Ice pool test simulation device and method for underwater vehicle multi-attitude floating icebreaking process

Abstract

The invention relates to an ice water pool test simulation device and method for a submersible vehicle multi-attitude floating icebreaking process, and belongs to the technical field of low-temperature dragging ice water pool model tests. Comprising a lifting mechanism, an L-shaped extension arm, a supporting structure, a rotation angle sensor, a limiting cushion block, a cross beam base, a force measuring sensor, a buoyancy device and a camera, the L-shaped extension arm is connected with the lifting mechanism and the supporting structure, the L-shaped extension arm is connected with the cross beam base through the rotation angle sensor, the cross beam base is provided with the buoyancy device, and the supporting structure is provided with the limiting cushion block. The limiting cushion block is matched with the cross beam base, the cross beam base is connected with a submersible vehicle model through a force transducer, and cameras are arranged around the L-shaped extension arm. The device is suitable for different ice pool environments, the multi-attitude change in the contact ice breaking process of the underwater vehicle and the ice surface is truly represented, and important test data support is provided for design, performance evaluation and numerical simulation research of the underwater vehicle.

Description

Technical Field

[0001] The invention relates to a submersible test device and method, and belongs to the technical field of low-temperature towing ice water tank model testing. Background Art

[0002] In recent years, the polar region has gradually become a hot spot for scientific research and development and utilization due to its rich oil and gas resources and marine biological resources. However, as an underexplored area, the polar subglacial environment still faces many technical challenges, especially in the dynamic load characteristics, icebreaking mode and motion stability of underwater submersibles during the process of surfacing and breaking ice, which have not been fully studied and solved. In special scenarios, such as communication, positioning and emergency needs, underwater submersibles need to surface and break ice to get out of the water, and the complexity of the polar subglacial environment makes this process affected by many factors, including ice characteristics, environmental conditions and submersible design parameters.

[0003] In response to these problems, model tests, as a key research method, can restore the real icebreaking process under relatively controllable test conditions and provide reliable data support. In particular, underwater submersibles may experience complex posture changes during the process of surfacing and breaking ice. By simulating the multi-posture surfacing process in model tests, the dynamic changes of the floating state of the submersible during surfacing and breaking ice can be more realistically reflected, and the structural stress and ice cover destruction process during the icebreaking process can be accurately obtained, thereby providing a strong test basis for submersible design and performance evaluation.

[0004] Some model test studies have focused on the process of submersibles floating up and breaking ice. For example, Wang Chunhui (2021) conducted a vertical icebreaking test of a cylinder in a waterless environment using freshwater ice as the test object, and obtained the icebreaking load and ice sheet crack damage process. Lei Jianqi (2021) studied the effects of different loading rates, model sizes and ice thickness on the floating icebreaking load using a hemispherical shell surface model. Zhao Weihang (2023) used a cylindrical specimen to simulate the floating destruction process of a cylinder in an ice-water pool. However, these studies mainly focus on conducting tests in fixed or single postures, analyzing the interaction between the structure and the ice layer, focusing on physical processes such as icebreaking loads and crack evolution, and have not fully considered the multi-posture free floating behavior that may occur in actual operations of the submersible. The posture changes of the submersible during the floating and breaking ice process will have a significant impact on the destruction process of the ice sheet and the distribution of the ice load borne by the structure. The multi-posture change process of the underwater submersible should be simulated during the test.

[0005] From the existing research work, it can be seen that there is no experimental method suitable for the environmental conditions of ice water pools that can effectively simulate the process of underwater submersibles surfacing and breaking ice, especially the posture changes of underwater submersibles during the surfacing process have not been considered.

[0006] Therefore, it is urgent to propose an ice-water pool test simulation device and method for the submersible's multi-posture surfacing and icebreaking process to solve the above-mentioned technical problems. Summary of the invention

[0007] In order to solve the above problems, an ice water pool test simulation device and method for a submersible multi-attitude buoyancy and icebreaking process are provided. A brief overview of the invention is given below to provide a basic understanding of certain aspects of the invention. It should be understood that this overview is not an exhaustive overview of the invention. It is not intended to identify the key or important parts of the invention, nor is it intended to limit the scope of the invention.

[0008] The technical solution of the present invention:

[0009] An ice-water pool test simulation device for a submersible's multi-posture buoyancy and icebreaking process comprises a lifting mechanism, an L-shaped extension arm, a supporting structure, an angle sensor, a limit pad, a beam base, a force sensor, a buoyancy device and a camera, wherein one end of the L-shaped extension arm is connected to the lifting mechanism, the other end of the L-shaped extension arm is connected to the supporting structure, the other end of the L-shaped extension arm is connected to the beam base through the angle sensor, a buoyancy device is arranged on one side of the beam base, a limit pad is arranged on one side of the supporting structure, the limit pad is matched with the beam base, the upper part of the beam base is connected to a submersible model through a force sensor, and a camera is matched around the L-shaped extension arm.

[0010] Preferably, the number of the cameras is at least three, including a first camera, a second camera and a third camera, the first camera is arranged above the submarine model, the second camera is arranged below the submarine model, and the third camera is arranged coaxially with the rotation angle sensor.

[0011] Preferably: an ice-water pool test simulation device for the submersible multi-attitude buoyancy and icebreaking process, hereinafter referred to as the test device, comprises the following steps:

[0012] Preparation of model ice caps for ice-water ponds;

[0013] Adjust the initial posture of the test device;

[0014] Place the test device in the ice water pool at the required test location;

[0015] The simulated test device's floating and icebreaking process was recorded, with load, posture, and ice surface crack expansion being recorded.

[0016] Preferably: in the process of preparing the model ice cover of the ice-water pool, in the ice-water pool, by controlling the air temperature, water temperature and spray parameters in the laboratory, an industrial spray gun is used to spray water droplets above the water surface; these atomized small water droplets quickly form tiny ice crystals in the cold air of -22°C, and will not melt when they fall on the supercooled water surface, but form a uniform crystal bed, and then grow downward under the temperature gradient of the water temperature to generate a model ice cover with a crystal texture similar to that of natural sea ice; finally, by shutting down and returning to temperature to adjust the strength, it can be ensured that the physical and mechanical properties of the model ice cover meet the test requirements.

[0017] Preferably, during the process of adjusting the initial posture of the test device, the limit pad, the rotation angle sensor and the buoyancy device are selected to set the initial posture and the floating angle.

[0018] Preferably: in the process of placing the test device in the ice water pool at the required test position, there is a test trailer across the ice water pool above the ice water pool, the lifting mechanism support frame of the test device is connected to the test trailer, the test trailer moves the test device to the initial position required for the test in the ice water pool, and the vertical position can be further adjusted by the lifting mechanism; that is, the first and second cameras can be fixedly connected to the ice water pool through a steel frame, and are arranged on the upper and lower sides of the ice surface in the vertical direction at the initial position, and then the test trailer moves the test device to the initial position so that it is arranged corresponding to the above two cameras, and the vertical position is adjusted when diving.

[0019] Preferably: simulate the buoyancy and icebreaking process of the test device, record the load, posture, and ice surface crack expansion process, set the rising speed of the lifting mechanism according to the preset buoyancy speed and lifting force requirements, start the lifting mechanism, and the submersible can rotate around the angle sensor after contacting the model ice cover, thereby simulating a real multi-posture buoyancy and icebreaking process. During this process, the force sensor and the first camera, the second camera, and the third camera are used to record in real time the changes in the icebreaking load when the submersible contacts the ice surface and the expansion of the ice surface cracks.

[0020] The present invention has the following beneficial effects:

[0021] The present invention is applicable to different ice-water pool environments. It can realistically reproduce the multi-posture changes of the submersible during the icebreaking process of contacting the ice surface with the ice surface for various test scenarios such as different ice thicknesses, submersible design parameters, initial inclination angles and icebreaking conditions, thus providing important test data support for the design, performance evaluation and numerical simulation research of underwater submersibles. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional diagram of the ice-water pool test simulation device for the submersible's multi-posture ascent and icebreaking process.

[0023] Figure 2 This is a partial view of the ice-water pool test simulation device for the submersible's multi-posture ascent and icebreaking process.

[0024] Figure 3 It is a side view of an ice-water pool test simulation device for a submersible's multi-posture ascent and icebreaking process.

[0025] Figure 4 It is a bottom view of the ice-water pool test simulation device for the submersible's multi-posture ascent and icebreaking process.

[0026] In the figure, 1-first camera, 2-lifting mechanism, 3-L-shaped extension arm, 4-support structure, 5-angle sensor, 6-limiting pad, 7-beam base, 8-force sensor, 9-buoyancy device, 10-second camera, 11-third camera, 101-support frame, 103-transmission screw, 104-motion base. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0028] Specific implementation method 1: Combination Figure 1-4The present embodiment is described. The ice water pool test simulation device of the submersible multi-posture floating icebreaking process of the present embodiment comprises a lifting mechanism 2, an L-shaped extension arm 3, a supporting structure 4, an angle sensor 5, a limit pad 6, a beam base 7, a force sensor 8, a buoyancy device 9 and a camera. One end of the L-shaped extension arm 3 is bolted to the lifting mechanism 2, the other end of the L-shaped extension arm 3 is fixedly connected to the supporting structure 4, the other end of the L-shaped extension arm 3 is connected to the middle part of the beam base 7 through the angle sensor 5, that is, the fixed end of the angle sensor 5 is fixedly connected to the L-shaped extension arm 3, the rotating end of the angle sensor 5 is fixedly connected to the beam base 7, the displacement of the beam base 7 is measured by the relative angle between the fixed end of the angle sensor 5 and the rotating end of the angle sensor 5, and the buoyancy device 9 is fixedly arranged on one side of the beam base 7. A limited pad 6 is provided on one side of the support structure 4 by bolts. By adjusting the height of the pad 6, the angle of the beam base 7 on the lower side thereof is changed to limit the angular displacement of the beam base 7. The limited pad 6 is matched with the beam base 7, that is, the buoyancy device 9 and the support structure 4 are both located on the right side of the L-shaped extension arm 3 (the head of the model), so as to realize the change from head tilt to tail tilt. When the model tail is out of water, it can be lifted up within a certain range. The upper part of the beam base 7 is connected to the submersible model through a force sensor 8. A camera is provided around the L-shaped extension arm 3. The support structure 4 is a square support structure. Through key devices such as the lifting mechanism, the L-shaped extension arm, the angle sensor, the limited pad and the buoyancy device, the multi-angle posture adjustment of the submersible during the floating process is realized, and the real behavior of the posture change of the submersible during the floating and icebreaking process is simulated.

[0029] The device design of the present invention:

[0030] In order to simulate the buoyancy and icebreaking process of an underwater submersible, it is first necessary to design and manufacture a submersible buoyancy and icebreaking test device suitable for the ice pool environment. The lifting mechanism is used to fix and install the entire test device, provide driving force for the vertical movement of the submersible model, and control the movement speed and stroke; the lifting mechanism needs to be fixed at a certain height above the ice pool and be able to move in the horizontal plane; the vertical movement of the lifting mechanism is driven by a set of servo motor-drive screws, and the movement speed and stroke of the lifting mechanism can be adjusted and controlled by the servo drive system, and the main parameters of the servo drive system (rated power, rated speed, reduction ratio, etc.) can be determined by the maximum lifting force that needs to be provided, and this lifting force can be calculated with reference to the buoyancy and icebreaking load of the underwater submersible model; Kerr proposed a semi-theoretical and semi-empirical estimation method for the vertical destructive force of the ice layer:

[0031]

[0032] Where P f is the vertical failure load of the ice layer when the annular crack penetrates; Nis the bending strength of the ice layer; h is the thickness of the ice layer; k is a dimensionless constant; R is the destruction radius of the ice layer; L is the characteristic length of the ice layer, which can be calculated by the following formula:

[0033]

[0034] Where E is the elastic modulus of ice; υ is the Poisson's ratio of ice; ρ w is the density of water;

[0035] The lifting mechanism is provided with a plurality of opening grooves so as to be fixedly connected with the L-shaped extension arm to ensure the reliability and stability of the connection; the L-shaped extension arm is mainly used to extend the submersible model into the model ice sheet area for a certain distance and place it at a certain depth below the ice sheet, so as to avoid the influence of the free edge of the model ice sheet on the floating and icebreaking process, and ensure that the structural model has enough space for acceleration and floating, so as to achieve uniform contact with the ice sheet and break the ice out of the water; the L-shaped extension arm is connected by welding with a rectangular steel pipe to ensure the strength of the connection and the stability of the structure; the angle sensor is installed at the horizontal end of the L-shaped extension arm as the core rotating component for controlling and measuring the posture of the submersible model; the rotating part of the angle sensor can realize free rotation around the axis, that is, while fixing the submersible model, it releases the freedom of rotation around the axis of rotation and measures the angle value in real time; The crossbeam base is fixed to the angle sensor through a firm mechanical connection and should have sufficient rigidity to avoid obvious bending deformation during the test. There is a limit pad on each side of the angle sensor (or a limit pad is set on one side) fixedly installed at the corner point of the rectangular support structure to limit the rotatable angle range of the submersible model and avoid collision damage caused by rotation beyond the allowable range of the structure. According to the test requirements, a buoyancy device is fixedly installed below one end of the crossbeam base to provide additional buoyancy for one end of the submersible model and cooperate with the limit pad to control the initial inclination angle of the submersible model. After the model touches the ice, it will pitch under the action of the icebreaking load, thereby changing its posture during the floating and icebreaking process. The lower end of the force sensor is connected to the crossbeam base, and the upper end is connected to the submersible model to measure the load distribution of the structural model.

[0036] The number of the cameras is at least three, and high-resolution cameras are used, including a first camera 1, a second camera 10 and a third camera 11. The first camera 1 is located on the ice surface and is arranged above the submarine model. The second camera 10 is located under the ice surface and is arranged below the submarine model. The third camera 11 is coaxially arranged with the angle sensor 5. The lifting mechanism 2 includes a support frame 101, a motor, a transmission screw 103 and a motion base 104. The support frame 101 is connected to the motor. The support frame 101 has a longitudinal slideway. The motion base 104 is slidably arranged in the slideway of the support frame 101. The motion base 104 is processed with threaded holes. The transmission screw 103 is moved by The threaded hole of the base 104 is threadedly connected to the motion base 104, the upper end of the transmission screw 3 is connected to the output end of the motor, the motion base 104 is connected to the vertical rod of the L-shaped extension arm 3, the first camera 1 and the second camera 10 can be connected to the support frame 101 through a bracket to achieve position fixation, and the third camera 11 can be connected to the horizontal rod or support structure 4 of the L-shaped extension arm 3 through a bracket to be located in front of the angle sensor 5 for fixation; the measurement system includes a high-precision force sensor, a high-resolution camera and an angle sensor, which collects the load changes, ice cover crack evolution process and posture changes of the submersible in the process of floating and breaking ice in real time, and provides data support for submersible performance optimization and design improvement;

[0037] The measurement system design of the present invention:

[0038] During the test, force sensors and high-resolution cameras are arranged to measure the icebreaking load, ice sheet deformation and crack development process of the submersible model, so as to provide data support for analyzing the surfacing and icebreaking process of the submersible model. High-resolution cameras are arranged at least in three locations, including above the model, below the ice surface and in front of the angle sensor. The camera arranged above the model is responsible for shooting the deformation process and crack extension of the ice sheet, the camera arranged under the ice surface can record the ice-touching process and movement of the submersible model under the ice in real time, and the camera arranged in front of the angle sensor is used to record the posture changes of the underwater submersible model during the surfacing process. The range and accuracy of the force sensor should be determined according to the surfacing and icebreaking load of the submersible model. At the same time, it should be able to work normally in the temperature range of -20℃-80℃, have waterproof capability, and the sampling frequency should be set to at least 100Hz.

[0039] The ice-water tank test simulation device and method for the multi-posture surfacing and icebreaking process of an underwater submersible of the present invention are suitable for different ice-water tank environments. They can realistically reproduce the multi-posture changes of the submersible during the icebreaking process of contacting the ice surface with the ice surface for various test scenarios such as different ice layer thicknesses, submersible design parameters, initial inclination angles, and icebreaking conditions, thus providing important test data support for the design, performance evaluation, and numerical simulation research of underwater submersibles.

[0040] Specific implementation method 2: Combination Figure 1-4The present embodiment is described. The ice water pool test simulation method of the submersible multi-attitude buoyancy and icebreaking process of the present embodiment adopts the ice water pool test simulation device of the submersible multi-attitude buoyancy and icebreaking process, hereinafter referred to as the test device, and includes the following steps:

[0041] Step 1: Prepare a model ice sheet of an ice water pool;

[0042] In step 1, in the ice water pool, by controlling the ambient air temperature, water temperature and spray parameters, an industrial spray gun is used to spray water droplets above the water surface; these atomized small water droplets quickly form tiny ice crystals in the cold air of -22°C, and will not melt when they fall on the supercooled water surface, but form a uniform crystal bed, which then grows downward under the temperature gradient of the water temperature to generate a model ice sheet with a crystal texture similar to that of natural sea ice; finally, by shutting down and warming up to adjust the strength, it can be ensured that the physical and mechanical properties of the model ice sheet meet the test requirements. Shutdown refers to stopping the operation of the refrigeration compressor in the ice water pool laboratory, and warming up generally means returning the water surface ambient temperature to close to 0°C; the spray seeding method is used in the ice water pool to prepare the model ice sheet, which fully simulates the real ice water environment and is crucial to the entire test process;

[0043] Step 2: Adjust the initial posture of the test device;

[0044] In step 2, select and adjust the limit pad 6, the angle sensor 5, and the buoyancy device 9 to set the initial posture and the floating angle;

[0045] Step 3: Place the test device at the required test position in the ice water pool;

[0046] In step three, there is a test trailer across the ice water pool above the ice water pool, and the lifting mechanism 2 support frame 101 of the test device is connected to the test trailer. The test trailer moves the test device to the initial position required for the test in the ice water pool, and the vertical position can be further adjusted by the lifting mechanism 2; that is, the first and second cameras can be fixedly connected to the ice water pool through a steel frame, and are set on the upper and lower sides of the ice surface in the vertical direction at the initial position, and then the test trailer moves the test device to the initial position, so that it is set corresponding to the above two cameras, and the vertical position is adjusted when diving;

[0047] Step 4: Use the lifting mechanism to drive the model to float up, simulate the floating and ice-breaking process of the test device, and record the load, posture, ice surface crack expansion and other key parameters;

[0048] In step 4, according to the preset floating speed and lifting force requirements, the rising speed of the lifting mechanism 2 is set, and the lifting mechanism 2 is started. After the submersible contacts the model ice sheet, it can rotate around the angle sensor 5, thereby simulating a real multi-posture floating and icebreaking process. In this process, the force sensor 8 and the first camera 1, the second camera 10 and the third camera 11 are used to record in real time the changes in the icebreaking load when the submersible contacts the ice surface and the expansion of the ice surface cracks; that is, the lifting mechanism provides a lifting force to drive the submersible to float and contact the ice surface; the submersible model can rotate freely within a certain range around the rotation axis, simulating the posture changes of the underwater submersible during the floating and icebreaking process under real conditions; the force sensor and the high-resolution camera are used to collect data in real time to record the load changes, posture changes, ice surface crack expansion and other key parameters during the submersible's floating and icebreaking process;

[0049] It also includes step five: result analysis;

[0050] During the test, by comparing the interaction between the submersible and the ice layer under different test conditions (such as initial inclination angle, ice thickness, etc.), the change trend of the submersible's icebreaking load, attitude change, crack propagation process and icebreaking mode were analyzed, thus providing data support for the design and operation of underwater submersibles;

[0051] The present invention takes into account the multiple posture changes of the submersible during the test and truly restores the surfacing and icebreaking behavior of the submersible, thereby providing an effective model test method for the study of the underwater submersible surfacing and icebreaking problems. The method can more realistically reproduce the dynamic changes of the posture of the underwater submersible during the actual surfacing and icebreaking process, and can observe and record the posture change history of the submersible in real time, thereby realizing the control of the underwater submersible's motion process and the measurement of various physical quantities, thereby accurately simulating the submersible's surfacing and icebreaking process in multiple postures. Compared with the traditional fixed posture model test method, the simulation method of the present invention can more comprehensively reflect the icebreaking behavior of the submersible in a complex environment, provide more reliable test data support for submersible design, performance evaluation and operation optimization, and provide more accurate verification data for numerical simulation research.

[0052] Embodiment 1:

[0053] 1. Installation of test equipment

[0054] In the example, there is a test trailer across the ice water pool above the pool, and the lifting mechanism 2 in the test device is reliably connected to the test trailer frame through a set of precisely designed slide rail systems; the slide rail system uses two high-strength rails installed in parallel, and the bottom of each rail is fixed to the mounting seat of the test trailer frame by high-strength bolts to ensure that the rail will not loosen or shift when the trailer is running; the surface of the rail is precisely processed to ensure that the flatness and straightness of the guide surface are within ±0.2mm to provide precise guiding function; two sets of high-strength sliders are installed on the back of the lifting mechanism 2, and the sliders are firmly connected to the lifting mechanism 2 fixing seat by bolts, which are used to adjust the gap between the slider and the track during installation to ensure that the slider can slide smoothly along the track without loosening; for the maximum model ice thickness (10cm) in this example, the maximum buoyancy speed of the submersible model is 300mm / s, and the maximum ice-breaking force is about 1000kg. Therefore, the parameters such as the rated power, maximum speed and reduction ratio of the lifting mechanism servo drive system should be determined accordingly;

[0055] In the ice-water pool test device for the multi-attitude buoyancy and icebreaking process of an underwater submersible, key components such as the lifting mechanism 2, L-shaped extension arm 3, rectangular support structure 4, angle sensor 5, fixed pad 6, and beam base 7 should be installed correctly; the L-shaped extension arm 3 is connected to the lifting mechanism 2 by bolts to ensure the strength and stability of the connection part, and at the same time, the horizontal length of the lifting mechanism 2 and the L-shaped extension arm 3 is adjusted to meet the test requirements, that is, the cracks generated in the buoyancy and icebreaking process of the structural model will not extend to the free edge of the model ice sheet. In this example, the horizontal length of the L-shaped extension arm is 3.5m; next, the angle sensor 5 is installed and connected to the horizontal end of the L-shaped extension arm 3 to ensure that the connecting part can rotate freely around the angle sensor; the angle sensor can measure and record the inclination changes of the submersible in real time during the complete process of the submersible buoyancy and icebreaking; then, the beam base 7 and A rectangular support structure 4 is provided to enhance the stability and bending resistance of the device; a limit pad 6 is installed at the end of the rectangular support structure, and the range of the inclination angle of the underwater submersible model can be limited by adjusting the height of the limit pad 6, and the initial floating inclination angle can be set; finally, a force sensor 8 is installed on the crossbeam base, and the submersible model is fixed on the force sensor 8 to ensure that the sensor can measure the load changes during the submersible's floating process in real time; at the same time, the shooting range and angle of the high-resolution camera 1 are adjusted to ensure that the entire test process is captured; in this example 1, a total of 10 force sensors 8 are arranged under the submersible model. For the maximum icebreaking load of 2000kg, the design range of each sensor is 500kg, the force measurement accuracy is 0.05%FS, the operating temperature range is -20℃~80℃, it has IP68 waterproof protection capability, and the sampling frequency is set to 100Hz;

[0056] 2. Preparation of model ice sheet

[0057] A certain proportion of urea aqueous solution is placed in the ice water pool, and the temperature of the aqueous solution is lowered to 0°C through the refrigeration system; the temperature is continued to drop to -22°C above the ice water pool, and an industrial spray gun is used to spray the urea aqueous solution with the same proportion as in the pool into the cold air. These aqueous solutions are quickly atomized when ejected from the nozzle of the spray gun, and freeze into tiny ice crystals in the cold air. These tiny ice crystals evenly fall to the supercooled water surface to form a stable crystal bed, which is the spray crystal induction process; during this process, disturbance of the pool surface must be avoided to ensure the uniformity of the ice crystal distribution; the low temperature environment is continued to be maintained, and the ice crystals grow vertically downward under the action of the temperature gradient in the water until the ice cover grows to the predetermined thickness. Subsequently, the machine is shut down to return to temperature to adjust the mechanical properties of the ice cover, and the strength of the ice cover is monitored until it reaches the design target value of the test;

[0058] 3. Test operation and process control

[0059] Before the test begins, by adjusting the height of the limit pad 6, under the joint control of the limit pad 6 and the buoyancy device 9, the submersible model will float up in the designed initial posture; according to the preset floating speed and lifting force requirements, the rising speed of the lifting mechanism 2 is set, and the lifting mechanism 2 is started; after the submersible contacts the model ice sheet, it can rotate around the angle sensor 5, thereby simulating a real multi-posture floating and icebreaking process; in this process, the force sensor 8 and the high-resolution camera 1 are used to record in real time the changes in the icebreaking load when the submersible contacts the ice surface and the expansion of the ice surface cracks;

[0060] 4. Data Analysis

[0061] After the test is completed, the collected icebreaking load, ice surface crack changes and other key data will be analyzed to analyze the icebreaking behavior of the submersible under different structural types, ice conditions and surfacing postures, providing data support for the structural design, performance optimization and operation evaluation of the underwater submersible.

[0062] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be arranged and combined, and those skilled in the art can exhaust all possibilities based on the mathematical knowledge of arrangement and combination. Therefore, the present invention will no longer describe the technical solutions after arrangement and combination one by one, but it should be understood that the technical solutions after arrangement and combination have been disclosed by the present invention.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An ice-water pool test simulation device for the submersible's multi-attitude buoyancy and icebreaking process, characterized by: The invention comprises a lifting mechanism (2), an L-shaped extension arm (3), a supporting structure (4), a rotation angle sensor (5), a limit pad (6), a beam base (7), a force sensor (8), a buoyancy device (9) and a camera. One end of the L-shaped extension arm (3) is connected to the lifting mechanism (2), the other end of the L-shaped extension arm (3) is connected to the supporting structure (4), the other end of the L-shaped extension arm (3) is connected to the beam base (7) through the rotation angle sensor (5), a buoyancy device (9) is arranged on one side of the beam base (7), a limit pad (6) is arranged on one side of the supporting structure (4), the limit pad (6) is matched with the beam base (7), the upper part of the beam base (7) is connected to the submersible model through the force sensor (8), and a camera is matched around the L-shaped extension arm (3).

2. The ice water pool test simulation device for the submersible multi-attitude buoyancy and icebreaking process according to claim 1 is characterized by: The number of the cameras is at least three, including a first camera (1), a second camera (10) and a third camera (11); the first camera (1) is arranged above the submarine model, the second camera (10) is arranged below the submarine model, and the third camera (11) is arranged coaxially with the rotation angle sensor (5).

3. An ice-water tank test simulation method for a submersible's multi-attitude surfacing and icebreaking process, characterized by: The ice water pool test simulation device for the submersible multi-attitude buoyancy and icebreaking process according to claim 1 or 2 comprises the following steps: Preparation of model ice caps for ice-water ponds; Adjust the initial posture of the test device; Place the test device in the ice water pool at the required test location; The simulated test device's floating and icebreaking process was recorded, with load, posture, and ice surface crack expansion being recorded.

4. The ice water pool test simulation device for the submersible multi-attitude buoyancy and icebreaking process according to claim 3 is characterized by: In the process of preparing the model ice cover in the ice-water pool, the air temperature, water temperature and spray parameters of the environment are controlled in the ice-water pool, and water droplets are sprayed above the water surface with an industrial spray gun; these atomized small water droplets quickly form tiny ice crystals in the cold air of -22°C, fall to the water surface to form a uniform crystal bed, and grow downward under the temperature gradient of the water temperature to form a model ice cover with a crystal texture similar to that of natural sea ice; finally, by shutting down and returning to temperature to adjust the strength, it can be ensured that the physical and mechanical properties of the model ice cover meet the test requirements.

5. The ice water pool test simulation method for the submersible multi-attitude surfacing and icebreaking process according to claim 4 is characterized by: During the process of adjusting the initial posture of the test device, the limit pad (6), the rotation angle sensor (5) and the buoyancy device (9) are adjusted to set the initial posture and the floating angle.

6. The ice water pool test simulation device for the submersible multi-attitude buoyancy and icebreaking process according to claim 5 is characterized by: When placing the test device at the required position for the test in the ice water pool, there is a test trailer across the ice water pool above the ice water pool, and the lifting mechanism (2) of the test device is connected to the test trailer, and the test trailer moves the test device to the initial position required for the test in the ice water pool.

7. The ice water pool test simulation device for the submersible multi-attitude buoyancy and icebreaking process according to claim 6 is characterized by: During the process of simulating the buoyancy and icebreaking of the test device and recording the load, posture, and ice surface crack expansion, the lifting mechanism (2) is started, and the submersible can rotate around the rotation angle sensor (5) after contacting the model ice sheet, thereby simulating a real multi-posture buoyancy and icebreaking process. During this process, the change in icebreaking load and the expansion of ice surface cracks when the submersible contacts the ice surface are recorded in real time through the force sensor (8) and the first camera (1), the second camera (10), and the third camera (11).

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