Device and method for measuring rolling moment of underwater high-speed vehicle

Abstract

The invention provides a rolling moment measuring device and method for an underwater high-speed vehicle, the rolling moment measuring device comprises a head slip ring fixing structure, a bearing cabin section structure and a pool cover plate, the head slip ring fixing structure is arranged at the head of a measured prototype, the bearing cabin section structure is arranged between adjacent cabin sections of the measured prototype, and the pool cover plate is arranged on the bearing cabin section structure. The head slip ring fixing structure and the bearing cabin section structure are fixedly connected with the pool cover plate; the head slip ring fixing structure comprises a photoelectric slip ring, a rotor of the photoelectric slip ring is fixedly connected with the tested prototype, and a stator of the photoelectric slip ring is fixedly connected with the pool cover plate; a bearing is arranged in the bearing cabin section structure, an inner ring of the bearing is sleeved outside a tested sample machine, and an outer ring of the bearing is fixedly connected with a bearing cabin section structure body. According to the invention, the high-speed self-propulsion motion process of the underwater vehicle can be simulated, the roll motion response during high-speed navigation can be simulated with less cost and risk, and the roll moment generated by the vehicle body and different differential rudder angles at different navigational speeds can be accurately measured.

Description

Technical Field

[0001] The present invention relates to the technical field of hydrodynamic measurement, and in particular to a rolling moment measurement device and method for an underwater high-speed vehicle. Background Art

[0002] Underwater high-speed weapons and equipment are widely used in the military field. The roll stability control of underwater high-speed vehicles during navigation plays a vital role in exerting their effectiveness. In this process, hydrodynamic modeling of high-speed vehicles is one of the important links.

[0003] There are mainly two methods for obtaining the hydrodynamic parameters of the roll freedom of underwater high-speed vehicles: fluid calculation method and experimental measurement method. The fluid calculation method is used for early design demonstration, while the later stage requires tank test to carry out rigorous measurement of the prototype. There are many ways of tank test, such as rapid towing test, wind tunnel model test, propeller open water test, etc. Although these methods have formed standard processes in domestic tank laboratories, their experimental equipment and instruments still have high requirements, and there are many test categories and complicated processes. It is difficult to measure multiple hydrodynamic parameters through a single test, and the degree of restoration of the actual self-propulsion conditions is uneven. Summary of the invention

[0004] In view of the defects in the prior art, an object of the present invention is to provide a rolling moment measurement device and method for an underwater high-speed vehicle.

[0005] The rolling moment measuring device for an underwater high-speed vehicle provided by the present invention comprises a head slip ring fixing structure, a bearing compartment section structure and a pool cover plate, wherein the head slip ring fixing structure is arranged at the head of the measured prototype, the bearing compartment section structure is arranged between adjacent compartment sections of the measured prototype, and the head slip ring fixing structure and the bearing compartment section structure are both fixedly connected to the pool cover plate;

[0006] The head slip ring fixing structure comprises a photoelectric slip ring and a head compartment, wherein the head compartment is installed on the head of the tested prototype, the rotor of the photoelectric slip ring is installed in the head compartment and fixedly connected to the tested prototype, and the photoelectric slip ring stator is fixedly connected to the pool cover;

[0007] A bearing is arranged inside the bearing compartment structure, an inner ring of the bearing is sleeved on the outside of the tested sample, and an outer ring of the bearing is fixedly connected to the bearing compartment structure body.

[0008] Preferably, the head slip ring fixing structure comprises an optoelectronic slip ring, a head compartment section, an optoelectronic watertight cable cover and an optoelectronic slip ring cover;

[0009] The stator of the photoelectric slip ring is fixedly installed inside the photoelectric slip ring cover, the top of the photoelectric slip ring cover is fixedly connected to the bottom of the photoelectric watertight cable cover, and the top of the photoelectric watertight cable cover is fixedly connected to the pool cover;

[0010] The rotor of the optoelectronic slip ring is connected to the cable in the cabin of the sample under test through the optoelectronic slip ring cabin cable outlet connector. The stator of the optoelectronic slip ring is provided with an optoelectronic slip ring cabin cable outlet for leading out the optoelectronic watertight cable. The optoelectronic watertight cable is led out to the outside through the cable threading hole in the middle of the optoelectronic watertight cable cover.

[0011] Preferably, an optoelectronic slip ring docking structure for being fixedly connected to the optoelectronic slip ring rotor is provided on the inner side of the head compartment section, and the optoelectronic slip ring docking structure and the optoelectronic slip ring rotor are sealed by a sealing ring.

[0012] Preferably, a photoelectric watertight cable outlet hole is provided at the connection between the pool cover and the top of the photoelectric watertight cable cover, and the photoelectric watertight cable is led out through the photoelectric watertight cable outlet hole;

[0013] The top of the photoelectric watertight cable cover is connected to the pool cover plate by bolts, and the bolts at the connection are watertight through bolt watertight covers and sealing rings.

[0014] Preferably, there are two bearing compartment structures, namely a first bearing compartment structure and a second bearing compartment structure;

[0015] The first bearing compartment section structure and the second bearing compartment section structure are respectively sleeved between different compartments of the tested prototype, and the first bearing compartment section structure and the second bearing compartment section structure are respectively connected to the pool cover plate through a front support member and a rear support member;

[0016] A first dynamometer and a second dynamometer are installed on the top of the pool cover. The first dynamometer is connected to the first bearing compartment structure, and the second dynamometer is connected to the second bearing compartment structure. The first dynamometer and the second dynamometer are both used to measure the rolling moment of the corresponding bearing compartment structure.

[0017] Preferably, the bearing compartment structure comprises a first bearing outer diameter fixture, a second bearing outer diameter fixture and a bearing, and the bearing compartment structure is fixedly connected to the pool cover plate through a support body;

[0018] The first bearing outer diameter fixture, the second bearing outer diameter fixture and the bearing are all installed between the first bearing matching compartment section and the second bearing matching compartment section of the tested sample;

[0019] The first bearing matching compartment section is fixedly connected to the second bearing matching compartment section, the inner ring of the bearing is fixedly clamped between the first bearing matching compartment section and the second bearing matching compartment section, and the outer ring of the bearing is fixedly clamped between the first bearing outer diameter fixture and the second bearing outer diameter fixture;

[0020] The first bearing outer diameter fixture, the second bearing outer diameter fixture and the support body are fixedly connected, and gaps are set between the first bearing outer diameter fixture and the first bearing matching compartment section, and between the second bearing outer diameter fixture and the second bearing matching compartment section.

[0021] Preferably, a bearing mating compartment sealing surface is provided between the first bearing mating compartment and the second bearing mating compartment, and a sealing ring is provided in the bearing mating compartment sealing surface;

[0022] The connecting parts of the first bearing mating compartment section and the second bearing mating compartment section are both provided with a bearing clamping part protruding in the radial direction, and the inner ring of the bearing is clamped between the bearing clamping parts of the first bearing mating compartment section and the second bearing mating compartment section.

[0023] Preferably, the connection surface between the first bearing mating compartment section and the second bearing mating compartment section is provided with a bearing mating compartment section bolt hole arranged along the axial direction;

[0024] The first bearing mating compartment section and the second bearing mating compartment section are fixedly connected by bolts mating with bolt holes of the bearing mating compartment sections;

[0025] The top of the second bearing outer diameter fixture is provided with a bearing outer diameter fixture matching support member bolt hole, and is fixedly connected to the bottom of the support member body by means of a bolt matching the bearing outer diameter fixture matching support member bolt hole;

[0026] The top of the support body is provided with a threaded hole for connecting the support and the cover plate, and is fixedly connected to the pool cover plate by means of bolts cooperating with the threaded hole for connecting the cover plate.

[0027] Preferably, a bearing outer diameter fixture limiting block is provided on one side of the second bearing outer diameter fixture close to the second bearing matching compartment section, and a bearing outer diameter fixture limiting device corresponding to the bearing outer diameter fixture limiting block is provided on one side of the second bearing matching compartment section close to the second bearing outer diameter fixture;

[0028] The bearing outer diameter fixture limit block and the bearing outer diameter fixture limit device are used to constrain the maximum rolling angle of the tested sample.

[0029] According to the method for measuring the rolling moment of an underwater high-speed vehicle provided by the present invention, the rolling moment measuring device for an underwater high-speed vehicle is used, and the method comprises the following steps:

[0030] Step 1: Measure the mass m and moment of inertia I of the sample under test xx , center of gravity position [x g ,y g ,z g ];

[0031] Step 2: Assemble the necessary compartments of the tested prototype onto the bearing compartment structure, replace the head of the tested prototype with the head compartment, keep the two profiles the same, assemble the optoelectronic slip ring inside the head compartment, and complete the connection between the optoelectronic slip ring and the power supply and signal cables of the tested prototype;

[0032] Assemble the optoelectronic watertight cable cover and the optoelectronic slip ring cover onto the optoelectronic slip ring, and assemble the support member with the corresponding bearing compartment structure to form a test prototype to be tested;

[0033] Step 3: Assemble the test sample to be tested to the pool cover, install the dynamometer on the pool cover, and assemble the test sample to be tested and the pool cover as a whole to the cavitation water cylinder or the circulating water tank to be tested, and complete the assembly of the test machine;

[0034] Step 4: According to the operating speed of the aircraft, the water pool forms a uniform flow field in the tested area, and the propulsion system of the tested prototype works. According to the feedback from the dynamometer, the thrust and drag balance is achieved to simulate the self-propulsion condition at the speed point;

[0035] Step 5: Use the photoelectric slip ring to read the data of the attitude measurement device inside the tested prototype in real time to obtain the roll angle of the tested prototype At this speed, the rolling moment generated by the tested prototype is

[0036] Step 6: Control the differential steering angle δ of the tested prototype d , due to the action of the fluid, the tested prototype will roll, and its rolling angle becomes At this speed, the rolling moment generated by the differential rudder angle of the tested prototype is

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] 1. The present invention relies on a cavitation water cylinder / circulating water tank to conduct a water tank test to simulate the high-speed self-propulsion motion process of a vehicle underwater, and can simulate the rolling motion response during high-speed navigation at a relatively low cost and risk in a limited test environment, and can accurately measure the rolling moment generated by the vehicle body and different differential rudder angles at different speeds.

[0039] 2. The structure designed by the present invention has a negligible effect on the rolling motion of the aircraft itself, and can truly restore the rolling response of the aircraft under self-propulsion conditions; the design of the optoelectronic slip ring can provide the aircraft with external energy and real-time information interaction, thereby improving the overall test efficiency; at the same time, the risk of roll loss of control is taken into consideration, and constraints are imposed on the maximum allowable roll angle.

[0040] 3. The rolling moment measurement device for underwater high-speed vehicles provided by the present invention has a certain degree of versatility and can be specifically designed according to different tested prototypes and test requirements to meet a variety of usage requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0042] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0043] Figure 2 It is a structural schematic diagram of the head slip ring fixing structure in the present invention;

[0044] Figure 3 It is a cross-sectional schematic diagram of the head slip ring fixing structure in the present invention;

[0045] Figure 4 It is a structural schematic diagram of the bearing compartment structure in the present invention;

[0046] Figure 5 It is a structural schematic diagram of the structural section of the bearing compartment section in the present invention;

[0047] Figure 6 It is a cross-sectional schematic diagram of the bearing compartment structure in the present invention;

[0048] Figure 7 It is a partial perspective view of the bearing compartment structure in the present invention.

[0049] The figure shows:

[0050] Bolt watertight cover 1 Optical-electric composite cable waist hole 21

[0051] Optoelectronic watertight cable outlet hole 2 Optoelectronic slip ring cabin cable outlet 23

[0052] Photoelectric watertight cable cover 3 Photoelectric slip ring rotating surface 25

[0053] Photoelectric slip ring cover 4 Photoelectric slip ring docking structure 26

[0054] Photoelectric slip ring 5 Photoelectric slip ring cabin cable connector 27

[0055] Head compartment 6 Support and cover plate connection threaded hole 29

[0056] First dynamometer watertight cover 7 Support body 30

[0057] First dynamometer fixing bolt watertight cover 8 First bearing matching compartment 31

[0058] First dynamometer cable outlet hole 9 First bearing outer diameter fixture 32

[0059] Front support 10 Second bearing outer diameter fixture 33

[0060] First bearing compartment structure 11 Bearing outer diameter fixture matching support bolt hole 34

[0061] Necessary compartment of the tested prototype 12 Second bearing matching compartment 35

[0062] Rear support 13 Bearing outer ring 36

[0063] Second dynamometer watertight cover 14 bearing inner ring 37

[0064] Second dynamometer fixing bolts Watertight cover 15 Bearing roller 38

[0065] The second dynamometer cable outlet hole 16 bearing matching compartment sealing surface 39

[0066] Second bearing compartment structure 17 bearing matching compartment bolt hole 40

[0067] Propulsion section of the tested prototype 18 Bearing outer diameter fixture limit block 41

[0068] Pool cover 19 Bearing outer diameter clamp limit device 42 DETAILED DESCRIPTION

[0069] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0070] The present invention provides a method and device for measuring the rolling moment of an underwater high-speed vehicle, wherein the method assembles a partial structure of a test prototype into a rolling moment measuring device designed for an underwater high-speed vehicle, and conducts a tank test relying on a cavitation water cylinder / circulating water tank to simulate the high-speed self-propulsion motion process of the vehicle underwater, and can simulate the rolling motion response during high-speed navigation at a relatively low cost and risk in a limited test environment, and can accurately measure the rolling moment generated by the vehicle body and different differential rudder angles at different speeds.

[0071] According to the rolling moment measuring device for underwater high-speed vehicles provided by the present invention, Figure 1 As shown, its main body includes a photoelectric slip ring 5, a first bearing compartment section structure 11, a second bearing compartment section structure 17, a head compartment section 6, a necessary compartment section of the tested prototype 12, a propulsion section of the tested prototype 18, and a pool cover 19.

[0072] like Figure 1 As shown, the present invention assembles the necessary compartment of the tested prototype with the structure designed in the present invention as a whole, assembles it to the pool cover 19 through the supporting structure, and carries out subsequent experiments relying on the cavitation water cylinder / circulating water tank. The head compartment 6 is kept the same as the head profile of the tested prototype to achieve the maximum restoration of the real model navigation conditions. The head compartment 6 is connected to the photoelectric slip ring 5. The photoelectric slip ring cover 4 constrains the photoelectric slip ring 5 to limit the rotation of the photoelectric slip ring 5 stator. The photoelectric slip ring cover 4 is connected to the photoelectric watertight cable cover 3. The photoelectric watertight cable cover 3 is connected to the pool cover 19. The bolts at the connection are watertight by the bolt watertight cover 1 through the O-ring. The pool cover 19 opens the photoelectric watertight cable outlet hole 2. The first bearing compartment section structure 11 and the second bearing compartment section structure 17 are both connected to the tested prototype and can be placed in the middle of any compartment section of the tested prototype according to test convenience, test safety and other conditions. The first bearing compartment section structure 11 and the second bearing compartment section structure 17 ensure that the tested prototype can rotate around the longitudinal center axis without constraints. The first bearing compartment section structure 11 and the second bearing compartment section structure 17 are respectively connected to the front support member 10 and the rear support member 13, and the support member is connected to the pool cover 19. The bearing compartment section structure constrains the longitudinal, lateral, vertical, pitch and yaw movements of the tested prototype in five degrees of freedom, but has no constraints on the rolling movement of the tested prototype. The first dynamometer watertight cover 7, the first dynamometer fixing bolt watertight cover 8 and the first dynamometer cable outlet hole 9 form a first dynamometer assembly, which is installed at the first bearing compartment section structure 11; the second dynamometer watertight cover 14, the second dynamometer fixing bolt watertight cover 15 and the second dynamometer cable outlet hole 16 form a second dynamometer assembly, which is installed at the second bearing compartment section structure 17, and thrust-resistance balance is achieved according to feedback from the dynamometer device.

[0073] like Figure 1 , 3 As shown, there is a head cabin docking smooth ring structure 26 in the head cabin section 6, so that the tested prototype is fixedly connected to the rotor of the optoelectronic slip ring 5. The connection is watertight with an O-ring. The left side of the optoelectronic slip ring 5 is the stator, and the right side is the rotor. The stator and the rotor can rotate freely around the optoelectronic slip ring rotating surface 25. The optoelectronic slip ring cabin cable outlet connector 27 is connected to the power cable and signal cable in the cabin of the tested prototype to realize real-time power supply and data interaction to the tested prototype from the outside. The optoelectronic watertight cable is led out from the cable outlet 23 of the optoelectronic slip ring cabin, passes through the optoelectronic composite cable waist hole 21, and is connected to the outside of the pool from the cable outlet hole 2 of the optoelectronic watertight cable pool cover plate, and is connected to the shore equipment.

[0074] like Figure 1 , 6As shown in Figures 7 and 8, the first bearing compartment structure 11 and the second bearing compartment structure 17 are composed of a first bearing matching compartment 31, a second bearing matching compartment 35, a first bearing outer diameter fixture 32, a second bearing outer diameter fixture 33, and a double-row tapered roller bearing. The double-row tapered roller bearing includes a bearing inner ring 37, a bearing roller 38, and a bearing outer ring 36 from the inside to the outside; the double-row tapered roller bearing matches the first bearing matching compartment 31 and the second bearing matching compartment 35 to clamp and lock the tapered roller bearing inner ring 37, so that the tested sample can be fixedly connected to the tapered roller bearing inner ring 37. The bearing matches the first The bearing matching compartment 31 and the second bearing matching compartment 35 are watertight on the bearing matching compartment sealing surface 39 through O-rings; the first bearing outer diameter fixture 32 and the second bearing outer diameter fixture 33 clamp and lock the tapered roller bearing outer ring 36, and the second bearing outer diameter fixture 33 and the support body 30 are fixedly connected by bolts. The bearing outer diameter fixture and the support connecting bolt hole 34 are fixedly connected to keep the double-row tapered roller bearing outer ring 34, the bearing outer diameter fixture, and the support stationary; thus, the bearing section realizes that the tested prototype can rotate around the longitudinal center axis without constraints together with the inner ring of the double-row tapered roller bearing. The double-row tapered roller bearing can withstand bidirectional radial force and bidirectional axial force, ensuring the safety of the test. Taking into account the existence of large rolling moment during the test and the possibility that the vehicle may lose control of its rotation around the central axis, a bearing outer diameter clamp limit block 41 and a bearing outer diameter clamp limit device 42 are designed at the corresponding positions of the bearing outer diameter clamp and support member connecting bolt hole 34 and the second bearing matching compartment 35. The limit device can realize the function of maximum rolling angle constraint and impact buffering of the vehicle.

[0075] According to the method for measuring the rolling moment of an underwater high-speed vehicle provided by the present invention, the method comprises the following steps:

[0076] (1) The tested prototype should include necessary equipment such as propulsion section and attitude measurement device, and have the functions of controlling the propulsion system speed and control surface rudder angle. Before the test, the mass, moment of inertia and center of gravity of the tested cabin section should be accurately measured and recorded as m, I respectively. xx ,[x g ,y g ,z g ];

[0077] (2) Assembling the necessary compartment 12 of the tested prototype to the bearing compartment structure;

[0078] (3) Replace the head of the test prototype with the head section 6 of the water tank test, keeping the lines of the two the same;

[0079] (4) Assemble the optoelectronic slip ring 5 to the head compartment 6 of the water tank test, and complete the connection between the optoelectronic slip ring 5 and the power supply and signal cables of the tested prototype;

[0080] (5) Assemble the optoelectronic watertight cable cover 3, optoelectronic slip ring cover 4, and front and rear supports to the corresponding structures to complete the assembly of the tested prototype in the water tank test;

[0081] (6) Assemble the test sample to the pool cover 19 of the cavitation water cylinder / circulating water tank, and install the front and rear force gauges;

[0082] (7) Assemble the pool test sample and the pool cover 19 as a whole to the cavitation water cylinder / circulating water tank test area to complete the test machine assembly;

[0083] (8) According to the operating speed of the aircraft, the water tank forms a uniform flow field in the tested area, the propulsion system of the tested prototype works, and the thrust and drag balance is achieved according to the feedback from the force measuring device, thereby simulating the self-propulsion condition at the speed point;

[0084] (9) Read the data of the internal attitude measurement device of the prototype in real time through the photoelectric slip ring 5 to obtain the roll angle of the prototype under test At this speed, the rolling moment generated by the unbalanced design of the aircraft when it is sailing at high speed is

[0085]

[0086] (10) Control the differential steering angle δ of the tested prototype d , due to the action of the fluid, the tested prototype will roll, and its rolling angle becomes At this speed, the rolling moment generated by the differential rudder angle of the vehicle is

[0087] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0088] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A rolling moment measuring device for an underwater high-speed vehicle, characterized in that: It comprises a head slip ring fixing structure, a bearing compartment section structure and a water pool cover plate (19), wherein the head slip ring fixing structure is arranged at the head of the tested prototype, the bearing compartment section structure is arranged between adjacent compartments of the tested prototype, and the head slip ring fixing structure and the bearing compartment section structure are both fixedly connected to the water pool cover plate (19); The head slip ring fixing structure comprises a photoelectric slip ring (5) and a head compartment (6), wherein the head compartment (6) is installed on the head of the tested prototype, the rotor of the photoelectric slip ring (5) is installed in the head compartment (6) and is fixedly connected to the tested prototype, and the stator of the photoelectric slip ring (5) is fixedly connected to the pool cover plate (19); A bearing is arranged inside the bearing compartment structure, an inner ring of the bearing is sleeved on the outside of the tested sample, and an outer ring of the bearing is fixedly connected to the bearing compartment structure body.

2. The rolling moment measuring device for underwater high-speed vehicles according to claim 1, characterized in that: The head slip ring fixing structure comprises an optoelectronic slip ring (5), a head compartment section (6), an optoelectronic watertight cable cover (3) and an optoelectronic slip ring cover (4); The stator of the photoelectric slip ring (5) is fixedly installed inside the photoelectric slip ring cover (4), the top of the photoelectric slip ring cover (4) is fixedly connected to the bottom of the photoelectric watertight cable cover (3), and the top of the photoelectric watertight cable cover (3) is fixedly connected to the pool cover (19); The rotor of the optoelectronic slip ring (5) is connected to the cable in the cabin of the sample machine under test through an optoelectronic slip ring cabin cable outlet connector (27). The stator of the optoelectronic slip ring (5) is provided with an optoelectronic slip ring cabin cable outlet (23) for leading out an optoelectronic watertight cable. The optoelectronic watertight cable is led out to the outside through a cable threading hole in the middle of the optoelectronic watertight cable cover (3).

3. The rolling moment measuring device for underwater high-speed vehicles according to claim 2, characterized in that: The inner side of the head compartment section (6) is provided with a photoelectric slip ring docking structure (26) for being fixedly connected to the photoelectric slip ring (5) rotor, and the photoelectric slip ring docking structure (26) and the photoelectric slip ring (5) rotor are sealed by a sealing ring.

4. The rolling moment measuring device for underwater high-speed vehicles according to claim 2, characterized in that: A photoelectric watertight cable outlet hole (2) is provided at the connection between the pool cover (19) and the top of the photoelectric watertight cable cover (3), and the photoelectric watertight cable is led out through the photoelectric watertight cable outlet hole (2); The top of the photoelectric watertight cable cover (3) is connected to the pool cover plate (19) by bolts, and the bolts at the connection are watertight with the sealing ring through the bolt watertight cover (1).

5. The rolling moment measuring device for underwater high-speed vehicles according to claim 1, characterized in that: There are two bearing compartment structures, namely a first bearing compartment structure (11) and a second bearing compartment structure (17); The first bearing compartment section structure (11) and the second bearing compartment section structure (17) are respectively sleeved between different compartments of the tested sample, and the first bearing compartment section structure (11) and the second bearing compartment section structure (17) are respectively connected to the pool cover plate (19) through the front support member (10) and the rear support member (13); A first dynamometer and a second dynamometer are installed on the top of the pool cover (19); the first dynamometer is connected to the first bearing compartment structure (11), and the second dynamometer is connected to the second bearing compartment structure (17); the first dynamometer and the second dynamometer are both used to measure the rolling moment of the corresponding bearing compartment structure.

6. The rolling moment measuring device for underwater high-speed vehicles according to claim 1, characterized in that: The bearing compartment structure comprises a first bearing outer diameter fixture (32), a second bearing outer diameter fixture (33) and a bearing, and the bearing compartment structure is fixedly connected to the pool cover plate (19) via a support body (30); The first bearing outer diameter fixture (32), the second bearing outer diameter fixture (33) and the bearing are all installed between the first bearing matching compartment section (31) and the second bearing matching compartment section (35) of the tested sample; The first bearing mating compartment (31) and the second bearing mating compartment (35) are fixedly connected, the bearing inner ring (37) is fixedly clamped between the first bearing mating compartment (31) and the second bearing mating compartment (35), and the bearing outer ring (36) is fixedly clamped between the first bearing outer diameter fixture (32) and the second bearing outer diameter fixture (33); The first bearing outer diameter fixture (32), the second bearing outer diameter fixture (33) and the support body (30) are fixedly connected, and gaps are provided between the first bearing outer diameter fixture (32) and the first bearing matching compartment (31), and between the second bearing outer diameter fixture (33) and the second bearing matching compartment (35).

7. The rolling moment measuring device for underwater high-speed vehicles according to claim 6, characterized in that: A bearing matching compartment sealing surface (39) is provided between the first bearing matching compartment (31) and the second bearing matching compartment (35), and a sealing ring is provided in the bearing matching compartment sealing surface (39); The connecting parts of the first bearing mating compartment section (31) and the second bearing mating compartment section (35) are both provided with a bearing clamping part protruding in the radial direction, and the bearing inner ring (37) is clamped between the bearing clamping parts of the first bearing mating compartment section (31) and the second bearing mating compartment section (35).

8. The rolling moment measuring device for underwater high-speed vehicles according to claim 6, characterized in that: The connection surface between the first bearing matching compartment section (31) and the second bearing matching compartment section (35) is provided with a bearing matching compartment section bolt hole (40) arranged along the axial direction; The first bearing mating compartment section (31) and the second bearing mating compartment section (35) are fixedly connected by means of bolts mating with bolt holes (40) of the bearing mating compartment sections; The top of the second bearing outer diameter fixture (33) is provided with a bearing outer diameter fixture matching support member bolt hole (34), and is fixedly connected to the bottom of the support member body (30) by means of a bolt matching the bearing outer diameter fixture matching support member bolt hole (34); The top of the support body (30) is provided with a support and cover plate connecting threaded hole (29), and is fixedly connected to the pool cover plate (19) by means of bolts cooperating with the cover plate connecting threaded hole (29).

9. The rolling moment measuring device for underwater high-speed vehicles according to claim 6, characterized in that: A bearing outer diameter fixture stop block (41) is provided on one side of the second bearing outer diameter fixture (33) close to the second bearing matching compartment (35), and a bearing outer diameter fixture stop device (42) corresponding to the bearing outer diameter fixture stop block (41) is provided on one side of the second bearing matching compartment (35) close to the second bearing outer diameter fixture (33); The bearing outer diameter clamp limit block (41) and the bearing outer diameter clamp limit device (42) are used to constrain the maximum rolling angle of the tested sample.

10. A method for measuring the rolling moment of an underwater high-speed vehicle, characterized in that: The rolling moment measuring device for an underwater high-speed vehicle according to any one of claims 1 to 9 comprises the following steps: Step 1: Measure the mass m and moment of inertia I of the sample under test xx , center of gravity position [x g ,y g ,z g ]; Step 2: Assemble the necessary compartments of the tested prototype onto the bearing compartment structure, replace the head of the tested prototype with the head compartment (6), keep the two profiles the same, assemble the optoelectronic slip ring (5) inside the head compartment (6), and complete the connection between the optoelectronic slip ring (5) and the power supply and signal cables of the tested prototype; Assembling the optoelectronic watertight cable cover (3) and the optoelectronic slip ring cover (4) onto the optoelectronic slip ring (5), and assembling the support member and the corresponding bearing compartment structure to form a test prototype; Step 3: Assemble the test sample to be tested to the pool cover (19), install a force gauge on the pool cover (19), and assemble the test sample to be tested and the pool cover (19) as a whole to the cavitation water cylinder or the circulating water tank to be tested, thus completing the assembly of the test machine; Step 4: According to the operating speed of the aircraft, the water pool forms a uniform flow field in the tested area, and the propulsion system of the tested prototype works. According to the feedback from the dynamometer, the thrust and drag balance is achieved to simulate the self-propulsion condition at the speed point; Step 5: Use the photoelectric slip ring (5) to read the data of the attitude measurement device inside the tested prototype in real time to obtain the roll angle of the tested prototype At this speed, the rolling moment generated by the tested prototype is Step 6: Control the differential steering angle δ of the tested prototype d , due to the action of the fluid, the tested prototype will roll, and its rolling angle becomes At this speed, the rolling moment generated by the differential rudder angle of the tested prototype is

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