Gradient attack angle sea-air cross-medium aircraft thin-wall shell test system

Abstract

The invention relates to the technical field of ship and ocean engineering experiments, in particular to a gradual-change attack angle sea-air cross-medium aircraft thin-wall shell testing system. Comprising a sea surface navigation boat, a swing arm mechanism, a dragging mechanism and a vehicle test body, and the swing arm mechanism is arranged on the sea surface navigation boat and has a degree of freedom of rotation in a vertical plane; the dragging mechanism is arranged on the swing arm mechanism and connected with the aircraft test body, and the dragging mechanism is used for retracting and releasing the aircraft test body; when the sea surface navigation boat drags the aircraft test body to sail in seawater through the dragging mechanism, the water outlet test of the gradual change attack angle of the aircraft test body can be achieved through rotation of the swing arm mechanism. The gradual change attack angle water outlet test of the real-scale sea-air cross-medium aircraft model can be realized, the initial speed, the acceleration and the attitude angle of the real-scale sea-air cross-medium aircraft model can be subjected to accurate gradual change regulation and control, and key data and theoretical support are provided for the design, the control algorithm and the like of the sea-air cross-medium aircraft.

Description

Technical Field

[0001] The invention relates to the technical field of ship and ocean engineering experiments, and in particular to a thin-wall shell testing system for a sea-air cross-medium vehicle with a gradual attack angle. Background Art

[0002] In recent years, cross-media vehicles, as new-type and new-domain unmanned platforms, have received great attention in the fields of aerospace, shipbuilding and oceanography. Since cross-media vehicles have various ways of emerging from the water, but their speeds are much lower than those of underwater launches, and there are almost no bubbles or cavitation parameters in the emergence process, this is a new issue that needs to be studied.

[0003] Due to the huge differences in density, viscosity and compressibility between water and air, the force of water fluid during water emergence has a great impact on the water emergence of a cross-medium vehicle. Generally, water-to-air cross-medium vehicles can be divided into rotor-type and fixed-wing types according to the lift principle. The lift of a rotor-type cross-medium vehicle in the air is generated by the rotor, and it can quickly change its water emergence posture during water emergence to reduce the impact of water emergence. The lift of a fixed-wing cross-medium vehicle mainly depends on its own flight speed. Its speed when emerging from the water is relatively low, and it cannot quickly change its water emergence posture. The water exit resistance it encounters is different under different water bow angles, water exit angles, water exit speeds and water exit accelerations; therefore, accurately measuring the resistance encountered when exiting the water is the focus of research on fixed-wing water-to-air cross-medium vehicles; and since the propeller of a fixed-wing water-to-air cross-medium vehicle is generally located at the bow during the process of entering and exiting the water, it is similar to a cantilever beam with a variable cross-section in its constrained test research, and the test device requires higher stiffness. Therefore, the measurement of the forces of a fixed-wing water-to-air cross-medium vehicle under different water exit parameters is a key and difficult point in the research field of fixed-wing water-to-air cross-medium vehicles.

[0004] Although existing patents have disclosed a cross-media vehicle entry and exit test device, such as the Chinese patent with publication number "CN106932171B", it can realize the entry and exit tests of the cross-media vehicle model at different angles and initial speeds, and can accurately control the initial speed and angle of the cross-media vehicle model entering and exiting the water, meeting the entry and exit tests with initial speeds from 0m / s to 20m / s and angles from close to 0° to 90°, and can realize simulation tests of different entry and exit modes such as free entry, free exit, forced entry, and forced exit of the cross-media vehicle model. However, due to the limited range of the number of measurement parameters of this patent, it is impossible to measure the water exit with a gradual angle of attack, and therefore it is not suitable for the measurement of the fully autonomous adjustment of the water exit condition of the fixed-wing cross-media vehicle. Summary of the invention

[0005] In view of the above problems, the purpose of the present invention is to provide a thin-walled hull test system for a sea and air cross-media vehicle with a gradient attack angle, so as to solve the problem that the existing cross-media vehicle entry and exit water test equipment has a limited range of measurement parameters, cannot measure the water exit with a gradient attack angle, and is not suitable for fixed-wing cross-media vehicles for fully autonomous adjustment of water exit conditions.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] The present invention provides a thin-walled hull test system for a sea-air cross-medium vehicle with a gradual attack angle, comprising a surface sailing boat, a swing arm mechanism, a towing mechanism and a vehicle test body, wherein the swing arm mechanism is arranged on the surface sailing boat and has the freedom of rotation in a vertical plane; the towing mechanism is arranged on the swing arm mechanism and is connected to the vehicle test body, and the towing mechanism is used for retracting and releasing the vehicle test body; when the surface sailing boat tows the vehicle test body through the towing mechanism to navigate in seawater, a water exit test of the vehicle test body with a gradual attack angle can be realized through the rotation of the swing arm mechanism.

[0008] In one possible implementation, the aircraft test body includes an aircraft thin-walled shell and a test head and a test tail connected to the front and rear ends of the aircraft thin-walled shell, wherein the test head is connected to the towing mechanism, and a head six-axis force sensor is provided in the test head, and a tail six-axis force sensor is provided in the test tail. The head six-axis force sensor and the tail six-axis force sensor can respectively sense the gradual loads on the front and rear ends of the aircraft thin-walled shell when the aircraft emerges from the water at a gradual attack angle.

[0009] In a possible implementation, the thin-walled outer shell of the aircraft is provided with a counterweight module and a stress-strain test sensor, and the stress-strain test sensor is used to detect stress and strain inside the thin-walled outer shell of the aircraft.

[0010] In one possible implementation, the test head includes a head body, a head connecting plate and a head contour rubber, wherein the head body is connected to the head connecting plate via a head contour rubber having a hollow cavity, the head six-dimensional force sensor is arranged in the hollow cavity of the head contour rubber, and the two ends are respectively connected to the head body and the head connecting plate; the interior of the head contour rubber is filled with pressure-adjustable gas; the head connecting plate is positioned and matched with the front end of the thin-walled outer shell of the aircraft through a head contour stop provided on the outer side, and the head connecting plate is connected to the thin-walled outer shell of the aircraft through bolts.

[0011] In a possible implementation, the head body is symmetrically provided with a left canard and a right canard on both sides, and the left canard and the right canard are respectively provided with a left canard elevator and a right canard elevator.

[0012] In one possible implementation, the test tail includes a tail body, a tail connecting plate and a tail contoured rubber, wherein the tail body is connected to the tail connecting plate through a tail contoured rubber having a hollow cavity, the tail six-dimensional force sensor is arranged in the hollow cavity of the tail contoured rubber, and the two ends are respectively connected to the tail body and the tail connecting plate, and the interior of the tail contoured rubber is filled with pressure-adjustable gas; the tail connecting plate is positioned and matched with the rear end of the aircraft thin-walled shell through a tail contoured stop provided on the outer side, and the tail connecting plate is connected to the aircraft thin-walled shell through bolts.

[0013] In one possible implementation, a left tail wing and a right tail wing are symmetrically provided on both sides of the tail body, and a left tail elevator and a right tail elevator are respectively provided on the left tail wing and the right tail wing; a vertical tail wing is provided on the top of the tail body, and a rudder is provided on the vertical tail wing.

[0014] In a possible implementation, the sea-going boat includes two speedboats and a crossbeam connected to the two speedboats, and the swing arm mechanism is arranged on the crossbeam.

[0015] In one possible implementation, the swing arm mechanism includes an outer gear ring slewing bearing, a swing arm, an output gear, a swing reducer and a swing motor, wherein the root of the swing arm is mounted on the crossbeam through the outer gear ring slewing bearing, the swing reducer is mounted on the crossbeam, and the input end is connected to the swing motor, the output end of the swing reducer is connected to the output gear, and the output gear is meshed with the outer gear ring of the outer gear ring slewing bearing; the swing motor drives the swing arm to rotate 360° around the crossbeam through the swing reducer.

[0016] In one possible implementation, the towing mechanism includes a traction motor, a traction reducer, a winch drum, a traction wire rope and a guide wheel group, wherein the guide wheel group is arranged at the free end of the swing arm, the traction reducer is arranged at the root of the swing arm, and the input end is connected to the traction motor, the output end of the traction reducer is connected to the winch drum, one end of the traction wire rope is wound around the winch drum, and the other end is connected to the aircraft test body after passing through the guide wheel group.

[0017] The present invention has the following advantages and beneficial effects: a thin-walled shell testing system for a sea-and-air cross-medium vehicle with a gradient attack angle provided by the present invention can perform relatively precise gradient control on the initial velocity, acceleration and attitude angle of a full-scale sea-and-air cross-medium vehicle model, satisfying water entry and exit tests with an initial velocity of 36km / h to 112km / h, an acceleration of 0.07m / s^2 to 1m / s^2 and an attitude angle of 0° to 26°, and can realize a constrained model water exit test of a full-scale sea-and-air cross-medium vehicle model.

[0018] The aircraft test body of the present invention contains a six-dimensional force sensor at the head and a six-dimensional force sensor at the tail, which can sense the gradual loads at the front and rear ends of the thin-walled shell 7 of the aircraft when it exits the water at a gradual attack angle. Therefore, it can be widely used in various working conditions of sea and air cross-medium aircraft model tests. At the same time, it can quickly and effectively obtain various test data such as the variable hydrodynamics, hydrodynamic torque, etc. of the real-scale model of the sea and air cross-medium aircraft when it exits the water at a certain speed or a certain acceleration, as well as the free liquid surface change process during the entry and exit processes, etc., providing key data and theoretical support for the design and control algorithm of the sea and air cross-medium aircraft.

[0019] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0020] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0022] Figure 1 It is an axonometric diagram of a thin-wall shell test system for a sea-air cross-medium vehicle with a gradual angle of attack according to the present invention;

[0023] Figure 2 for Figure 1 Partial view at point A in the middle;

[0024] Figure 3 for Figure 2 Partial view at point B in the middle;

[0025] Figure 4 for Figure 2 Partial view at center C;

[0026] Figure 5 is an axonometric diagram of the test head in the present invention;

[0027] Figure 6 for Figure 5 Partial view at D in the middle;

[0028] Figure 7 It is a schematic diagram of the connection between the test head and the thin-walled shell of the aircraft in the present invention;

[0029] Figure 8 It is an axonometric view of the test tail in the present invention;

[0030] Fig. 9 for Figure 8 Partial view at point E in the middle;

[0031] Fig.10 It is a schematic diagram of the connection between the test tail and the thin-walled shell of the aircraft in the present invention;

[0032] Fig.11 A schematic diagram of a navigation state of a thin-wall shell testing system for a sea-air cross-medium vehicle with a gradual angle of attack according to the present invention;

[0033] Fig.12 This is another schematic diagram of the navigation state of a thin-walled hull testing system for a sea-to-air cross-medium vehicle with a gradient attack angle according to the present invention.

[0034] In the figure: 1-sea level, 2-speedboat, 3-crossbeam, 4-swing arm mechanism, 401-external gear ring slewing bearing, 402-swing arm, 403-output gear, 404-swing reducer, 405-swing motor, 5-dragging mechanism, 501-traction motor, 502-traction reducer, 503-winding drum, 504-traction wire rope, 505-guide wheel I, 506-guide wheel II, 6-test head, 601-head body, 602-head connecting plate, 603-head profiling stopper, 604-head connecting hole, 605-head profiling rubber, 606-head six-dimensional force sensor, 607-left canard, 608-right canard Wing, 609-left canard elevator, 610-right canard elevator, 611-front screw, 7-vehicle thin-walled shell, 701-front face, 702-front curved hole, 703-rear face, 704-rear curved hole, 8-test tail, 801-tail body, 802-tail connecting plate, 803-tail contoured stop, 804-tail connecting hole, 805-tail contoured rubber, 806-tail six-dimensional force sensor, 807-left tail, 808-right tail, 809-left tail elevator, 810-right tail elevator, 811-tail screw, 812-vertical tail, 813-rudder, 9-strain gauge. DETAILED DESCRIPTION

[0035] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0037] The present invention provides a thin-wall shell test system for a sea-air cross-medium vehicle with a gradient attack angle, which can realize a water exit test of a full-scale sea-air cross-medium vehicle model at a gradient attack angle, and can perform relatively precise gradient control on the initial velocity, acceleration, and attitude angle of the full-scale sea-air cross-medium vehicle model. Figures 1 to 12 As shown, the thin-walled hull test system for a sea-to-air cross-medium vehicle with a gradual attack angle comprises a surface sailing boat, a swing arm mechanism 4, a towing mechanism 5 and a vehicle test body, wherein the swing arm mechanism 4 is arranged on the surface sailing boat, and has the freedom to rotate in a vertical plane; the towing mechanism 5 is arranged on the swing arm mechanism 4 and is connected to the vehicle test body, and the towing mechanism 5 is used for retracting and releasing the vehicle test body; when the surface sailing boat tows the vehicle test body through the towing mechanism 5 to navigate in the sea water, the rotation of the swing arm mechanism 4 can realize a water test of the vehicle test body with a gradual attack angle.

[0038] See also Figure 1 As shown, in the embodiment of the present invention, the sea-surface sailing boat comprises two speedboats 2 and a beam 3 connected to the two speedboats 2, and a swing arm mechanism 4 is arranged on the beam 3, and the two speedboats 2 provide power for sailing and towing the aircraft test body.

[0039] See also Figure 3 As shown, in the embodiment of the present invention, the swing arm mechanism 4 includes an outer gear ring slewing bearing 401, a swing arm 402, an output gear 403, a swing reducer 404 and a swing motor 405, wherein the root of the swing arm 402 is installed on the crossbeam 3 through the outer gear ring slewing bearing 401, the swing reducer 404 is installed on the crossbeam 3, and the input end is connected to the swing motor 405, the output end of the swing reducer 404 is connected to the output gear 403, and the output gear 403 is meshed with the outer gear ring of the outer gear ring slewing bearing 401; the swing motor 405 drives the swing arm 402 to rotate 360° around the crossbeam 3 through the swing reducer 404.

[0040] Specifically, the outer gear ring slewing bearing 401 is an outer gear ring slewing four-point ball support, the inner ring of which is fixed on the cross beam 3, and the outer ring side of the outer gear ring slewing four-point ball support 401 is fixed to the root of the swing arm 4. The swing arm 4 is a flat plate structure, the plane of the swing arm 4 is orthogonal to the axis of the cross beam 3, and the swing of the swing arm 4 can provide traction acceleration for the aircraft test body.

[0041] See also Figures 2 to 4As shown, in an embodiment of the present invention, the towing mechanism 5 includes a traction motor 501, a traction reducer 502, a winch drum 503, a traction wire rope 504 and a guide wheel group, wherein the guide wheel group is arranged at the free end of the swing arm 402, the traction reducer 502 is arranged at the root of the swing arm 402, and the input end is connected to the traction motor 501, the output end of the traction reducer 502 is connected to the winch drum 503, one end of the traction wire rope 504 is wound around the winch drum 503, and the other end is connected to the aircraft test body after passing through the guide wheel group.

[0042] Specifically, the guide wheel group includes a guide wheel I 505 and a guide wheel II 506 arranged in parallel, the axes of the guide wheels I 505 and II 506 are perpendicular to the swing arm 402, and the traction wire rope 504 passes between the guide wheels I 505 and II 506. When working, the traction motor 501 drives the hoist drum 503 to rotate through the traction reducer 502, thereby realizing the release or recovery of the traction wire rope 504.

[0043] See also Figure 2 , Figures 5 to 10 As shown, in an embodiment of the present invention, the aircraft test body includes an aircraft thin-walled shell 7 and a test head 6 and a test tail 8 connected to the front and rear ends of the aircraft thin-walled shell 7, wherein the test head 6 is connected to the traction wire rope 504, and a head six-axis force sensor 606 is provided in the test head 6, and a tail six-axis force sensor 806 is provided in the test tail 8. The head six-axis force sensor 606 and the tail six-axis force sensor 806 can respectively sense the gradual loads at the front and rear ends of the aircraft thin-walled shell 7 when it exits the water at a gradual attack angle.

[0044] In the embodiment of the present invention, the thin-walled outer shell 7 of the aircraft is provided with a counterweight module and a stress-strain test sensor, and the stress-strain test sensor is used to detect the stress and strain inside the thin-walled outer shell 7 of the aircraft.

[0045] Furthermore, the aircraft thin-walled shell 7 also contains an internal pressure control device and a battery, etc. The device inside the aircraft thin-walled shell 7 can effectively counterweight and test the internal strain and stress of the aircraft thin-walled shell 7. The stress-strain test sensor preferably uses a strain gauge 9.

[0046] See also Figures 5 to 7As shown, in the embodiment of the present invention, the test head 6 includes a head body 601, a head connection plate 602 and a head profiling rubber 605, wherein the head body 601 is connected to the head connection plate 602 through the head profiling rubber 605 having a hollow cavity, and the head six-dimensional force sensor 606 is arranged in the hollow cavity of the head profiling rubber 605, and the two ends are respectively connected to the head body 601 and the head connection plate 602; the interior of the head profiling rubber 605 is filled with gas with adjustable pressure; the head connection plate 602 is positioned and matched with the front curved hole 702 of the aircraft thin-walled shell 7 through the head profiling stop 603 provided on the outer side, and the outer side of the head connection plate 602 is in contact with the front end face 701 of the aircraft thin-walled shell 7. A plurality of head connection holes 604 are provided on the head connection plate 602, and the front end face 701 of the aircraft thin-walled shell 7 is connected to the head connection hole 604 on the head connection plate 602 through the front screw 611. The front end of the head body 601 is connected to the traction wire rope 504.

[0047] Furthermore, a left canard 607 and a right canard 608 are symmetrically provided on both sides of the head body 601. The left canard 607 and the right canard 608 are respectively provided with a left canard elevator 609 and a right canard elevator 610. The left canard elevator 609 and the right canard elevator 610 can control the pitch angle and roll angle of the aircraft test body.

[0048] Specifically, one end of the head profiling rubber 605 is sealed and bonded to the head body 601, and the other end of the head profiling rubber 605 is sealed and bonded to the head connecting plate 602. Since the head profiling rubber 605 is filled with pressure-adjustable gas, the shape of the head profiling rubber 605 is consistent with the overall shape of the test body.

[0049] See also Figures 8 to 10 As shown, in an embodiment of the present invention, the test tail 8 includes a tail body 801, a tail connecting plate 802 and a tail profiling rubber 805, wherein the tail body 801 is connected to the tail connecting plate 802 through the tail profiling rubber 805 having a hollow cavity, the tail six-dimensional force sensor 806 is arranged in the hollow cavity of the tail profiling rubber 805, and the two ends are respectively connected to the tail body 801 and the tail connecting plate 802, and the tail profiling rubber 805 is filled with pressure-adjustable gas; the tail connecting plate 802 is positioned and matched with the rear curved hole 704 of the aircraft thin-walled shell 7 through the tail profiling stop 803 provided on the outer side, and the outer side surface of the tail connecting plate 802 is in contact with the rear end surface 703 of the aircraft thin-walled shell 7; a plurality of tail connecting holes 804 are provided on the tail connecting plate 802, and the rear end surface 703 of the aircraft thin-walled shell 7 is connected to the tail connecting hole 804 on the tail connecting plate 802 through a tail screw 811.

[0050] Furthermore, a left tail wing 807 and a right tail wing 808 are symmetrically arranged on the tail body 801, and a left tail elevator 809 and a right tail elevator 810 are respectively arranged on the left tail wing 807 and the right tail wing 808; a vertical tail wing 812 is arranged on the top of the tail body 801, and a rudder 813 is arranged on the vertical tail wing 812. The left tail elevator 809 and the right tail elevator 810 can control the pitch angle and the roll angle of the aircraft test body.

[0051] Specifically, one end of the tail profiling rubber 805 is sealed and bonded to the tail body 801, and the other end of the tail profiling rubber 805 is sealed and bonded to the tail connecting plate 802. Since the tail profiling rubber 805 is filled with pressure-adjustable gas, the shape of the tail profiling rubber 805 is consistent with the shape of the aircraft test body.

[0052] In this embodiment, the aircraft test body simulates a fixed-wing submersible with a head propeller, and the traction wire rope 504 simulates the head propeller. The rotation axis of the head propeller may be non-collinear with the axis of the submersible, and its transmission principle is similar to that of a large propeller of a helicopter.

[0053] The invention provides a thin-wall shell testing system for sea-air cross-medium vehicles with a gradual angle of attack. The system is designed to meet the needs of sea-air cross-medium vehicle research and is a water outlet testing system with variable initial velocity, variable acceleration and variable attitude angle, which can realize the measurement of key data.

[0054] See also Fig.11 , Fig.12 As shown, the present invention can realize the water exit test of a full-scale sea-air cross-medium vehicle model at a gradual angle of attack, and can perform relatively precise gradual control of the initial speed, acceleration and attitude angle of the full-scale sea-air cross-medium vehicle model, so as to meet the water exit test with an initial speed ranging from 36km / h to 112km / h, an acceleration of 0.07m / s^2 to 1m / s^2 and an attitude angle of 0°-26° for entry and exit from water, and can realize the constrained model water exit test of the full-scale sea-air cross-medium vehicle model. Since the aircraft test body contains a six-dimensional force sensor 606 at the head and a six-dimensional force sensor 806 at the tail, it can sense the gradual loads on the front and rear ends of the aircraft's thin-walled shell 7 when it exits the water at a gradual angle of attack. Therefore, it can be widely used in various working conditions of sea-to-air cross-medium aircraft model tests. At the same time, it can quickly and effectively obtain various test data such as the variable hydrodynamics, hydrodynamic torque, etc. of the full-scale model of the sea-to-air cross-medium aircraft when it exits the water at a certain speed or a certain acceleration, as well as the free liquid surface change process during the entry and exit processes, etc., providing key data and theoretical support for the design and control algorithm of the sea-to-air cross-medium aircraft.

[0055] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A thin-wall shell test system for sea-air cross-medium vehicles with a gradual angle of attack, characterized in that: The invention comprises a sea-surface sailing boat, a swing arm mechanism (4), a towing mechanism (5) and an aircraft test body, wherein the swing arm mechanism (4) is arranged on the sea-surface sailing boat and has the freedom to rotate in a vertical plane; the towing mechanism (5) is arranged on the swing arm mechanism (4) and is connected to the aircraft test body, and the towing mechanism (5) is used to retract and release the aircraft test body; when the sea-surface sailing boat tows the aircraft test body through the towing mechanism (5) to sail in seawater, the rotation of the swing arm mechanism (4) can realize a water exit test of the aircraft test body with a gradual angle of attack.

2. The thin-wall shell test system for sea-air cross-medium vehicles with a gradual angle of attack according to claim 1 is characterized in that: The aircraft test body comprises an aircraft thin-walled shell (7) and a test head (6) and a test tail (8) connected to the front and rear ends of the aircraft thin-walled shell (7), wherein the test head (6) is connected to the towing mechanism (5), and a head six-dimensional force sensor (606) is provided in the test head (6), and a tail six-dimensional force sensor (806) is provided in the test tail (8), and the head six-dimensional force sensor (606) and the tail six-dimensional force sensor (806) can respectively sense the gradual loads at the front and rear ends of the aircraft thin-walled shell (7) when it is out of water at a gradual angle of attack.

3. The thin-wall shell test system for sea-air cross-medium vehicles with a gradual angle of attack according to claim 2 is characterized in that: The thin-walled outer shell (7) of the aircraft is provided with a counterweight module and a stress-strain test sensor, and the stress-strain test sensor is used to detect stress and strain inside the thin-walled outer shell (7) of the aircraft.

4. The thin-wall shell test system for sea-air cross-medium vehicles with a gradual angle of attack according to claim 2 is characterized in that: The test head (6) comprises a head body (601), a head connecting plate (602) and a head profiling rubber (605), wherein the head body (601) is connected to the head connecting plate (602) via the head profiling rubber (605) having a hollow cavity, the head six-dimensional force sensor (606) is arranged in the hollow cavity of the head profiling rubber (605), and the two ends are respectively connected to the head body (601) and the head connecting plate (602); the interior of the head profiling rubber (605) is filled with gas with adjustable pressure; the head connecting plate (602) is positioned and matched with the front end of the aircraft thin-walled shell (7) through the head profiling stop (603) provided on the outer side, and the head connecting plate (602) is connected to the aircraft thin-walled shell (7) via bolts.

5. The thin-wall shell test system for sea-air cross-medium vehicles with a gradual angle of attack according to claim 4 is characterized in that: The head body (601) is symmetrically provided with a left canard (607) and a right canard (608) on both sides, and the left canard (607) and the right canard (608) are respectively provided with a left canard elevator (609) and a right canard elevator (610).

6. The thin-wall shell testing system for sea-air cross-medium vehicles with a gradual angle of attack according to claim 2 is characterized in that: The test tail (8) comprises a tail body (801), a tail connecting plate (802) and a tail profiling rubber (805), wherein the tail body (801) is connected to the tail connecting plate (802) via a tail profiling rubber (805) having a hollow cavity, the tail six-dimensional force sensor (806) is arranged in the hollow cavity of the tail profiling rubber (805), and its two ends are respectively connected to the tail body (801) and the tail connecting plate (802), and the interior of the tail profiling rubber (805) is filled with gas with adjustable pressure; the tail connecting plate (802) is positioned and matched with the rear end of the aircraft thin-walled shell (7) through a tail profiling stop (803) provided on the outer side, and the tail connecting plate (802) is connected to the aircraft thin-walled shell (7) via bolts.

7. The thin-wall shell testing system for sea-air cross-medium vehicles with a gradual angle of attack according to claim 6 is characterized in that: A left tail wing (807) and a right tail wing (808) are symmetrically arranged on both sides of the tail body (801), and a left tail wing elevator (809) and a right tail wing elevator (810) are respectively arranged on the left tail wing (807) and the right tail wing (808); a vertical tail wing (812) is arranged on the top of the tail body (801), and a rudder (813) is arranged on the vertical tail wing (812).

8. The thin-wall shell testing system for sea-air cross-medium vehicles with a gradual angle of attack according to claim 1 is characterized in that: The sea-surface sailing boat comprises two speedboats (2) and a crossbeam (3) connected to the two speedboats (2), and the swing arm mechanism (4) is arranged on the crossbeam (3).

9. The thin-wall shell testing system for sea-air cross-medium vehicles with a gradual angle of attack according to claim 8 is characterized in that: The swing arm mechanism (4) comprises an outer gear ring slewing bearing (401), a swing arm (402), an output gear (403), a swing reducer (404) and a swing motor (405), wherein the root of the swing arm (402) is mounted on the crossbeam (3) via the outer gear ring slewing bearing (401), the swing reducer (404) is mounted on the crossbeam (3), and the input end is connected to the swing motor (405), the output end of the swing reducer (404) is connected to the output gear (403), and the output gear (403) is meshed with the outer gear ring of the outer gear ring slewing bearing (401); the swing motor (405) drives the swing arm (402) to rotate 360 ​​degrees around the crossbeam (3) via the swing reducer (404).

10. The thin-wall shell testing system for sea-air cross-medium vehicles with a gradual angle of attack according to claim 9 is characterized in that: The towing mechanism (5) comprises a traction motor (501), a traction reducer (502), a hoisting drum (503), a traction wire rope (504) and a guide wheel group, wherein the guide wheel group is arranged at the free end of the swing arm (402), the traction reducer (502) is arranged at the root of the swing arm (402), and the input end is connected to the traction motor (501), the output end of the traction reducer (502) is connected to the hoisting drum (503), one end of the traction wire rope (504) is wound around the hoisting drum (503), and the other end is connected to the aircraft test body after passing through the guide wheel group.

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