An ice water tank test simulation method for a submersible restrained ice-breaking floating process

Abstract

The application provides an ice-water pool test simulation method for the ice-breaking process of underwater submersible restraint floating, and belongs to the technical field of ice-water pool test. The underwater submersible body model can be adjusted in floating inclination through the setting of the rotating support shaft and the fixed pad block. The transmission screw is driven by the servo motor. The underwater submersible body model can be set in floating speed and stroke through the thread connection between the motion base and the transmission screw, so that the floating ice-breaking behavior of the underwater submersible body model in different postures and speeds is effectively simulated. The application comprises a support frame and a cross beam base, and further comprises a camera, an underwater submersible body model, a lifting assembly and a posture adjusting assembly. The lifting assembly is arranged on the inner side of the support frame. One end of the lifting assembly is connected with the posture adjusting assembly. The other end of the posture adjusting assembly is connected with the cross beam base. The underwater submersible body model is installed on the top surface of the cross beam base. The camera is arranged above the underwater submersible body model.

Description

TECHNICAL FIELD

[0001] The application relates to an ice-water pool test simulation method for a restrained ice-breaking process of an underwater submersible, and particularly belongs to the technical field of ice-water pool tests. BACKGROUND

[0002] The Arctic region is rich in natural resources, and as an important region for marine shipping, its development and utilization have attracted high attention from the international community. With global warming and the reduction of the Arctic ice layer, the development of the Arctic shipping route has gradually become an international hotspot. In the sea area covered by the ice layer, underwater submersibles play a key role in communication, navigation calibration and environmental monitoring. When the submersible executes a task, it often needs to break the ice to achieve upwelling in order to complete data transmission or respond to emergency situations. Therefore, research on the ice-breaking behavior of the submersible under the ice layer is of great significance to improve the design and task execution capability of the polar submersible.

[0003] When the ice-breaking behavior of the submersible is researched, the ice-water pool model test, as an important method, is widely used due to its unique advantages. Compared with the ice block-structure interaction test in a non-frozen ice-water pool environment, the ice-water pool model test can simulate the real ice-water system in a controllable test environment. By adjusting the ice cover thickness, mechanical properties of the ice-water pool and the speed and attitude of the submersible, the ice-water pool test can accurately reproduce the complex interaction process between the submersible and the ice-water system. These characteristics make the ice-water pool test irreplaceable in researching complex dynamic behavior and obtaining high-precision test data.

[0004] However, the existing ice-water pool test method still has some deficiencies in simulating the ice-breaking behavior of the submersible: first, there is a lack of a special device that can effectively simulate the change of the upwelling angle and speed of the submersible; second, the complex ice-water-submersible interaction process during the ice-breaking process of the submersible has not been clearly understood; and third, the test condition control and the precision of the physical quantity test need to be further improved. SUMMARY

[0005] The purpose of the present application is to provide an ice-water pool test simulation method for the restrained ice-breaking process of an underwater submersible, so as to ensure that the complex dynamic behavior between the submersible and the ice layer can be systematically researched in a highly controllable ice-water pool test environment, and accurate test data can be provided for theoretical research and numerical simulation methods, and support can be provided for the development of the ice-breaking technology of the polar submersible.

[0006] To solve the above technical problems, the technical scheme adopted by the present application is as follows: the present application comprises a support frame and a crossbeam base, and further comprises a camera, an underwater submersible body model, a lifting assembly and an attitude adjusting assembly.

[0007] The lifting assembly is provided inside the support frame, one end of the lifting assembly is connected with the posture adjusting assembly, the other end of the posture adjusting assembly is connected with the cross beam base, the underwater vehicle body model is installed on the top surface of the cross beam base, and the camera is arranged above the underwater vehicle body model.

[0008] Further, the lifting assembly mainly provides the upward floating force, the upward floating speed can be accurately controlled, the stability of the vertical movement of the underwater vehicle is ensured, the posture adjusting assembly is mainly used for adjusting the inclination angle of the underwater vehicle model and ensuring the restraint and fixation of the model, so as to adapt to the simulation requirements of the upward floating of the underwater vehicle in different postures.

[0009] The lifting assembly comprises a servo motor, a transmission screw rod, a movement base, a vertical elongated member and a horizontal elongated member; the servo motor is fixedly installed on the top surface of the support frame, the output shaft end of the servo motor is fixedly connected with the transmission screw rod, the transmission screw rod is inserted into the groove provided in the inner side of the support frame, the movement base is connected with the outer side of the transmission screw rod, the movement base is embeddedly installed in the inner side of the support frame, the vertical elongated member is fixedly connected to one side of the movement base, the horizontal elongated member is fixedly connected to one end of the vertical elongated member, and the posture adjusting assembly is connected to the other end of the horizontal elongated member;

[0010] Further, the transmission screw rod can be driven to rotate in the inner side of the support frame by the servo motor, the movement base can be moved vertically due to the threaded connection between the transmission screw rod and the movement base, and the stability of the device support is improved by the cooperation of the vertical elongated member and the horizontal elongated member.

[0011] The posture adjusting assembly comprises a rotating support shaft, a fixed pad, a cross beam base and a force sensor; the rotating support shaft is connected to the end of the horizontal elongated member, the cross beam base is arranged above the rotating support shaft, the fixed pad is arranged between the rotating support shaft and the cross beam base, the underwater vehicle body model is installed on the top surface of the cross beam base, and the force sensors are arranged at equal intervals between the underwater vehicle body model and the cross beam base;

[0012] Further, the posture of the underwater vehicle body model is adjusted by the cooperation of the rotating support shaft and the fixed pad, so as to facilitate the simulation of different conditions of the experiment.

[0013] An ice water pool test simulation method for the restrained upward floating ice breaking process of an underwater vehicle, and the specific steps comprise:

[0014] Step 1: test device design;

[0015] Further, the test device in step one adopts a segmented structure design, independent force sensors are arranged between each segment and the beam base for connection, the shape and size of the segment can be changed, the stress independence between the segments of the segmented structure is high, the load distribution details of the interaction between the submarine and the ice during the submarine ice-breaking process can be more accurately captured, and the segmented structure is convenient to disassemble and adjust, by changing the shape or size of the segment, different design requirements and changes of ice cover conditions can be quickly adapted, which is beneficial to improve the flexibility and operability of the test; in the design and manufacturing aspects, the segmented model needs to ensure the stress independence between the segments, avoid mutual coupling and interference of the stress of each segment, and ensure the authenticity and repeatability of the measurement data.

[0016] Step two: model ice cover preparation;

[0017] Further, the preparation method in step two includes refrigeration cooling, spray crystal induction, freezing under cooling and shutdown temperature recovery links, which ensures that the physical and mechanical parameters of the model ice cover meet the similarity requirements with natural sea ice; the ice cover damage mode in the test is similar to the real situation, and the ice-breaking load measured in the test can be used to predict the prototype results according to the similarity criterion;

[0018] Step three: data acquisition and recording;

[0019] Further, by being equipped with high-precision force sensors and high-definition cameras, the load change and crack propagation process of the underwater submarine model during the process are recorded synchronously; wherein, the force sensor is arranged at the bottom of the underwater submarine model, and measures the vertical load acting on the structure model; the high-definition camera is arranged above the interaction area of the submarine model-ice, and records the crack propagation mode in the ice and the interaction process of the submarine-ice in detail; the test data is connected to the corresponding data system, and the sampling frequency needs to meet the requirements of effectively reflecting the interaction process.

[0020] Step four: test process

[0021] Further, the process in step four includes a preparation stage, an execution stage and a data analysis stage, a model ice cover meeting the similarity requirements is prepared according to the ITTC procedure method, the test is started when the thickness and strength of the model ice cover reach the target value, multiple repetitive tests are carried out for the same test condition, the repeatability of the test results is ensured, the model ice cover damage process is associated with the ice load time history, and the correlation between the damage phenomenon and the load is analyzed.

[0022] The beneficial effects of the present application are:

[0023] 1. By setting the rotating support shaft and fixed pad, the underwater submersible body model can adjust the surfacing tilt angle. The servo motor drives the transmission screw, and the threaded connection between the motion base and the transmission screw allows the underwater submersible body model to set the surfacing speed and stroke, thereby effectively simulating the underwater submersible body model's surfacing and ice-breaking behavior at different attitudes and speeds.

[0024] 2. By equipping high-precision force sensors and high-definition cameras, the time history and distribution of ice-breaking loads on the structure as it floats up are recorded in real time, as well as the failure mode and crack propagation process of the ice sheet. This provides reliable data support for analyzing the ice-breaking performance of the submersible and provides systematic technical support for the research on the ice-breaking performance and structural design optimization of underwater submersibles. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the method flow of the present invention.

[0027] 1. Support frame; 2. Servo motor; 3. Transmission screw; 4. Motion base; 5. Vertical extension member; 6. Horizontal extension member; 7. Rotary support shaft; 8. Fixing pad; 9. Crossbeam base; 10. Force sensor; 11. Camera. Detailed Implementation

[0028] The following will be combined with the appendix Figures 1-2 The technical solutions in the embodiments are described clearly and completely.

[0029] Specific implementation method one: as follows Figure 1 As shown, the device consists of a support frame 1, a lifting assembly, and an attitude adjustment assembly. A servo motor 2 is fixedly mounted on the top surface of the support frame 1 by bolts. A transmission screw 3 is fixedly connected to the end of the output shaft of the servo motor 2. The transmission screw 3 is inserted into a vertical slide rail opened on the inner side of the support frame 1. A motion base 4 is threadedly connected to the outer side of the transmission screw 3. The motion base 4 is slidably mounted on the vertical slide rail, so that the motion base 4 can move vertically.

[0030] A vertical extension member 5 is fixedly installed on the side of the motion base 4 facing the opposite direction of the support frame 1. A horizontal extension member 6 is welded to the end of the vertical extension member 5. The horizontal extension member 6 and the vertical extension member 5 cooperate to form an "L" shaped structure, thereby improving the stability of the overall structure of the device.

[0031] The horizontal elongated member 6 is rotationally connected with a rotating support shaft 7, a cross beam base 9 is arranged above the rotating support shaft 7, and a fixed cushion block 8 is arranged between the rotating support shaft 7 and the cross beam base 9. By adjusting the fixed cushion block 8, the inclination angle of the cross beam base 9 can be adjusted synchronously, so that different groups of control use can be facilitated, the non-repeatability of the test is improved, the underwater vehicle body model is installed on the top surface of the cross beam base 9, force sensors 10 are arranged at equal intervals between the underwater vehicle body model and the cross beam base 9, data can be collected through the force sensors 10, so as to facilitate the subsequent systematic technical support for the research on the ice-breaking performance and structural design optimization of the underwater vehicle body model.

[0032] Specific implementation method two: as shown in the figure, an ice water pool test simulation method for the restrained ice-breaking process of an underwater vehicle, and the specific steps include: Figure 2

[0033] Step one: test device design

[0034] The upward force of the underwater vehicle body model is provided by the cooperation of the support frame 1 and the lifting assembly in the device, so that the upward speed of the underwater vehicle body model can be accurately controlled, and the stability of the vertical movement of the underwater vehicle body model is ensured;

[0035] The inclination angle of the underwater vehicle body model is adjusted by the cooperation of the vertical elongated member 5, the horizontal elongated member 6 and the attitude adjusting assembly, and the restraint and fixation of the underwater vehicle body model are ensured, so as to adapt to the simulation requirements of the underwater vehicle body model floating in different attitudes;

[0036] At this time, the force sensors 10 are connected with the outer shell of the underwater vehicle body model. When it is necessary to measure the distribution of the ice-breaking load of the structural underwater vehicle body model, a segmented structure model type can be used for the underwater vehicle body model, and each segment is connected with the cross beam base 9 through an independent force sensor 10; when only the total ice-breaking load of the underwater vehicle body model needs to be measured, the number of force sensors 10 can be appropriately reduced;

[0037] For the segmented underwater vehicle body model, an independent force sensor 10 is arranged between each segment and the cross beam base 9 for connection, which can more accurately capture the load distribution details of the ice-submarine interaction in the ice-breaking process of the underwater vehicle body model, and is convenient for disassembly and adjustment. By changing the shape or size of the segments, different design requirements and changes in ice cover conditions can be quickly adapted, which is beneficial to improve the flexibility and operability of the test. In terms of design and manufacturing, the segmented underwater vehicle body model needs to ensure the independence of the force between the segments to avoid mutual coupling and interference of the force between the segments, and to ensure the authenticity and repeatability of the measurement data;

[0038] ​The installation and debugging process of the test device is as follows: installing the support frame 1 and the lifting assembly in the ice water pool, ensuring the accurate assembly between the components such as the moving base 4, the vertical elongated component 5, the horizontal elongated component 6, the rotating support shaft 7 and the fixed pad 8, and ensuring the overall horizontal stability of the device; adjusting the parameters of the servo motor 2, including the lifting speed range, the speed of the selected motor can be accurately controlled between 1-300 mm / s, and the control accuracy is 0.02 mm / s; debugging the running state of the servo motor 2 to ensure the smooth movement of the moving base 4 during loading and unloading; determining the installation position of the load cell 10 to ensure that it can capture the contact load between the submarine model and the ice cover in real time; the load cell 10 has a range of 500 kgf, an accuracy of 0.05% F.S., a working temperature range of -20°C to 80°C, a protection level of IP68, and a sampling frequency of 100 Hz; and a high-definition camera 11 is erected at a fixed position; these devices can record the load change and crack propagation process during the submarine ascent in a synchronous manner;

[0039] The underwater submarine body model is fixed on the beam base 9 to ensure that the position of the underwater submarine body model is stable and the center is aligned with the rotating support shaft 7; the rotating support shaft 7 and the fixed pad 8 are adjusted to make the underwater submarine body model reach the required inclination angle, and the underwater submarine body model is restrained and fixed to simulate different attitude conditions of the underwater submarine body model during the ascent; the connection between the underwater submarine body model and the load cell 10 is checked to ensure accurate transmission of the load signal; the ascent speed of the servo motor 2 is set; and the initial data of the test is recorded, including the thickness of the ice cover, the position of the submarine model, the inclination angle and the environmental temperature and other parameters;

[0040] Step two: preparation of the model ice cover;

[0041] To truly reproduce the process of the underwater submarine body model ascending through ice and accurately measure the ice-breaking load and distribution, it is necessary to ensure that the physical and mechanical parameters of the model ice cover meet the similarity requirements with natural sea ice, including ice thickness, ice bending strength, ice uniaxial compression strength, ice elastic modulus and ice Poisson's ratio; through the processes of refrigeration, spray crystal induction, freezing, temperature recovery and other processes, the model ice cover is prepared to meet the similarity of the above-mentioned physical and mechanical parameters with natural sea ice, so that the damage mode of the ice cover in the test is similar to the real situation, and the ice-breaking load measured in the test can be used to predict the prototype results according to the similarity criteria;

[0042] The model ice cover is prepared as follows: a urea water solution is prepared according to a proportion of 1.5%, and is stirred uniformly in a pool; then, the laboratory is cooled by using a cold air unit, so that the water temperature gradually approaches the freezing point; after the water temperature approaches the freezing point, large crystal grains and small ice blocks in the water are removed, the urea water solution is atomized and sprayed onto the water surface to form micro-ice crystal grains as ice crystal nuclei, and the ice crystals are induced to grow from top to bottom; before the ice thickness reaches a predetermined value, the ice strength index is controlled through a rewarming process, the bending strength of the ice is adjusted, and the ice strength is monitored in a cantilever beam method at a fixed time to ensure that the test requirements are met;

[0043] Step three: data acquisition and recording;

[0044] A high-precision force sensor 10 and a high-definition camera are provided to synchronously record the load change and crack propagation process of the underwater vehicle body model during the process of floating up, wherein the force sensor 10 is arranged at the bottom of the underwater vehicle body model segment, connected to the underwater vehicle body model and the beam base 9, and measures the vertical load acting on the underwater vehicle body model segment; the high-definition camera is arranged above the underwater vehicle body model-ice interaction area, and records the crack propagation mode in the ice and the process of the underwater vehicle-ice interaction in detail; the test data is input into the corresponding data system, and the sampling frequency needs to meet the requirement of effectively reflecting the interaction process;

[0045] Step four: test process;

[0046] The test process includes a preparation phase, an execution phase and a data analysis phase;

[0047] In the preparation phase, the model ice cover meeting the similarity requirements is prepared according to the ITTC procedure method, and the test is started when the thickness and strength of the model ice cover reach the target value; the underwater vehicle body model is processed and manufactured according to the set geometric scale ratio, the geometric shape and size of the underwater vehicle body model meet the similarity requirements, and the underwater vehicle body model has sufficient rigidity, so that the measurement result of the icebreaking load meets the test requirements; finally, the underwater vehicle body model, the test device and the test system are installed, connected and debugged without error;

[0048] In the execution stage, the water entry position and depth of the underwater vehicle body model are controlled by the motion base 4, the underwater vehicle body model is extended to a certain distance below the model ice cover, the free edge of the model ice cover and the fixed boundary ice pool wall on both sides are ensured not to interfere with the ice breaking process, the motion base 4 is started and the floating speed and inclination are set, the load time history and ice cover damage process in the ice breaking process are recorded, including the initial contact load, the ice breaking load peak value and the dynamic change in the continuous ice breaking process, the high-definition camera 11 is used to record the ice breaking process, including the ice cover deformation, crack propagation path and ice layer damage mode; the underwater camera equipment monitors the dynamic change of the contact area between the vehicle and the ice body, and the force sensor 10 records the load change in the vehicle floating process in real time; the broken ice cover is cleaned, the underwater vehicle body model is re-arranged to a certain distance below the intact ice cover, and multiple repeated tests are carried out under the same test conditions to ensure the repeatability of the test results.

[0049] Data analysis stage: Based on the high-definition video data of the camera 11, the damage process of the model ice cover is described, including the extension length of the ice crack, the damage range of the crack appearance area, etc., and the appearance and extension sequence of the ice crack are analyzed. On the other hand, the ice breaking load time history is analyzed synchronously, including the total load and the load time history of each segment of the segmented underwater vehicle body model, the model ice cover damage process is linked with the ice load time history, and the correlation between the damage phenomenon and the load is analyzed.

[0050] The multi-channel data collected in the test, including the load time sequence and the crack propagation image, are sorted out; the load data are comprehensively analyzed, the relationship curve of the load with the vehicle speed and inclination is drawn, and the correlation between the ice breaking load and the vehicle motion parameters is revealed; the crack propagation image is analyzed, the dynamic characteristics of crack generation, extension and penetration are extracted, the relationship between the ice layer damage mode and the vehicle design is discussed combined with the load data; the results under different test conditions are compared, the influencing factors and main rules of the vehicle constrained floating ice breaking process are summarized, and data support is provided for the optimization of the theoretical model and engineering application.

[0051] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Although the present application has been disclosed as above, 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 without departing from the scope of the technical solution of the present application, and equivalent embodiments with equivalent changes are obtained, but as long as it does not depart from the technical solution of the present application, according to the technical essence of the present application, within the spirit and principles of the present application, any simple modification, equivalent replacement and improvement of the above embodiments are still within the protection scope of the technical solution of the present application.

Claims

1. An ice water basin test device for restraining an ice-breaking process of submersible ascent, comprising a support frame (1) and a crossbeam base (9), characterized in that, It also includes a camera (11), underwater vehicle body model, lifting assembly and attitude adjustment assembly; The lifting assembly is connected with the attitude adjustment assembly at one end, and the attitude adjustment assembly is connected with the cross beam base (9) at the other end. The lifting assembly includes a servo motor (2), a transmission screw (3), a movement base (4), a vertical elongated member (5) and a horizontal elongated member (6). The servo motor (2) is fixedly installed on the top surface of the support frame (1), and the output shaft end of the servo motor (2) is fixedly connected with the transmission screw (3). The transmission screw (3) is inserted into the groove formed in the inner side of the support frame (1), and the outer side of the transmission screw (3) is connected with the movement base (4). The movement base (4) is embeddedly installed in the inner side of the support frame (1), and the vertical elongated member (5) is fixedly connected with the movement base (4) at one side.

2. An ice-water tank test simulation method of a submersible restraint ice-breaking process of floating, using the device of claim 1, characterized in that, The horizontal elongated member (6) is fixedly connected with the vertical elongated member (5) at one end, and the attitude adjustment assembly is connected with the horizontal elongated member (6) at the other end. The attitude adjustment assembly includes a rotating support shaft (7), a fixed pad (8), a cross beam base (9) and a force sensor (10). The rotating support shaft (7) is connected with the end of the horizontal elongated member (6), and the cross beam base (9) is arranged above the rotating support shaft (7). The fixed pad (8) is arranged between the rotating support shaft (7) and the cross beam base (9), and the underwater vehicle body model is installed on the top surface of the cross beam base (9). The force sensor (10) is arranged between the underwater vehicle body model and the cross beam base (9) at equal intervals.

3. The ice water tank test simulation method of a submersible's constrained ice-breaking ascent process according to claim 2, characterized in that, The specific steps include:

4. The ice water tank test simulation method of a submersible's constrained ice-breaking ascent process according to claim 2, characterized in that, Step one: test device design; 5. The ice water tank test simulation method of a submersible's constrained ice-breaking ascent process according to claim 2, characterized in that, Step two: model ice cover preparation; Step three: data collection and recording; Step four: test process. The underwater vehicle body model in the test device is designed in a segmented structure, and each segment is connected with the cross beam base (9) through an independent force sensor (10). The preparation method in step two includes refrigeration cooling, spray crystal induction, freezing and temperature recovery. The process in step four includes preparation stage, execution stage and data analysis stage, and multiple repetitive tests are carried out under the same test conditions to ensure the repeatability of the test results.

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