Device and method for measuring hydrodynamic interference and visualizing flow field of double-oscillating hydrofoil

Abstract

The application discloses a kind of dual wave water wing hydrodynamic interference measurement and flow field visualization experimental device and method, belong to bionics engineering technical field.The experimental device of two water wing position adjusting structure is detachably installed side by side parallel on the circulating water tank, the high-speed camera is installed outside the circulating water tank, the water wing position adjusting structure includes horizontal sliding beam, vertical lifting rod and connecting slider, the horizontal sliding beam is connected with the vertical lifting rod by the connecting slider, the horizontal sliding beam is located at the top of the circulating water tank, the vertical lifting rod is located inside the circulating water tank, the six-component force sensor is installed on the vertical lifting rod, and the wave water wing is installed at the bottom of the vertical lifting rod.Wave motion of machine fish can be simulated accurately, and it is not dependent on post-processing program, real-time three-dimensional flow display can be conveniently provided in test, and a large number of dual-robot fish wave water wing dynamics test can be quickly carried out.

Description

TECHNICAL FIELD

[0001] The present application relates to a fluctuating hydrofoil experimental device and method, in particular to a double fluctuating hydrofoil hydrodynamic interference measurement and flow field visualization experimental device and method, belonging to the technical field of bionic engineering. BACKGROUND

[0002] Bionic robotic fish has been playing a unique role in the fields of underwater resource exploration, marine environmental protection and military reconnaissance. In recent years, with the continuous improvement of engineering demand, a single robotic fish is often difficult to complete complex systematic tasks. In this case, the way of double robotic fish formation cooperative operation shows irreplaceable advantages. For robotic fish formation design, double model fish hydrodynamic response measurement test is the key and basis. At present, the mature technical scheme mostly uses the wing type or thin plate of pitch and heave to replace the fluctuating robotic fish body. This pitch and heave action is still quite different from the undulating swing of the robotic fish body, and it is difficult to accurately simulate the undulating motion of the robotic fish. In addition, although the traditional particle image velocimetry device can provide high-precision flow field information, it depends on the post-processing program and cannot visualize the wake field of the fluctuating hydrofoil in real time. Moreover, the flow around the fluctuating hydrofoil has three-dimensional effect, and the traditional two-dimensional particle image velocimetry device is difficult to fully capture the three-dimensional flow field information, while the three-dimensional particle image velocimetry device is still expensive at present. At the present stage, a wake visualization device based on pulse line can conveniently provide real-time three-dimensional flow display in the test and ensure low test cost. In view of the above problems and needs, it is necessary to design a double fluctuating hydrofoil hydrodynamic interference measurement and flow field visualization experimental device and test method, which not only meets the actual engineering demand, but also has important application value. SUMMARY

[0003] The present application improves the above-mentioned shortcomings in the prior art, and further proposes a double fluctuating hydrofoil hydrodynamic interference measurement and flow field visualization experimental device and method, which can accurately simulate the undulating motion of the robotic fish, does not depend on the post-processing program, can conveniently provide real-time three-dimensional flow display in the test, can quickly perform a large number of double bionic fish fluctuating hydrofoil dynamics tests, is convenient for bionic fish propulsion mechanism research, has low test cost and high efficiency, and obtains a large amount of test data in a short time.

[0004] The technical scheme adopted by the present application is as follows:

[0005] A dual-wave hydrofoil hydrodynamic interference measurement and flow field visualization experimental device includes a circulating water tank, two hydrofoil position adjustment structures, two wave hydrofoils, two six-component force sensors and a high-speed camera. The two hydrofoil position adjustment structures are detachably mounted side by side in parallel on the circulating water tank. The high-speed camera is mounted on the outside of the circulating water tank. The hydrofoil position adjustment structure includes a horizontal sliding beam, a vertical lifting rod and a connecting slider. The horizontal sliding beam is connected to the vertical lifting rod via the connecting slider. The horizontal sliding beam is located at the top of the circulating water tank, and the vertical lifting rod is located inside the circulating water tank. The six-component force sensor is mounted on the vertical lifting rod, and the wave hydrofoil is mounted at the bottom of the vertical lifting rod.

[0006] Furthermore, the undulating hydrofoil includes a rigid hydrofoil head, a flexible hydrofoil wing body, a rigid hydrofoil tail, a hydrofoil internal truss, a servo, and a dye nozzle. The rigid hydrofoil head, flexible hydrofoil wing body and rigid hydrofoil tail are connected in sequence from the head to the tail of the undulating hydrofoil. The hydrofoil internal truss is installed inside the undulating hydrofoil. The servo is installed in the rigid hydrofoil head. The dye nozzle is installed at the tail of the rigid hydrofoil tail. The rigid hydrofoil head is connected to the vertical lifting rod.

[0007] Furthermore, the circulating water tank includes a water tank container, an elbow guide plate, a honeycomb rectifier and a horizontal guide rail. The water tank container is the frame of the circulating water tank and is in the shape of a rectangular parallelepiped. The elbow guide plate is arranged at the corner of the water tank container, the honeycomb rectifier is arranged inside the water tank container, and the horizontal guide rail is opened on the upper part of the side wall of the water tank container.

[0008] Furthermore, there are two elbow guide plates, and the two elbow guide plates are respectively arranged at the corners on both sides of the water tank container.

[0009] Furthermore, the hydrofoil position adjustment structure further includes a horizontal slider and a locking device, the horizontal slider is installed in the horizontal guide rail, and the locking device is installed on the outside of the horizontal slider.

[0010] Furthermore, the hydrofoil position adjustment structure further comprises a dye tank and a dye tube, wherein the dye tank is fixedly mounted on the connecting slider, and the dye tube is mounted between the dye tank and the dye nozzle.

[0011] Furthermore, the locking device is a locking nut that is adapted to the horizontal sliding beam.

[0012] Furthermore, the six-component force sensor is used to measure the resultant force in three directions and the torque in three directions of the wave hydrofoil, and the six-component force sensor is communicatively connected to a remote data receiving device.

[0013] Furthermore, the high-speed camera includes a high-resolution sensor, which can provide clear picture quality at a high frame rate and communicate with the remote data receiving device.

[0014] Furthermore, the remote data receiving device is one of a computer, a mobile phone and a tablet.

[0015] A test method for a double-wave hydrofoil hydrodynamic interference measurement and flow field visualization experimental device is implemented by the following steps:

[0016] S1: Install two hydrofoil position adjustment structures on the circulating water tank;

[0017] S2: Install the six-component force sensor and two undulating hydrofoils, and adjust the initial relative positions of the two undulating hydrofoils through the hydrofoil position adjustment structure;

[0018] S3: Control the two hydrofoils to make periodic wave-like swings;

[0019] S4: Adjust the horizontal relative position of the two undulating hydrofoils through the hydrofoil position adjustment structure , direction finding relative position and vertical relative position , to explore the influence of the relative position between two undulating hydrofoils on the propulsion performance of the undulating hydrofoils;

[0020] S5: Adjust the phase difference between the two hydrofoil periodic swings , adjust the period ratio of the two hydrofoil swings , adjust the amplitude ratio of the two hydrofoil swings , explore the potential difference , cycle ratio , amplitude ratio Effects on the propulsive performance of two undulating hydrofoils;

[0021] S6: Control the two undulating hydrofoils to form pulse lines during their motion;

[0022] S7: Use a six-component force sensor to record the load data of the two undulating hydrofoils, and post-process them to obtain the hydrodynamic coefficients and hydrodynamic moment coefficients;

[0023] S8: According to the flow rate controlled in the circulating water tank U , motor power consumption and horizontal force load of six-component force sensor The propulsion efficiency of the undulating hydrofoil is obtained by post-processing ;

[0024] S9: The evolution of vein lines in the wakes of two undulating hydrofoils is captured using a high-speed camera.

[0025] Further, the expression of the periodic wavy oscillation in S3 is as follows:

[0026] (1)

[0027] In formula (1) and are the vertical positions of the tail ends of the two wavy hydrofoils at time t, t and are the amplitudes of the two wavy hydrofoils, and are the oscillation angular frequencies of the two wavy hydrofoils, , , wherein and are the oscillation periods of the two wavy hydrofoils, and are the phase angles of the oscillations of the two wavy hydrofoils.

[0028] Further, the expressions of the hydrodynamic coefficients and the hydrodynamic moment coefficients in S7 are as follows:

[0029] (2)

[0030] (3)

[0031] In formula (2) and formula (3), , and represent the forces in three directions of the wavy hydrofoils respectively; , and represent the moments in three directions respectively, represents the density of water, represents the flow velocity, represents the chord length of the airfoil.

[0032] Further, the expression of the propulsive efficiency in S8 is as follows:

[0033] (4).

[0034] The beneficial effects of the present application are:

[0035] ​1. This invention uses a dye nozzle to generate pulse lines in the wake, enabling convenient real-time visualization of the flow within the wake. The hydrofoil position adjustment structure allows for control of parameters such as the relative position, period ratio, and amplitude ratio between the two undulating hydrofoils, facilitating further exploration of their influence on the propulsion mechanism of the dual bionic fish, and achieving a wave-like oscillation pattern that more closely resembles the motion pattern of a bionic fish.

[0036] 2. The present invention can analyze the propulsion mechanism of bionic fish by outputting load data through a six-component force sensor and combining it with the evolution of wake veins captured by a high-speed camera.

[0037] 3. The dual-wave hydrofoil hydrodynamic measurement and flow field display device of the present invention has good scalability and can be easily developed into a multi-wave hydrofoil hydrodynamic measurement and flow field display device. With low testing costs and high efficiency, a large amount of test data can be obtained in a short period of time. This test data helps support scientific research in the field of bionics. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic structural diagram of an embodiment of a double-wave hydrofoil hydrodynamic interference measurement and flow field visualization experimental device of the present invention;

[0039] Figure 2 It is a schematic structural diagram of an embodiment of the undulating hydrofoil of the present invention;

[0040] Figure 3 It is a structural schematic diagram of an embodiment of a circulating water tank of the present invention;

[0041] Figure 4 1 is a schematic structural diagram of an embodiment of the hydrofoil position adjustment structure of the present invention;

[0042] Figure 5 This is a schematic structural diagram of an embodiment of the present invention in which a wave hydrofoil flows with water flow;

[0043] Figure 6 It is a schematic diagram of an embodiment of the undulating hydrofoil wake forming vein line of the present invention.

[0044] In the figure: 1. Rigid hydrofoil head; 2. Flexible hydrofoil wing body; 3. Rigid hydrofoil tail; 4. Internal truss of hydrofoil; 5. Servo; 6. Dye nozzle; 7. Water tank container; 8. Elbow guide plate; 9. Honeycomb rectifier; 10. Horizontal guide rail; 11. Horizontal slider; 12. Locking device; 13. Horizontal sliding beam; 14. Vertical lifting rod; 15. Six-component force sensor; 16. Connecting slider; 17. Dye tank; 18. Dye tube; 19. High-speed camera. DETAILED DESCRIPTION

[0045] In the description of the present invention, it should be noted that all directional indications (such as horizontal, vertical, etc.) are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they cannot be understood as limiting the present invention.

[0046] Specific implementation method 1: Combination Figure 1-6 This embodiment is described as follows. Figure 1 As shown, the present embodiment of a dual-wave hydrofoil hydrodynamic interference measurement and flow field visualization experimental device includes a circulating water tank, two hydrofoil position adjustment structures, two wave hydrofoils, two six-component force sensors 15, and a high-speed camera 19. The high-speed camera 19 is mounted outside the circulating water tank. Preferably, the high-speed camera 19 includes a high-resolution sensor that can provide clear image quality at a high frame rate. The two hydrofoil position adjustment structures are detachably mounted side by side on the circulating water tank. The hydrofoil position adjustment structures are used to control the position of the wave hydrofoils and provide boundary support for the wave hydrofoils. The hydrofoil position adjustment structure includes a horizontal sliding beam 13, a vertical lifting rod 14, and a connecting slider 16. The horizontal sliding beam 13 is connected to the vertical lifting rod 14 via the connecting slider 16. The horizontal sliding beam 13 is located at the top of the circulating water tank, and the vertical lifting rod 14 is located inside the circulating water tank to control the position of the wave hydrofoils. The six-component force sensor 15 is mounted on the vertical lifting rod 14 to measure the resultant force and torque in three directions of the wave hydrofoils. Preferably, the six-component force sensor 15 and the high-speed camera 19 are communicatively connected to a remote data receiving device, such as a computer, a mobile phone, or a tablet, which supports remote control and real-time data transmission. The undulating hydrofoil is mounted at the bottom of the vertical lifting rod 14 to simulate the underwater movement of a bionic fish.

[0047] like Figure 2As shown, the undulating hydrofoil includes a rigid hydrofoil head 1, a flexible hydrofoil wing body 2, a rigid hydrofoil tail 3, a hydrofoil internal truss 4, a servo 5, and a dye nozzle 6. The rigid hydrofoil head 1, the flexible hydrofoil wing body 2, and the rigid hydrofoil tail 3 are sequentially connected from the head to the tail of the undulating hydrofoil. The rigid hydrofoil head 1 and the rigid hydrofoil tail 3 are supported by rigid materials to ensure the stability of the undulating hydrofoil when subjected to external forces, so that the head of the undulating hydrofoil can effectively withstand the force of the fluid and avoid excessive deformation in the flow field. The flexible hydrofoil wing body 2 is used for wavy swing. The hydrofoil internal truss 4 is installed inside the undulating hydrofoil. The hydrofoil internal truss 4 provides the necessary internal support for the flexible hydrofoil wing body 2, so that the flexible hydrofoil wing body 2 can avoid instability and damage due to excessive bending while maintaining sufficient flexibility. After the undulating hydrofoil is deformed by the flow of water, Figure 5 shown.

[0048] The servo 5 is installed in the rigid hydrofoil head 1, and the servo 5 provides power for the wavy swing of the flexible hydrofoil wing body 2. Preferably, the servo 5 is a brushless motor and is connected to a control device for controlling the rotation speed of the servo 5. It is used to provide stable and precise control. The servo 5 controls the fluctuation period, amplitude and other parameters of the waving hydrofoil to achieve the desired fluctuation form. The dye nozzle 6 is installed at the tail of the rigid hydrofoil tail 3, and the dye nozzle 6 is used to stably and continuously spray dye to form a pulse line to visualize the wake field.

[0049] like Figure 3 As shown, the circulating water tank includes a water tank container 7, an elbow guide plate 8, a honeycomb rectifier 9, and a horizontal guide rail 10. The water tank container 7 is the basic frame of the circulating water tank and is in the shape of a rectangular parallelepiped. The elbow guide plates 8 are arranged at the corners of the water tank container 7 to guide the water flow. Preferably, the elbow guide plates 8 are in the shape of multiple concentric semicircles with equal spacing. The center of the elbow guide plates 8 is oriented toward the center of the circulating water tank. There are two elbow guide plates 8, which are respectively arranged at the corners on both sides of the water tank container 7 to effectively change the flow direction of the fluid and reduce the turbulence caused by the turn. The honeycomb rectifier 9 is arranged inside the water tank container 7. Preferably, the honeycomb rectifier 9 is composed of a honeycomb structure and is in the shape of a rectangular parallelepiped. The honeycomb rectifier 9 can reduce the turbulence of the flow through the channels formed by the honeycomb structure, ensuring that the fluid can produce uniform incoming flow conditions after passing through the honeycomb rectifier 9. The horizontal guide rail 10 is provided on the upper portion of the side wall of the water tank container 7 , i.e., the upper edge of the water tank container 7 , and cooperates with the hydrofoil position adjustment structure to move and fix the hydrofoil position adjustment structure.

[0050] like Figure 4As shown, the hydrofoil position adjustment structure includes a horizontal sliding beam 13, a vertical lifting rod 14, a connecting slider 16, a horizontal slider 11 and a locking device 12, a dye tank 17, and a dye tube 18. The horizontal sliding beam 13 is connected to the vertical lifting rod 14 via the connecting slider 16. Preferably, the connecting slider 16 can be slidably connected to the horizontal sliding beam 13. Screws are provided on both sides of the connecting slider 16 to fix the slider. The connecting slider 16 has a gap for the vertical lifting rod 14 to pass through and screws to fix the vertical lifting rod 14. The horizontal sliding beam 13 allows the hydrofoil to be precisely adjusted in the horizontal plane. The vertical lifting rod 14 is connected to the rigid hydrofoil head 1 to control the height of the hydrofoil. The horizontal slider 11 is mounted within the horizontal guide rail 10, and the locking device 12 is mounted on the outside of the horizontal slider 11. Preferably, the locking device 12 is a locking nut that conforms to the horizontal sliding beam 13. The position of the hydrofoil is controlled by the horizontal slider 11, and the locking device 12 can be quickly activated after the position is adjusted to ensure that the position of the hydrofoil will not drift due to vibration or external interference. The dye tank 17 is fixedly mounted on the connecting slider 16 and is used to store dye; the dye tube 18 is installed between the dye tank 17 and the dye nozzle 6 and is used to connect the dye tank 17 and the dye nozzle 6 to transfer the dye in the dye tank 17 to the dye nozzle 6. Figure 6 As shown, the dye is sprayed from the dye tank 17 through the dye tube 18 to the dye nozzle 6, and forms a pulse line as the water flows backward, which is convenient for observing the undulating hydrofoil and can conveniently display the flow in the wake in real time.

[0051] A test method for a double-wave hydrofoil hydrodynamic interference measurement and flow field visualization experimental device is implemented by the following steps:

[0052] S1: Install two hydrofoil position adjustment structures on the circulating water tank;

[0053] S2: Install the six-component force sensor 15 and the two undulating hydrofoils, and adjust the initial relative positions of the two undulating hydrofoils through the hydrofoil position adjustment structure;

[0054] S3: Control the two hydrofoils to make periodic wavy swings; control the two hydrofoils to make periodic wavy swings by adjusting the rotation speed and control mode of the steering gear 5. The expression of the periodic wavy swing is as follows:

[0055] (1)

[0056] In formula (1) and The tail ends of the two undulating hydrofoils aret the vertical position of the time, and respectively the amplitude of the two undulating hydrofoils, and respectively the undulating angular frequency of the two undulating hydrofoils, , wherein and respectively the undulating period of the two undulating hydrofoils, and respectively the phase angle of the undulation of the two undulating hydrofoils.

[0057] S4: Adjusting the horizontal relative position, the directional relative position and the vertical relative position of the two undulating hydrofoils by the hydrofoil position adjusting structure , to explore the influence of the relative position between the two undulating hydrofoils on the propulsion performance of the undulating hydrofoils;

[0058] S5: Adjusting the phase difference of the period oscillation of the two undulating hydrofoils , adjusting the period ratio of the oscillation of the two undulating hydrofoils , adjusting the amplitude ratio of the oscillation of the two undulating hydrofoils , to explore the influence of the phase difference , the period ratio , the amplitude ratio on the propulsion performance of the two undulating hydrofoils;

[0059] Specifically, the phase difference of the period oscillation of the two undulating hydrofoils is adjusted by the steering engine 5 ;

[0060] the period ratio of the oscillation of the two undulating hydrofoils ;

[0061] the amplitude ratio of the oscillation of the two undulating hydrofoils .

[0062] S6: Forming a pulse line in the movement process of the two undulating hydrofoils; dye is sprayed by the dye spraying pipe 6 to form a pulse line in the movement process of the two undulating hydrofoils.

[0063] S7: Using a six-component force sensor 15 to record the load data of the two undulating hydrofoils, and processing to obtain hydrodynamic coefficients and hydrodynamic moment coefficients; the expressions of the hydrodynamic coefficients and the hydrodynamic moment coefficients are as follows:

[0064] (2)

[0065] (3)

[0066] In formula (2) and formula (3),​​ , and Represent the forces in three directions on the undulating hydrofoil; , and Represents the torque in three directions, represents the density of water, represents the incoming flow velocity, Represents the chord length of the airfoil.

[0067] S8: According to the flow rate controlled in the circulating water tank U , motor power consumption and the horizontal force load of the six-component force sensor 15 The propulsion efficiency of the undulating hydrofoil is obtained by post-processing ; The propulsion efficiency The expression is as follows:

[0068] (4).

[0069] S9: The evolution of the vein lines in the wakes of two undulating hydrofoils is filmed with a high-speed camera 19.

[0070] Experimental method for hydrodynamic interference measurement and flow field visualization of a dual-wave hydrofoil

[0071] Specifically, the experimental method of the double-wave hydrofoil hydrodynamic interference measurement and flow field visualization experimental device is as follows:

[0072] 1) Installation and preparation

[0073] Two hydrofoil position adjustment mechanisms were installed on the circulating water tank to ensure precise adjustment and positioning of the two undulating hydrofoils within the tank. A six-component force sensor 15 was mounted on the vertical lifting rod 14, and the hydrofoil position adjustment mechanism was used to adjust the initial position of the hydrofoil to ensure it was in the correct experimental position. The six-component force sensor 15 and high-speed camera 19 were calibrated to ensure that the camera's angle, frequency, and resolution met the experimental requirements. The sensor's measurement accuracy was verified.

[0074] 2) Test operation

[0075] Activate the two servos 5 and adjust their speed and control mode to control the periodic, undulating oscillations of the two hydrofoils. Adjust the parameters of the servos 5 to ensure the amplitude and frequency of the hydrofoils meet experimental requirements. Activate the dye nozzle 6 to ensure it sprays dye stably and continuously, forming a pulse that evolves in the hydrofoil's wake. The injection of the dye pulse is synchronized with the hydrofoil's oscillations, assisting in observing changes in the flow field.

[0076] 3) Data recording and detection

[0077] The load data of the two undulating hydrofoils at different time points are recorded using the six-component force sensor 15. The data of the force sensor can show the force conditions of the undulating hydrofoil during the undulating process, including the changes of the resultant force and torque. The evolution process of the dye streakline in the wake of the hydrofoil is recorded using the high-speed camera 19. The video records the dynamic changes of the flow field, providing visual information of the interaction between the hydrofoil movement and the flow field.

[0078] 4) Data analysis

[0079] According to the load data of the six-component force sensor 15, the hydrodynamic characteristics of the hydrofoil are analyzed, and the force and propulsion efficiency of the hydrofoil under different control conditions are discussed. By analyzing the video recorded by the high-speed camera 19, the motion trajectory of the dye streakline is observed, the changes of the flow field are studied, and the relationship between the hydrofoil movement and the flow field changes is revealed.

[0080] The present application can autonomously control the frequency and amplitude of the undulating oscillation of the two undulating hydrofoils, and can start the dye injection of the jet pipe at the tail of the two undulating hydrofoils. The position of the two undulating hydrofoils in the water tank can be accurately adjusted; the hydrodynamic load of the undulating hydrofoil oscillating at different frequencies and amplitudes can be measured, and the test data can be exported and analyzed through the six-component force sensor; the pictures of the evolution of the wake flow field of the undulating hydrofoil can be obtained based on the high-speed camera. The test method of the present application is easy to operate, and a large number of dynamic tests of the double biomimetic fish undulating hydrofoil can be quickly carried out, which is convenient for the study of the propulsion mechanism of the double biomimetic fish.

[0081] The above is only the preferred embodiment of the present application, and is not intended to limit the present application in any form. Although the present application has been disclosed as above with the preferred embodiment, it is not intended to limit the present application. Any skilled person in the art can make some changes or modifications to the above disclosed technical content to obtain equivalent embodiments with equivalent changes, without departing from the technical solution of the present application. Any simple modification, equivalent replacement and improvement of the above embodiments, as long as it does not deviate from the technical solution of the present application, is within the scope of protection of the present application.

Claims

1. A dual-wave hydrofoil hydrodynamic interference measurement and flow field visualization experimental device, characterized by: The invention comprises a circulating water tank, two hydrofoil position adjustment structures, two wave hydrofoils, two six-component force sensors (15) and a high-speed camera (19), wherein the two hydrofoil position adjustment structures are detachably mounted on the circulating water tank in parallel, and the high-speed camera (19) is mounted on the outside of the circulating water tank. The hydrofoil position adjustment structure comprises a horizontal sliding beam (13), a vertical lifting rod (14) and a connecting slider (16), wherein the horizontal sliding beam (13) is connected to the vertical lifting rod (14) through the connecting slider (16), and the horizontal sliding beam (13) is located on the circulating water tank. The top of the water tank, the vertical lifting rod (14) is located inside the circulating water tank, the six-component force sensor (15) is installed on the vertical lifting rod (14), the undulating hydrofoil is installed at the bottom of the vertical lifting rod (14), the undulating hydrofoil includes a rigid hydrofoil head (1), a flexible hydrofoil wing body (2), a rigid hydrofoil tail (3), a hydrofoil internal truss (4), a steering gear (5), a dye nozzle (6), the rigid hydrofoil head (1), the flexible hydrofoil wing body (2) and the rigid hydrofoil tail (3) are connected in sequence from the head to the tail of the undulating hydrofoil, and the hydrofoil internal truss The frame (4) is installed inside the undulating hydrofoil, the steering gear (5) is installed in the rigid hydrofoil head (1), the dye nozzle (6) is installed at the tail of the rigid hydrofoil tail (3), the rigid hydrofoil head (1) is connected to the vertical lifting rod (14), the circulating water tank includes a water tank container (7), an elbow guide plate (8), a honeycomb rectifier (9) and a horizontal guide rail (10), the water tank container (7) is a rectangular parallelepiped frame of the circulating water tank, the elbow guide plate (8) is arranged at the corner of the water tank container (7), and the honeycomb rectifier (9) is arranged at the bottom of the water tank container (7). Inside the water tank container (7), the horizontal guide rail (10) is opened on the upper part of the side wall of the water tank container (7), and the hydrofoil position adjustment structure further includes a horizontal slider (11), a locking device (12), a dye tank (17) and a dye tube (18), wherein the horizontal slider (11) is installed in the horizontal guide rail (10), the locking device (12) is installed on the outside of the horizontal slider (11), the dye tank (17) is fixedly installed on the connecting slider (16), and the dye tube (18) is installed between the dye tank (17) and the dye nozzle (6).

2. The double-wave hydrofoil hydrodynamic interference measurement and flow field visualization experimental device according to claim 1 is characterized by: The six-component force sensor (15) is used to measure the resultant force in three directions and the torque in three directions of the wave hydrofoil, and the six-component force sensor (15) is communicatively connected to a remote data receiving device.

3. The double-wave hydrofoil hydrodynamic interference measurement and flow field visualization experimental device according to claim 2 is characterized by: The high-speed camera (19) includes a high-resolution sensor and can provide clear picture quality at a high frame rate and is communicatively connected to the remote data receiving device.

4. A test method for a dual-wave hydrofoil hydrodynamic interference measurement and flow field visualization experimental device, using the dual-wave hydrofoil hydrodynamic interference measurement and flow field visualization experimental device according to any one of claims 1 to 3, characterized in that: The test method is achieved by the following steps: S1: Install two hydrofoil position adjustment structures on the circulating water tank; S2: installing a six-component force sensor (15) and two undulating hydrofoils, and adjusting the initial relative positions of the two undulating hydrofoils through a hydrofoil position adjustment structure; S3: Control the two hydrofoils to make periodic wave-like swings; S4: Adjust the horizontal relative position of the two undulating hydrofoils through the hydrofoil position adjustment structure , direction finding relative position and vertical relative position , to explore the influence of the relative position between two undulating hydrofoils on the propulsion performance of the undulating hydrofoils; S5: Adjust the phase difference between the two hydrofoil periodic swings , adjust the period ratio of the two hydrofoil swings , adjust the amplitude ratio of the two hydrofoil swings , explore the potential difference , cycle ratio , amplitude ratio Effects on the propulsion performance of two undulating hydrofoils; S6: Control the two undulating hydrofoils to form pulse lines during their motion; S7: Use a six-component force sensor (15) to record the load data of the two undulating hydrofoils, and post-process them to obtain the hydrodynamic coefficient and hydrodynamic moment coefficient; S8: According to the flow rate controlled in the circulating water tank U , motor power consumption and the horizontal force load of the six-component force sensor (15) The propulsion efficiency of the undulating hydrofoil is obtained by post-processing ; S9: The evolution of the vein lines in the wakes of two fluctuating hydrofoils was filmed with a high-speed camera (19).

5. The test method of the double-wave hydrofoil hydrodynamic interference measurement and flow field visualization experimental device according to claim 4 is characterized by: The expression for the periodic wave-like oscillation described in S3 is as follows: (1) In formula (1) and The tail ends of the two undulating hydrofoils are t The vertical position at the moment, and are the amplitudes of the two undulating hydrofoils, and are the angular frequencies of the two hydrofoils, , ,in and are the fluctuation periods of the two fluctuating hydrofoils, and are the phase angles of the two undulating hydrofoils respectively.

6. The test method of the double-wave hydrofoil hydrodynamic interference measurement and flow field visualization experimental device according to claim 5 is characterized by: The expressions for the hydrodynamic coefficient and hydrodynamic moment coefficient described in S7 are as follows: (2) (3) In formula (2) and formula (3), , and Represent the forces in three directions on the undulating hydrofoil; , and Represents the torque in three directions, represents the density of water, represents the incoming flow velocity, Represents the chord length of the airfoil.

7. The test method of the double-wave hydrofoil hydrodynamic interference measurement and flow field visualization experimental device according to claim 6 is characterized by: Propulsion efficiency as described in S8 The expression is as follows: (4)。

Images