 corresponding to a group of cable assemblies 1 are arranged on the trailer to automatically drive the suspension point base plate 11 to move and the length of the thin cable 13 to adjust, thereby controlling the suspension point position of each group of cable assemblies 1 and the opening angle of adjacent cable assemblies 1.

[0078] In an exemplary embodiment, the present application provides a method for testing a water surface wake of an underwater vehicle model, the method comprising a towing mechanism for the underwater vehicle model as described in any of the above-described embodiments.

[0079] The underwater vehicle model water surface wake test method of this embodiment comprises the following steps:

[0080] Step 1: Connect the navigation body model 4 to the towing mechanism. At this time, the guide wire 2 passes through the perforation on the guide plate 3 but is in a relaxed state;

[0081] Step 2: Place the navigation body model 4 into the predetermined depth of the test pool, and in this step, the guide wire 2 is gradually tightened;

[0082] Step 3: adjust the elongation length of each cable assembly 1 and the opening angle between the adjacent cable assemblies 1, so that the intersection of the thin cables 13 of each cable assembly 1 and the water surface avoids the water surface wake interval of the navigation body model 4, and at the same time, the navigation body model 4 is in a test posture and the guide line 2 is in a tensioned state;

[0083] Step 4: Perform underwater model test run under the drive of the trailer, and check whether the attitude of the navigation body model 4 meets the test attitude requirements;

[0084] Step 5: When the posture of the navigation body model 4 meets the test posture requirements, a water surface wake test is performed.

[0085] If in step 4, the attitude of the vehicle model 4 does not meet the test attitude requirements, the subsequent test steps include the following two situations:

[0086] In one case, when the attitude of the navigation body model 4 does not meet the test attitude requirement, the opening angle between adjacent cable assemblies 1 or the length of the thin cable 13 is adjusted, and the underwater model test run is performed again, and step 4 is repeated;

[0087] In another case, after adjusting the opening angle between adjacent cable assemblies 1 or the length of the thin cable 13, the posture of the navigation body model 4 still does not meet the test posture requirements during the underwater model trial operation. The opening angle between the cable assemblies 1 is reduced, the length of the thin cable 13 is reduced, the navigation body model 4 is lifted out of the water, the weight of the ballast 6 is readjusted, and then steps 2 to 4 are repeated until the surface wake test is successfully completed.

[0088] like Figure 1 , Figure 2 As shown, a spatial coordinate system is established, wherein the X-axis direction is along the navigation direction of the navigation body model 4, and the Z-axis is the vertical direction. Taking four thin cables 13 as an example, the adjustment principle of the opening angle between adjacent cable assemblies 1 is introduced:

[0089] When the navigation body model 4 moves horizontally, a horizontal resistance Fx is generated, which will cause the tension of the thin cables 13 at the tie points a and b to increase and the tension of the thin cables 13 at the tie points c and d to decrease.

[0090] When the navigation body model 4 moves horizontally, a lateral force Fy may be generated, thereby causing the tension of the thin cable 13 at the tie points a and c to increase / decrease, and at the same time causing the tension of the thin cable 13 at the tie points b and c to decrease / increase.

[0091] When the navigation body model 4 moves horizontally, a vertical force Fz may be generated, which will reduce or increase the tension of each thin cable 13.

[0092] When the navigation body model 4 moves horizontally, a heeling moment Mx may be generated, thereby causing the tension of the thin cables 13 at the tie points a and c to increase / decrease, and at the same time causing the tension of the thin cables 13 at the tie points b and d to decrease / increase.

[0093] When the navigation body model 4 moves horizontally, a pitch moment My may be generated, thereby causing the tension of the thin cable 13 at the tie points a and b to increase / decrease and the tension of the thin cable 13 at the tie points c and d to decrease / increase.

[0094] When the navigation body model 4 moves horizontally, a yaw moment Mz may be generated, thereby causing the tension of the thin cable 13 at the tie points a and d to increase / decrease and the tension of the thin cable 13 at the tie points b and c to decrease / increase.

[0095] It can be seen that the three-component force and three-component moment of the fluid acting on the navigation body model 4 when it moves may cause the tension of each thin cable 13 to change, and there are factors that increase the tension of the thin cable 13, and there are factors that reduce the tension. For this reason, it is necessary to have a certain tension reserve of the thin cable 13 in static state, so that it can always maintain tension when the model moves, that is, the thin cable 13 is kept in a tensioned state, so that when the navigation body model 4 moves in the water, the components of the tension reserve of each thin cable 13 in each direction can balance the components of the hydrodynamic force in the corresponding direction, so that the navigation body model 4 is always in a stable test posture during the test.

[0096] In addition, a guide line 2 is set above the navigation body model 4, and cooperates with the guide vane 3 to assist in overcoming the hydrodynamic disturbance in the movement of the navigation body model 4. On the one hand, it helps to balance the vertical force Fz generated when the navigation body model 4 moves. The two guide vanes 3 are arranged separately and kept at a certain distance, which can help balance the force moment My of the model, and have a certain balancing effect on the lateral force Fy and the yaw moment Mz. In short, setting the guide line 2 helps to overcome the hydrodynamic disturbance in the movement of the model, so as to facilitate the horizontal and stable movement of the navigation body model 4.

[0097] The structure of each cable assembly 1 of this embodiment includes a suspension point base plate 11 connected to the trailer, and also includes a thin cable 13, one end of the thin cable 13 is connected to the suspension point base plate 11, and the other end of the thin cable 13 is fixedly connected to the navigation body model 4, a tension sensor 12 is arranged on the thin cable 13, and an attitude sensor 5 is arranged in the navigation body model 4. A winch 14 is installed on the suspension point base plate 11, and one end of the thin cable 13 is wound around the drum of the winch 14.

[0098] The tension sensor 12 is used to sense the tension of the thin cable 13, and the attitude sensor 5 is used to measure the attitude of the navigation model 4, so as to assist in adjusting the position and inclination of each thin cable 13 tie point on the trailer, thereby adjusting the attitude of the navigation model 4. The attitude sensor 5 and other test signal lines inside the navigation model 4 are connected to the measurement and control computer along the guide line 2 to observe and record the attitude of the navigation model 4.

[0099] like Fig. 9 As shown, the mobile mechanism of the trailer is provided with a hoisting base plate 9, and the hoisting base plate 9 is provided with a transverse moving module 7 and a longitudinal moving module 8. The moving end of the transverse moving module 7 is installed with the longitudinal moving module 8, and the moving end of the longitudinal moving module 8 is installed with a hanging point base plate 11. The servo motors on the transverse moving module 7 and the longitudinal moving module 8 record the position of the corresponding hanging point base plate 11 (i.e., the position of each hanging point of the thin cable 13), and transmit the position to the measurement and control computer. Each winch 14 has the function of recording the length of the corresponding thin cable 13, and transmits the length of the corresponding thin cable 13 to the measurement and control computer. In addition, the total weight G of the navigation body model 4 after adjusting the ballast 6 is recorded and transmitted to the measurement and control computer.

[0100] The measurement and control computer collects the total weight G of the navigation body model 4 (the buoyancy B remains unchanged), the posture of the navigation body model 4, the tension of each thin cable 13, and the position information of each hanging point, so as to facilitate the adjustment and monitoring of the inclination angle of the thin cable 13. By obtaining the mutual correspondence between the total weight G of the navigation body model 4 and the inclination angle of the thin cable 13 under different hydrodynamic conditions under multiple groups and different test conditions, it is used to assist in guiding the adjustment of "the elongation length of the cable assembly 1 and the opening angle between the adjacent cable assembly 1" during the test, so that the test can be carried out more smoothly.

[0101] When lifting the navigation body model 4, two hooks can be separately set on the upper surface of the navigation body model 4. When the four thin cables 13 are in a relaxed state, the weight of the navigation body model 4 is supported by the lifting cables. The lateral moving module 7 and the longitudinal moving module 8 of this embodiment can realize the remote adjustment of the lifting points of the thin cables 13. Combined with the winch 14 that automatically retracts and releases the thin cables 13, the multiple cable assemblies 1 have a lifting function. There is no need to reconnect the lifting cables to the navigation body model 4, which re-plays the function of the towing mechanism and improves the automation of the test process.

[0102] In an exemplary embodiment, the present application provides a method for testing a water surface wake of an underwater vehicle model, comprising the following steps:

[0103] Step S110: Complete the installation of ballast 6 and attitude sensor 5 inside the navigation body model 4, and complete the installation of guide vane 3 on the navigation body model 4. Complete the weighing of the navigation body model 4 in the air, and record the total weight as G. Use cable assembly 1 to hoist the model on the trailer, and loosely connect the thin cable 13 of each cable assembly 1 to the navigation body model 4. The tie points on the trailer are a, b, c, and d respectively, and complete the connection between the guide line 2 and the guide vane 3. At this time, each thin cable 13 and the guide line 2 are in a relaxed state. Complete the installation of tension sensor 12 on the thin cable 13.

[0104] Step S120:

[0105] Move the suspension point base plates 11 closer to each other, gradually tighten the thin cable 13, lift the navigation body model 4 and move it above the water surface, loosen the thin cable 13 and gradually lower the navigation body model 4 into the water, and after reaching the predetermined depth, keep still for a period of time until the navigation body model 4 is stable. According to the data of the tension sensor 12 on the thin cable 13, check whether the static weight ΔG of the navigation body model 4 in the water satisfies: ΔG=GB>0. If necessary, retract the thin cable 13, let the navigation body model 4 out of the water, and adjust the ballast 6. After the adjustment is completed, the navigation body model 4 is lowered into the water again.

[0106] Step S130,

[0107] After the navigation body model 4 reaches the predetermined depth, the positions of the suspension points a, b, c, d on the trailer and the length of each thin cable 13 are adjusted according to the attitude sensor 5 (pitch angle, roll angle, drift angle), the tension sensor 12 and the length data of each thin cable 13, so that the navigation body model 4 reaches a balanced state underwater and keeps each attitude angle at zero, and the intersection of the thin cables 13 of each cable assembly 1 and the water surface avoids the water surface wake interval of the navigation body model 4.

[0108] Step S140,

[0109] After the underwater attitude angle of the navigation body model 4 is adjusted, the guide line 2 is tensioned and the two ends of the guide line 2 are fixed. The trailer is started, and the navigation body model 4 is towed by the thin cables 13 to perform the test and debugging in the motion state. During the movement of the navigation body model 4, the attitude sensor 5 is used to observe whether the navigation body model 4 is stable, and the tension sensor 12 is used to monitor whether each thin cable 13 is loose. If there is a loose phenomenon, the tension and inclination of each thin cable 13 are fine-tuned, or the weight of the model ballast block 6 is increased, and steps S110, S120, and S130 are repeated.

[0110] Step S150,

[0111] The trailer is started, and the navigation body model 4 moves under the common traction of the thin cable 13, ensuring that the navigation body model 4 is always in a stable test posture, and the water surface wake test of the underwater navigation body model is officially carried out.

[0112] Step S160,

[0113] After the test, the lateral moving module 7 and the longitudinal moving module 8 are started to reduce the opening angle between the cable assemblies 1, and the winch 14 is started synchronously to recover the thin cable 13 to lift the navigation body model 4 out of the water.

[0114] The present application discloses a method for testing the wake of an underwater vehicle model on the water surface, which uses multiple groups of cable assemblies 1 to pull the underwater model from the periphery of the vehicle model 4 to move, greatly reducing the interference of the traditional sword fixed above the model and dragging the vehicle model 4 on the wake of the water surface. A tension sensor 12 and an attitude sensor 5 are used to measure the tension of the thin cable and the attitude of the model to assist in adjusting the tension and inclination of each thin cable and the attitude of the model, so that the thin cable 13 maintains sufficient pre-tension to overcome the hydrodynamic disturbance caused by the underwater movement of the model. At the same time, a guide line 2 is used to assist in overcoming the hydrodynamic disturbance caused by the underwater movement of the model to ensure the smooth movement of the model.

[0115] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. An underwater vehicle model towing mechanism, characterized in that: The upper surface of the navigation body model (4) is provided with a plurality of guide vanes (3) along the axis of the model, the navigation body model (4) is in a negative buoyancy state in water, and the towing mechanism comprises: A trailer, traveling above the test pool; A guide line (2) is used to pass through the perforation on the guide plate (3) to guide the navigation of the navigation body model (4); A towing cable assembly, the towing cable assembly comprising a plurality of cable assemblies (1), one end of each cable assembly (1) being connected to the navigation body model (4), and the other end of each cable assembly (1) being connected to the trailer; A ballast (6) is arranged in the navigation body model (4), and the ballast (6) is used to ensure the net weight of the navigation body model (4) in water, so that all cable components (1) are in a tensioned state; The navigation model (4) is hoisted onto the trailer by the towing cable group, and while transmitting traction, the navigation model (4) is kept in a stable test posture, so that the navigation model (4) moves along the guide line (2) in the test water pool.

2. The underwater vehicle model dragging mechanism according to claim 1, characterized in that: The number of the cable assemblies (1) is three, one group of cable assemblies (1) is connected to the front end of the navigation model (4), and two groups of cable assemblies (1) are connected to the middle and rear parts of the navigation model (4), and are respectively located on both sides of the navigation model (4). When all the cable assemblies (1) are tensioned, the posture of the navigation model (4) is kept stable when it moves in the pool.

3. The underwater vehicle model dragging mechanism according to claim 1, characterized in that: The number of the cable assemblies (1) is four, two of which are connected to the two sides of the front end of the navigation model (4), and the other two of which are connected to the two sides of the rear end or the two sides of the middle and rear end of the navigation model (4). When all the cable assemblies (1) are tensioned, the posture of the navigation model (4) is kept stable when it moves in the pool.

4. The underwater vehicle model dragging mechanism according to claim 1, characterized in that: The structure of each cable assembly (1) includes a suspension point base plate (11) connected to the trailer, and also includes a thin cable (13), one end of the thin cable (13) is connected to the suspension point base plate (11), and the other end of the thin cable (13) is fixedly connected to the navigation body model (4).

5. The underwater vehicle model dragging mechanism according to claim 4, characterized in that: A tension sensor (12) is provided on the thin cable (13).

6. The underwater vehicle model dragging mechanism according to claim 4, characterized in that: The vehicle model (4) is provided with a posture sensor (5).

7. The underwater vehicle model dragging mechanism according to claim 4, characterized in that: A winch (14) is installed on the suspension point base plate (11), and one end of the thin cable (13) is wound around the drum of the winch (14).

8. The underwater vehicle model dragging mechanism according to claim 7, characterized in that: A lifting base plate (9) is arranged on the moving mechanism of the trailer, and a transverse moving module (7) and a longitudinal moving module (8) are arranged on the lifting base plate (9); the longitudinal moving module (8) is installed on the moving end of the transverse moving module (7), and the lifting point base plate (11) is installed on the moving end of the longitudinal moving module (8).

9. A method for testing the wake of an underwater vehicle model on the water surface, characterized in that: Utilizing the underwater vehicle model dragging mechanism of claim 1, the method comprises the following steps: Connecting the navigation body model (4) to the towing mechanism; placing the navigation body model (4) into a predetermined depth of the test pool; Adjusting the elongation length of each cable assembly (1) and the opening angle between the cable assemblies (1) and the adjacent cable assemblies (1) so that the intersection of the thin cables (13) of each cable assembly (1) and the water surface avoids the water surface wake interval of the navigation body model (4), and at the same time, the navigation body model (4) is in a test posture; carrying out underwater model test operation under the drive of the trailer, and detecting whether the posture of the navigation body model (4) meets the test posture requirements; When the posture of the navigation body model (4) meets the test posture requirements, a water surface wake test is carried out.

10. The method for testing the water surface wake of an underwater vehicle model according to claim 9, characterized in that: When the posture of the navigation body model (4) does not meet the test posture requirements, the opening angle between adjacent cable assemblies (1) or the length of the thin cable (13) is adjusted, and the underwater model test run is performed again; If the posture of the navigation body model (4) still does not meet the test posture requirements during underwater model test operation after adjusting the opening angle between adjacent cable assemblies (1) or the length of the thin cable (13), the opening angle between the cable assemblies (1) is reduced, the length of the thin cable (13) is reduced, the navigation body model (4) is lifted out of the water, and the weight of the ballast (6) is readjusted.

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