Multi-angle trim floating icebreaking test device and impact resistance test method

Abstract

The invention discloses a multi-angle trim floating icebreaking test device and an impact resistance test method. The multi-angle trim floating icebreaking test device comprises a collision test device, a collided test device and a test pool, the collision test device comprises an underwater vehicle scale model, a main body carrying mechanism, a pulley and a connecting platform, the adjusting rod piece is connected between the underwater vehicle scale model and the driving equipment; the collision test device is carried above the test pool through the pulleys so as to realize linear movement through the pulleys; the underwater vehicle scale model is fixed on the connecting platform through the main body carrying mechanism; the collided test device comprises a test ice plate, a test ice plate clamp, a fastening screw and a fixed platform; a test ice plate is clamped on the test ice plate clamp through a fastening screw, and the fixed platform and the test ice plate clamp are fixed above the test pool. The icebreaking test device can simulate an icebreaking scene of the underwater vehicle in an emergency floating scene, and design optimization of the underwater vehicle is facilitated.

Description

Technical Field

[0001] The present application relates to the field of ship and ocean engineering collision and impact resistance, and specifically to a multi-angle longitudinal floating icebreaking test device simulating an underwater vehicle and an impact resistance test method. Background Art

[0002] In the extreme environment of the earth, the sea surface of polar and low-temperature seas is usually covered with thick ice. These ice layers not only provide natural concealment for underwater vehicles, but also significantly increase the difficulty of their surfacing and breaking ice. In addition, the difference in ice thickness between different regions makes this uncertainty increase the complexity and technical difficulty of the vehicle's icebreaking and surfacing operations. During the icebreaking and surfacing process, underwater vehicles usually need to penetrate the ice vertically or at a certain angle, and their conning tower shell and upper shell are the main stress-bearing parts. During the icebreaking process, external loads exert huge impact force on the vehicle structure, requiring its structural strength and material performance to meet extremely high standards.

[0003] At present, the research on underwater vehicles breaking ice and surfacing in deep-water environments is still in the initial exploratory stage. Due to the complexity of ice distribution in polar environments, the difficulty of collecting and transporting ice samples, and the high nonlinearity of the interaction between vehicles and ice layers, there are many challenges in conducting actual-scale experiments, so related research mainly relies on numerical simulations. However, numerical simulations usually rely on assumptions and mathematical models. Due to the uncertainty of model assumptions, boundary conditions and input data, it is difficult to fully reproduce the real environment of the polar deep sea. Experiments can be verified through real physical environments and directly reflect the difference between theoretical models and reality. In order to support the analysis of stress and acceleration response characteristics during the emergency surfacing and icebreaking process of underwater vehicles, and to carry out design optimization and safety assessment of key weak structures, it is urgent to carry out emergency surfacing and icebreaking tests of underwater vehicles to provide reliable test data support. Summary of the invention

[0004] The present invention aims to solve the problem that the existing numerical simulation method cannot accurately reproduce the underwater vehicle's buoyancy and icebreaking process. To this end, a test device for simulating the multi-angle longitudinal inclination buoyancy and icebreaking of an underwater vehicle and an impact resistance test method are proposed.

[0005] According to one aspect of the present invention, there is provided a multi-angle longitudinal inclination buoyancy icebreaking test device for simulating an underwater vehicle, comprising a collision test device, a collided test device and a test pool; the collision test device comprises a scaled model of the underwater vehicle, a main body carrying mechanism, a pulley and a connecting platform, wherein the main body carrying mechanism comprises an adjusting rod and a driving device, and the scaled model of the underwater vehicle is fixed to the connecting platform through the main body carrying mechanism; the adjusting rod is used to connect between the scaled model of the underwater vehicle and the driving device; the collision test device is carried above the test pool through the pulley to achieve linear movement through the pulley; the scaled model of the underwater vehicle is fixed to the connecting platform through the main body carrying mechanism; the collided test device comprises a test ice plate, a test ice plate clamp fastening screws and a fixing platform; the test ice plate is clamped on the test ice plate clamp by fastening screws, and the fixing platform and the test ice plate clamp are fixed above the test pool.

[0006] Furthermore, the icebreaking methods of the underwater vehicle scale model include at least the following three methods: vertical icebreaking method; horizontal icebreaking method; inclined floating icebreaking method.

[0007] Furthermore, in the inclined floating icebreaking mode, the angle between the travel direction of the underwater vehicle scaled model and the horizontal plane ranges from 0° to 20°.

[0008] Furthermore, in an icebreaking test: the scaled model of the underwater vehicle adopts only one icebreaking method; or the scaled model of the underwater vehicle adopts at least two or more types of icebreaking methods.

[0009] Furthermore, the collision test device includes a first pulley block and a second pulley block, and the first pulley block and the second pulley block respectively include one or more pulleys.

[0010] Furthermore, the adjusting rod comprises two adjusting rods, and power is transmitted between the adjusting rod and the driving device through gears. The driving device is suitable for controlling the angle of the underwater vehicle's floating and icebreaking by individually controlling each adjusting rod to move up and down, so as to realize vertical floating and icebreaking and multi-angle inclined floating and icebreaking of the underwater vehicle scaled model.

[0011] Furthermore, the scaled model of the underwater vehicle includes an underwater vehicle body, an underwater vehicle control tower casing and an underwater vehicle tail wing; the underwater vehicle body includes an underwater vehicle front section, an underwater vehicle middle section and an underwater vehicle rear section.

[0012] Furthermore, a first three-axis acceleration sensor, a first three-axis stress sensor, a second three-axis acceleration sensor, a second three-axis stress sensor, a waterproof hose, a tilt sensor, a third three-axis acceleration sensor, a mass block, a mass block base and a supporting structure are provided in the scaled model of the underwater vehicle; the first three-axis acceleration sensor and the first three-axis stress sensor are installed in the front section of the scaled model of the underwater vehicle 3, the second three-axis acceleration sensor and the second three-axis stress sensor are installed in the middle section of the scaled model of the underwater vehicle close to the command tower, the third three-axis acceleration sensor is installed inside the mass block, the tilt sensor is installed on the supporting structure, and the mass block is installed on the supporting structure through the mass block base; the connecting wires of each sensor are led out from the circular hole on the upper surface of the middle section of the scaled model of the underwater vehicle and are wrapped by a waterproof hose.

[0013] Furthermore, the collision speed range of the collision test device is 0 to 2.5 m / s, and the collision movement range is 0 to 15 m.

[0014] Furthermore, the area of ​​the test ice plate and the thickness of the ice layer are adjusted according to different test requirements.

[0015] According to another aspect of the present invention, an impact resistance test method is also provided, characterized in that the impact resistance test method is implemented based on a multi-angle longitudinal tilt floating icebreaking test device simulating an underwater vehicle as described above, and the impact resistance test method comprises the following steps: Step 1: Install a collision test device and a collision test device in a test pool, and ensure that the distance and positioning between the two are accurate; connect the traction rope of the towing motor to the connecting platform; Step 2: Fill the test pool with water, ensure that the water injection volume is sufficient to completely immerse the scaled model of the underwater vehicle in the water, and connect the sensor wires of the scaled model of the underwater vehicle to a data acquisition device and a computer to complete the construction of the entire test system; Step 3: Start the data acquisition device and the computer to complete the construction of the entire test system. According to the data acquisition system, firstly collect data of the scaled model of the underwater vehicle without impact, and record the basic performance data of the scaled model of the underwater vehicle in static waters; after ensuring that the data acquisition system operates normally and the data curve is stable, start the test device and conduct multiple pre-tests to ensure that the scaled model of the underwater vehicle can float under different working conditions and effectively collide with the test ice plate through pre-tests; wherein, in the pre-test stage, if the scaled model of the underwater vehicle fails to float or fails to effectively collide with the test ice plate under any working condition, adjust the test settings and parameters until the optimal state is reached; step four: conduct formal tests according to the predetermined working condition table; conduct at least three tests under each test condition.

[0016] The present application discloses a test device and an impact test method for simulating the multi-angle longitudinal floating and icebreaking of an underwater vehicle. The device is specially designed to simulate the floating and icebreaking process of a scaled model of an underwater vehicle under an ice layer. In order to cope with the huge load impact that the underwater vehicle may suffer when it is longitudinally tilted and floating and breaking ice, the device adopts a solid 304 stainless steel structure, which can effectively protect the shell of the underwater vehicle and ensure the safety of the internal structure. In addition, the test device can also control each adjustment rod individually through a driving device to control the angle of the underwater vehicle's floating and breaking ice, and further realize the vertical floating and icebreaking and multi-angle tilted floating and icebreaking of the scaled model of the underwater vehicle. The above design enables the test device to simulate the icebreaking process at different angles and conditions, providing more comprehensive experimental data for the design and testing of underwater vehicles, and providing a scientific basis for the design and improvement of underwater vehicles.

[0017] The icebreaking test is carried out by using a multi-angle longitudinal tilt buoyancy icebreaking test device simulating an underwater vehicle according to an embodiment of the present invention. The reliability is higher than that of the simulation method in the prior art. By adopting test conditions and parameters similar to the actual icebreaking environment, conditions that cannot be achieved by simulation can be obtained, thereby making the test results closer to real data and more accurate than the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To achieve the above and related purposes, certain illustrative aspects are described herein in conjunction with the following description and accompanying drawings, which indicate various ways in which the principles disclosed herein can be practiced, and all aspects and their equivalents are intended to fall within the scope of the claimed subject matter. The above and other purposes, features and advantages of the present disclosure will become more apparent by reading the following detailed description in conjunction with the accompanying drawings. Throughout the present disclosure, the same reference numerals generally refer to the same parts or elements.

[0019] Figure 1 A three-dimensional schematic diagram of a multi-angle longitudinal floating icebreaking test device for simulating an underwater vehicle according to an embodiment of the present application is shown;

[0020] Figure 2 A schematic top view of a multi-angle longitudinal floating icebreaking test device simulating an underwater vehicle according to an embodiment of the present application is shown;

[0021] Figure 3 A schematic front view of a multi-angle pitch and buoyancy icebreaking test device for simulating an underwater vehicle according to an embodiment of the present application is shown;

[0022] Figure 4 A schematic diagram of the main body mounting mechanism of a multi-angle longitudinal floating icebreaking test device simulating an underwater vehicle according to an embodiment of the present application is shown;

[0023] Figure 5A schematic diagram showing a possible connection method between a scaled model of an underwater vehicle and a main body carrying mechanism;

[0024] Figure 6 A schematic diagram of an underwater vehicle simulating a multi-angle pitch buoyancy icebreaking test device for an underwater vehicle according to an embodiment of the present application is shown;

[0025] Figure 7 A schematic diagram of the interior of an underwater vehicle simulating a multi-angle longitudinal tilt buoyancy icebreaking test device for an underwater vehicle according to an embodiment of the present application is shown.

[0026] Among them: 1-driving equipment; 2-connecting platform; 3-scale model of underwater vehicle; 4-adjusting rod; 5-pulley; 6-fixing platform; 7-fastening screws; 8-test ice plate fixture; 9-test ice plate; 10-test water pool; 301-front section of underwater vehicle; 302-underwater vehicle command tower shell; 303-middle section of underwater vehicle; 304-underwater vehicle tail wing; 305-rear section of underwater vehicle;

[0027] 311 - first three-axis acceleration sensor; 312 - first three-axis stress sensor; 313 - second three-axis acceleration sensor; 314 - second three-axis stress sensor; 315 - waterproof hose; 316 - inclination sensor; 317 - third three-axis acceleration sensor; 318 - mass block; 319 - mass block base; 320 - supporting structure. DETAILED DESCRIPTION

[0028] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0029] Figure 1 The figure shows a schematic diagram of the three-dimensional structure of a multi-angle longitudinal floating icebreaking test device for simulating underwater vehicles according to an embodiment of the present invention. Figure 2 and Figure 3 They are shown respectively Figure 1 Top view and front view.

[0030] In an embodiment of the present invention, the floating icebreaking test device comprises a collision test device, a collision-affected test device and a test water pool 10 .

[0031] like Figure 1-3 As shown, the collision test device includes a scaled model of an underwater vehicle 3, a main body carrying mechanism, a plurality of pulleys 5, and a connecting platform 2. The main body carrying mechanism includes an adjusting rod 4 and a driving device 1.

[0032] like Figure 1 As shown, the underwater vehicle scale model 3 is fixed on the connection platform 2 through a main body mounting mechanism, and the connection method between the main body mounting mechanism and the connection platform 2 is, for example, bolt connection. Figure 4 An exemplary structure of the above-mentioned main body mounting mechanism is shown.

[0033] Figure 4 An exemplary structure of the main body mounting mechanism is shown. Figure 4 As shown, the adjusting rod 4 of the main body carrying mechanism is used to connect between the underwater vehicle scaled model 3 and the driving device 1. In an embodiment of the present invention, the driving device 1 can, for example, use a high-power motor as the driving power. The adjusting rod 4 can, for example, be made of hollow steel. The connection between the adjusting rod 4 and the underwater vehicle scaled model 3 is, for example, a hinge connection, and the connection between the adjusting rod 4 and the driving device 1 can, for example, be a bolt connection. Under the driving action of the driving device 1, the adjusting rod 4 can move in a direction perpendicular to the plane where the connecting platform 2 is located (hereinafter referred to as "vertical direction"). Among them, the plane where the connecting platform 2 is located is a plane parallel to the water surface of the test pool 10. Hereinafter, any straight line direction on the plane where the connecting platform 2 is located or a plane parallel to it is referred to as a "horizontal direction", and the movement of the main body carrying mechanism or the underwater vehicle scaled model 3 on the plane where the connecting platform 2 is located or a plane parallel to it is referred to as "movement in the horizontal direction".

[0034] The underwater vehicle scale model 3 and the main body carrying mechanism can be fixed on the connection platform 2 by bolts, for example. The connection method of the underwater vehicle scale model 3 and the main body carrying mechanism can be, for example, referred to Figure 5 As shown. In this way, through the driving action of the driving device 1 in the main body carrying mechanism, the underwater vehicle scale model 3 can be driven to move in the vertical direction by adjusting the rod 4. Driven by the driving device 1, for example, uniform ascent, accelerated ascent, uniform descent, accelerated descent, etc. can be performed. It should be noted that the above-mentioned uniform ascent, accelerated ascent, uniform descent, accelerated descent, etc. refer to the case where the main body carrying mechanism does not move in the horizontal direction.

[0035] According to an embodiment of the present invention, the collision test device can be mounted on the test pool 10 through the pulley 5, that is, the collision test device is movably connected to both sides of the test pool 10 through multiple pulleys 5, and the edge of the pool wall is located in the pulley groove, so that the pulley rolls along the pool wall to achieve linear movement, thereby simulating the actual impact and ice breaking process. The pulley 5 can be made of hard rubber material, for example.

[0036] In this way, when the collision test device moves linearly via the pulley, the underwater vehicle scale model 3 also moves linearly in the horizontal direction (eg, in a direction parallel to the moving direction of the pulley).

[0037] As an example, the icebreaking methods of the underwater vehicle scaled model 3 may include at least the following three methods: a vertical icebreaking method; a horizontal icebreaking method; and an inclined floating icebreaking method.

[0038] For example, in an icebreaking test, the underwater vehicle scale model (3) only uses one icebreaking method. Wherein, an icebreaking test may include one or more icebreaking collisions.

[0039] For another example, in an icebreaking test, the underwater vehicle scale model (3) may adopt at least two or more types of icebreaking methods. Thus, in the same icebreaking test, it is assumed that there are multiple icebreaking collisions, for example, the first to Nth collisions adopt the inclined floating icebreaking method (wherein, the multiple inclined floating icebreaking methods may also adopt different angles), and the N+1th to N+Mth collisions adopt the horizontal icebreaking method, and so on.

[0040] In the actual icebreaking process, the ice conditions encountered by the underwater vehicle when breaking ice and surfacing vary greatly, and it is usually necessary to decide how to break ice and surfacing according to the actual ice conditions. For example, when the ice thickness is thick (such as greater than or equal to 4cm), one icebreaking collision may not be able to complete the icebreaking task, and multiple icebreaking collisions are required. Therefore, through the above example of the embodiment of the present invention (i.e., multiple collisions using multiple different icebreaking methods in one icebreaking test), the actual icebreaking process of the underwater vehicle can be simulated more realistically.

[0041] First, the complexity of the ice layer, such as features such as bubbles, cracks or interlayers, requires the vehicle to flexibly adjust the icebreaking strategy to more effectively penetrate different types of ice layers. Different speed and angle combinations can provide different icebreaking forces, thereby improving icebreaking efficiency. For example, a higher icebreaking speed is suitable for thin ice layers, while a lower speed and appropriate angle help penetrate thicker ice layers. Secondly, by adjusting the angle or speed during icebreaking, the underwater vehicle can dynamically optimize the icebreaking strategy according to the conditions of the ice layer, reduce damage to the vehicle, and improve the stability of the operation. When a certain icebreaking method fails, timely switching to other strategies can provide the vehicle with emergency options to avoid mission failure, thereby significantly improving the mission success rate and reliability of execution. In addition, the flexible combination of multiple icebreaking methods enables the vehicle to adapt to the characteristics of different ice layers, enhance its adaptability and response capabilities to complex environments, and ultimately ensure the smooth completion of the icebreaking mission.

[0042] In one possible case, the underwater vehicle scale model 3 only moves in a straight line in the horizontal direction. In this case, the ice can be broken by the control tower shell 302 to be described below, that is, the control tower shell 302 moves in a direction parallel to the ice plate surface, collides with the ice plate and then cuts the ice surface.

[0043] In another possible case, the underwater vehicle scale model 3 moves linearly in the horizontal direction on the one hand, and also moves in the vertical direction on the other hand. After the two movements are superimposed, the underwater vehicle scale model 3 can move obliquely upward or obliquely downward. For example, the oblique floating and ice breaking at different angles can be achieved by controlling the speed and / or acceleration of the horizontal movement and / or the vertical movement. The above-mentioned control of the speed and / or acceleration of the horizontal movement and / or the vertical movement, for example, includes the control of the magnitude and / or direction of the speed and / or the acceleration.

[0044] See also Figure 1-Figure 3 In this embodiment, the collision test device includes, for example, two pulley groups 5, namely, a first pulley group and a second pulley group. The first and second pulley groups may include, for example, one or more pulleys 5, respectively. Figure 1-Figure 3 In the example shown, the first and second pulley blocks respectively include two pulleys 5. A groove is provided on the rim of the pulley 5 so as to be able to be stuck on the upper end of the wall of the test water pool 10 and slide stably. The pulley 5 is mounted on the connection platform 2 via a pulley shaft, and the pulley shaft is, for example, fixedly mounted on the connection platform 2, or can also be mounted on the connection platform 2 in a detachable assembly manner to facilitate replacement.

[0045] In the embodiment of the present invention, the connecting platform 2 is moved in a straight line along the edge of the side wall of the test pool 10 by rolling on a pulley.

[0046] In other embodiments of the present invention, the connecting platform 2 may also be moved in a preset linear direction by other means, so as to drive the underwater vehicle scale model 3 to move through the main body carrying mechanism. For example, by providing a slide rail along a predetermined direction on the wall of the test pool 10, and providing a slider adapted to the slide rail at a corresponding position of the connecting platform 2, the linear movement of the collision test device is achieved by sliding the slider in the slide rail.

[0047] According to an embodiment of the present invention, the adjusting rod includes, for example, two adjusting rods, and power is transmitted between the adjusting rod and the driving device through gears. The driving device can independently control each adjusting rod to move up and down to control the angle of the underwater vehicle to float and break ice.

[0048] In this way, the multi-angle control of the underwater vehicle's longitudinal tilt ascent and icebreaking can be simulated. The longitudinal tilt ascent methods include vertical ascent (the angle between the travel direction and the horizontal plane is 90°) and multi-angle tilt ascent (the angle between the travel direction and the horizontal plane is 0° to 20°, for example 0°, 3°, 5°, 7°, 10° or 20°, etc.).

[0049] As an example, in a mode where the driving device controls each adjusting rod to move up and down individually, that is, the driving device controls each adjusting rod independently of each other, for example, Figure 5 As shown, the two adjustment rods include Figure 5 The first adjusting rod 401 and the second adjusting rod 402 are shown, wherein one end of the first adjusting rod 401 is connected to the driving device, and the other end is connected to a relatively rearward position of the underwater vehicle scaled model 3 (the rear part of the middle section as shown in the figure), and one end of the second adjusting rod 402 is connected to the driving device, and the other end is connected to a relatively forward position of the underwater vehicle scaled model 3 (the middle part of the middle section as shown in the figure).

[0050] It should be understood that the connection positions of the first adjusting rod, the second adjusting rod and the underwater vehicle scaled model 3 are not limited to those shown in the figure. For example, the first adjusting rod can also be connected to the rear section of the underwater vehicle scaled model 3 near the tail wing, and the second adjusting rod can also be connected to the front section of the underwater vehicle scaled model 3, and so on.

[0051] by Figure 5 Taking the first adjusting rod 401 as an example, when the driving device drives one end of the first adjusting rod 401 to rise, the other end of the first adjusting rod 401 drops due to the lever action, and drives the middle and rear sections of the underwater vehicle scale model 3 to drop; conversely, when the driving device drives one end of the first adjusting rod 401 to drop, the other end of the first adjusting rod 401 drives the middle and rear sections of the underwater vehicle scale model 3 to rise due to the lever action. In this way, the pitch angle of the underwater vehicle scale model 3 is adjusted.

[0052] Similarly, the driving device can adjust the pitch angle of the underwater vehicle scaled model 3 by adjusting the second adjusting rod 402 alone.

[0053] In addition, the driving device can also independently control and adjust the first adjustment rod 401 and the second adjustment rod 402 to achieve a wider range and more precise adjustment of the pitch angle of the underwater vehicle scaled model 3.

[0054] Figure 6 A schematic diagram of a scaled model of an underwater vehicle simulating a multi-angle pitch and buoyancy icebreaking test device for an underwater vehicle according to an embodiment of the present application is shown. Figure 6 As shown, the underwater vehicle scaled model 3 includes an underwater vehicle body, an underwater vehicle control tower casing 302 and an underwater vehicle tail 304 .

[0055] Among them, the underwater vehicle body, for example, includes an underwater vehicle front section 301, an underwater vehicle middle section 303 and an underwater vehicle rear section 305. The above sections (such as between the front end 301 and the middle section 303, between the middle section 303 and the rear section 305) can be directly connected by bolts, or can also be connected by other means.

[0056] In an embodiment of the present invention, the middle section 303 of the underwater vehicle scaled model 3 may, for example, adopt a double-layer shell structure, and the rear section 305 may, for example, adopt a single-shell configuration.

[0057] In addition, the control tower casing 302 and the tail wing 304 can be connected to the underwater vehicle body by welding, for example.

[0058] As an example, the underwater vehicle scale model 3 can be made of 304 stainless steel, and its front section 301 and the control tower shell 302 can be made of solid structure. In addition, the control tower shell 302 can be made of tungsten steel.

[0059] Figure 7 The internal structure schematic diagram of the scaled model of the underwater vehicle in an example of the present invention is shown. In this example, the scaled model 3 of the underwater vehicle is provided with a first three-axis acceleration sensor 311, a first three-axis stress sensor 312, a second three-axis acceleration sensor 313, a second three-axis stress sensor 314, a waterproof hose 315, an inclination sensor 316, a third three-axis acceleration sensor 317, a mass block 318, a mass block base 319 and a support structure 320.

[0060] See also Figure 7 The underwater vehicle scale model 3 includes a plurality of three-dimensional acceleration sensors, a plurality of three-dimensional stress sensors, an inclination sensor, a mass block, a mass block base and a supporting structure. Figure 7 As shown, the support structure 320 is fixed to the rear of the middle section of the underwater vehicle scale model 3 by bolts, the mass base 319 is fixed to the support structure 320 by bolts, and the mass 318 is fixed to the mass base 319 by bolts. In this way, the mass 318 is installed on the support structure 320 through the mass base 319.

[0061] In the embodiment of the present invention, the plurality of three-axis acceleration sensors, for example, are three in total, and the plurality of three-axis stress sensors, for example, are two in total.

[0062] like Figure 7As shown, the first three-axis acceleration sensor 311 and the first three-axis stress sensor 312 are installed at the front section of the underwater vehicle scaled model 3, the second three-axis acceleration sensor 313 and the second three-axis stress sensor 314 are installed at the middle section of the underwater vehicle scaled model 3 close to the command tower, the third three-axis acceleration sensor 317 is installed inside the mass block 318, and the inclination sensor 316 is installed on the support structure 320. For example, each of the above sensors can be fixed inside the underwater vehicle scaled model 3 by bolts, and the connecting wires of each sensor can be led out from the circular hole on the upper surface of the middle section of the underwater vehicle scaled model 3 and wrapped by the waterproof hose 315. The connection between the waterproof hose and the underwater vehicle scaled model 3 is coated with sealant, for example, to ensure the complete air tightness inside the underwater vehicle.

[0063] As an example, the plurality of three-axis stress sensors may be strain gauge sensors.

[0064] In addition, the multiple three-axis acceleration sensors may be capacitive acceleration sensors, for example.

[0065] According to an embodiment of the present invention, the system configuration is composed of, for example, three three-dimensional acceleration sensors, two three-dimensional stress sensors, and one inclination sensor. The acceleration sensors and stress sensors are used to collect acceleration and strain data of the measurement point position of the underwater vehicle scale model in three directions (x, y, and z directions, where the z direction is the height direction, the y direction is the length direction along the underwater vehicle scale model, and the x direction is the side direction of the model).

[0066] The inclination sensor can be used to measure the angle data between the scaled model of the underwater vehicle and the three directions of x, y, and z. Each sensor can collect three sets of data. The whole system contains 6 sensors, so it can collect 18 sets of data, and each set of data is presented in the form of a time series curve (for example, if the sensor acquisition frequency is 1000HZ, the sensor can collect 1000 data points within 1s. If the single test process is 3s, a single test can collect 18 sets of data, each with 3000 data points).

[0067] Subsequent data processing may include a variety of filtering methods, such as high-pass filtering, low-pass filtering, and Kalman filtering, to improve data quality and signal validity. On this basis, the collected data is used to obtain the acceleration and stress change rules of the underwater vehicle scale model during the collision test through machine learning algorithms. For example, the trend of acceleration and stress data can be predicted based on machine learning algorithms, thereby providing support for related research and applications.

[0068] According to an embodiment of the present invention, the collision speed range of the collision test device is, for example, 0 to 2.5 m / s (including 2.5 m / s), and the collision movement range is, for example, 0 to 15 m (including 15 m).

[0069] like Figure 1-Figure 3 As shown, the impact test device includes a test ice plate 9, a test ice plate fixture 8, fastening screws 7 and a fixing platform 6.

[0070] As an example, the test ice plate 9 has a regular overall shape and a smooth surface, and can be, for example, frozen from fresh water under natural conditions. The area of ​​the test ice plate 9 is, for example, 700×700 mm, or can be adjusted according to test requirements. In addition, the test ice plate 9 can simulate different ice layer thicknesses according to different test requirements, and its thickness range is, for example, 10 to 50 mm (including both end points).

[0071] See also Figure 1-Figure 3 The test ice plate 9 can be clamped on the test ice plate fixture 8 by fastening screws 7, for example, and the fixed platform 6 and the test ice plate fixture 8 can be fixed above the test water pool 10 by screws.

[0072] As an example, the impact test device can be pre-tightened or loosened by adjusting the number of rotations of each fastening screw to ensure that the test ice plate 9 can be fixed on the test ice plate fixture 8.

[0073] In an embodiment of the present invention, the underwater vehicle scale model 3 is designed in accordance with the Froude criterion, for example, the middle section of the underwater vehicle scale model 3 adopts a double-layer shell structure, the rear section adopts a single-shell structure, and the front section and the command tower enclosure adopt a solid structure. The above design is intended to simulate the longitudinal floating icebreaking method of an actual underwater vehicle, including vertical floating (the angle between the direction of travel and the horizontal plane is 90°) and multi-angle inclined floating (the angle between the direction of travel and the horizontal plane is 0° to 20°, such as 0°, 3°, 5°, 7°, 10° or 20°, etc.), to provide scientific guidance for improving the icebreaking performance and reliability of underwater vehicles.

[0074] From the above description, it can be known that the multi-angle longitudinal inclination floating icebreaking test device of the present application uses a solid 304 stainless steel structure for the front section and the control tower shell of the underwater vehicle scale model to cope with the huge load impact during longitudinal inclination floating icebreaking while protecting the safety of the underwater vehicle shell and internal structure. At the same time, the position of the connecting threaded hole of the bolt on the adjusting rod can be adjusted to achieve vertical floating icebreaking and multi-angle inclined floating icebreaking of the underwater vehicle scale model. Through the above design, this test device can simulate the floating icebreaking process of an actual underwater vehicle under the ice layer, and can be widely used in the design of underwater vehicle test devices.

[0075] In the embodiment of the present application, a driving device is used to push the scaled model of the underwater vehicle to impact the test ice plate to simulate the actual icebreaking process of the underwater vehicle. The front section and the control tower shell of the scaled model of the underwater vehicle particularly adopt a solid structure to enhance the reliability under load impact during the icebreaking process. Through this test device, researchers can more accurately evaluate and optimize the design of the underwater vehicle to adapt to various ice conditions and ensure that it can effectively break the ice and float safely in an emergency.

[0076] An embodiment of the present invention also provides an impact resistance test method, which is implemented based on a multi-angle longitudinal tilt buoyancy icebreaking test device simulating an underwater vehicle as described above, and includes steps one to four to be described below.

[0077] Step 1: According to the design requirements, first install the collision test device and the collision test device in the pool, and ensure that the distance and positioning between the two are accurate to ensure the high accuracy of the test results; for example, the collision device can be directly clamped on both sides of the pool through pulleys, and the collision device can be first placed on both sides of the pool and then tightened by screws. The distance between the scaled model of the underwater vehicle and the test ice plate is, for example, 12m, and the positioning accuracy is, for example, 0.01m; connect the traction rope of the laboratory's towing motor to the connecting platform 3. This connection needs to ensure that the towing motor can run smoothly and accurately control the motion trajectory of the collision test device, thereby providing a stable test platform;

[0078] Step 2: Pour water into the test pool 10, ensuring that the amount of water is sufficient to completely submerge the underwater vehicle scale model 3 in the water and provide sufficient water layer height for the vehicle to float up; wherein, the dimensions of the test pool are, for example, 20m long and 2m wide, and the water filling height is, for example, 1.2m; the dimensions of the underwater vehicle scale model are, for example, 1.45m long and 0.24cm high at maximum (total height of the cylindrical section + the control tower). Subsequently, correctly connect the sensor wires of the underwater vehicle scale model 3 to the data acquisition device and computer to ensure stable signal transmission and avoid signal interruption or data loss during the test; finally, complete the construction of the entire test system, and conduct a comprehensive inspection of the system to ensure the stability and reliability of various equipment, instruments and connections to ensure the smooth progress of the test;

[0079] Step 3: Start the data acquisition system, first collect data of the underwater vehicle scaled model 3 without impact, and record the basic performance data of the underwater vehicle scaled model 3 in static waters; after ensuring that the data acquisition system operates normally and the data curve is stable, start the test device and conduct several pre-tests; the pre-test is to verify whether the underwater vehicle scaled model 3 can float smoothly under different working conditions and effectively collide with the test ice plate 9; if necessary (for example, in the pre-test stage, if the underwater vehicle scaled model 3 fails to float or fails to effectively collide with the test ice plate 9 under any working condition), adjust the test settings and parameters according to the pre-test results to ensure the best working state of the test equipment and system;

[0080] As an example, the above-mentioned effective collision means that the collision distance is greater than or equal to the preset collision distance threshold, and the preset collision distance threshold is, for example, 1m, 2m, 5m or 10m. The preset collision distance threshold can be set, for example, according to an empirical value, or can be determined by experiment. For example, if the preset collision distance threshold is 1m, if the aircraft stops before hitting the ice, it is an invalid collision, or if the aircraft hits the ice but the collision distance is less than 1m (such as 0.8m), it is also an invalid collision.

[0081] Step 4: Carry out formal tests according to the pre-established operating condition table; conduct at least three tests under each test condition to ensure that the test results are highly repeatable and stable; during the test, monitor the operating status of each device in real time to handle any abnormalities that may occur in a timely manner to ensure the reliability of the test and the accuracy of the data.

[0082] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims below, any one of the claimed embodiments may be used in any combination.

[0083] As used herein, unless otherwise specified, the use of ordinal numbers "first," "second," "third," etc. to describe common objects merely indicates that different instances of similar objects are involved, and is not intended to imply that the objects so described must have a given order in time, space, order, or in any other manner.

[0084] Although the present invention has been described according to a limited number of embodiments, it will be apparent to those skilled in the art, with the benefit of the above description, that other embodiments may be envisioned within the scope of the invention thus described. In addition, it should be noted that the language used in this specification is selected primarily for readability and teaching purposes, rather than for explaining or defining the subject matter of the present invention. Therefore, many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the appended claims. The disclosure of the present invention is illustrative and not restrictive with respect to the scope of the present invention, and the scope of the present invention is defined by the appended claims.

Claims

1. A multi-angle tilting and floating icebreaking test device simulating an underwater vehicle, characterized in that: It comprises a collision test device, a collision test device and a test water pool (10); The collision test device comprises a scaled model of an underwater vehicle (3), a main body carrying mechanism, a pulley (5) and a connecting platform (2), wherein the main body carrying mechanism comprises an adjusting rod (4) and a driving device (1), and the scaled model of the underwater vehicle (3) is fixed on the connecting platform (2) via the main body carrying mechanism; the adjusting rod (4) is used to connect between the scaled model of the underwater vehicle (3) and the driving device (1); The collision test device is mounted above the test pool (10) via a pulley (5) so as to achieve linear movement via the pulley (5); the underwater vehicle scale model (3) is fixed on the connection platform (2) via a main body mounting mechanism; The collision test device comprises a test ice plate (9), a test ice plate clamp (8), a fastening screw (7) and a fixing platform (6); the test ice plate (9) is clamped on the test ice plate clamp (8) by the fastening screw (7), and the fixing platform (6) and the test ice plate clamp (8) are fixed above the test water pool (10).

2. The multi-angle tilting and floating icebreaking test device for simulating underwater vehicles according to claim 1 is characterized in that: The icebreaking methods of the underwater vehicle scaled model (3) include at least the following three methods: a vertical icebreaking method; a horizontal icebreaking method; and an inclined floating icebreaking method.

3. The multi-angle tilting and floating icebreaking test device for simulating underwater vehicles according to claim 2 is characterized in that: In the inclined floating icebreaking mode, the angle between the travel direction of the underwater vehicle scale model (3) and the horizontal plane is in the range of 0° to 20°.

4. The multi-angle tilting and floating icebreaking test device for simulating underwater vehicles according to claim 2 is characterized in that: In an ice-breaking experiment: The underwater vehicle scale model (3) uses only one icebreaking method; or The underwater vehicle scale model (3) uses at least two types of icebreaking methods.

5. The multi-angle tilting and floating icebreaking test device for simulating underwater vehicles according to claim 1 is characterized in that: The adjusting rod (4) comprises two adjusting rods, and power is transmitted between the adjusting rod and the driving device (1) via gears. The driving device (1) is suitable for controlling the angle of the underwater vehicle's floating and breaking ice by individually controlling each adjusting rod to move up and down, so as to achieve vertical floating and breaking ice and multi-angle inclined floating and breaking ice of the underwater vehicle scale model (3).

6. The multi-angle tilting and floating icebreaking test device for simulating underwater vehicles according to claim 1 is characterized in that: The underwater vehicle scale model (3) comprises an underwater vehicle body, an underwater vehicle control tower casing 302 and an underwater vehicle tail wing 304; the underwater vehicle body comprises an underwater vehicle front section (301), an underwater vehicle middle section (303) and an underwater vehicle rear section (305).

7. The multi-angle tilting and floating icebreaking test device for simulating underwater vehicles according to claim 7 is characterized in that: The underwater vehicle scale model (3) is provided with a first three-dimensional acceleration sensor (311), a first three-dimensional stress sensor (312), a second three-dimensional acceleration sensor (313), a second three-dimensional stress sensor (314), a waterproof hose (315), an inclination sensor (316), a third three-dimensional acceleration sensor (317), a mass block (318), a mass block base (319) and a supporting structure (320); A first three-dimensional acceleration sensor (311) and a first three-dimensional stress sensor (312) are installed at the front section of the underwater vehicle scale model (3); a second three-dimensional acceleration sensor (313) and a second three-dimensional stress sensor (314) are installed at the middle section of the underwater vehicle scale model (3) close to the command tower; a third three-dimensional acceleration sensor (317) is installed inside a mass block (318); an inclination sensor (316) is installed on a support structure 320; and the mass block (318) is installed on the support structure (320) via a mass block base (319); and connecting wires of the sensors are led out from circular holes on the upper surface of the middle section of the underwater vehicle scale model (3) and are wrapped by a waterproof hose (315).

8. The multi-angle tilting and floating icebreaking test device for simulating underwater vehicles according to claim 1 is characterized in that: The collision speed range of the collision test device is 0 to 2.5 m / s, and the collision movement range is 0 to 15 m.

9. A multi-angle trimming and floating icebreaking test device for simulating underwater vehicles according to any one of claims 1 to 8, characterized in that: The area and ice thickness of the test ice plate (9) are adjusted according to different test requirements.

10. An impact resistance test method, characterized in that: The anti-impact test method is implemented based on a multi-angle pitch and floating icebreaking test device for simulating underwater vehicles according to any one of claims 1 to 9, and the anti-impact test method comprises the following steps: Step 1: Install the collision test device and the collision test device in the test pool 10, and ensure that the distance and positioning between the two are accurate; connect the traction rope of the tug motor to the connection platform 2; Step 2: Fill the test pool 10 with water, ensuring that the amount of water is sufficient to completely submerge the underwater vehicle scaled model 3 in the water, and connect the sensor wires of the underwater vehicle scaled model 3 to the data acquisition device and the computer to complete the construction of the entire test system; Step 3: Start the data acquisition system, first collect data of the underwater vehicle scaled model 3 without impact, and record the basic performance data of the underwater vehicle scaled model 3 in static waters; after ensuring that the data acquisition system operates normally and the data curve is stable, start the test device and conduct multiple pre-tests to ensure that the underwater vehicle scaled model 3 can float under different working conditions and effectively collide with the test ice plate 9 through pre-tests; wherein, in the pre-test stage, if the underwater vehicle scaled model 3 fails to float or fails to effectively collide with the test ice plate 9 under any working condition, adjust the test settings and parameters until the optimal state is reached; Step 4: Carry out formal tests according to the predetermined operating condition table; conduct at least three tests under each test condition.

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