Ice-water tank test simulation device and method for multi-posture ice-breaking process of submersible

Abstract

This invention relates to a simulation device and method for multi-attitude surfacing and ice-breaking processes of submersibles in an ice-water pool, belonging to the technical field of cryogenic towed ice-water pool model testing. It includes a lifting mechanism, an L-shaped extendable arm, a support structure, an angle sensor, limiting blocks, a crossbeam base, a force sensor, a buoyancy device, and cameras. The L-shaped extendable arm is connected to the lifting mechanism and the support structure. It is also connected to the crossbeam base via the angle sensor. The crossbeam base is equipped with a buoyancy device, and the support structure has limiting blocks that engage with the crossbeam base. The crossbeam base is connected to the submersible model via the force sensor. Cameras are positioned around the L-shaped extendable arm. This invention is applicable to various ice-water pool environments, realistically reproducing the multi-attitude changes of a submersible during ice-breaking contact with the ice surface, providing important experimental data support for the design, performance evaluation, and numerical simulation research of underwater submersibles.

Description

Technical Field

[0001] This invention relates to submersible testing apparatus and methods, belonging to the technical field of low-temperature towed ice-water pool model testing. Background Technology

[0002] In recent years, the polar regions have gradually become a hotspot for scientific research and development due to their abundant oil and gas resources and marine biological resources. However, the polar subglacial environment, as an underexplored area, still faces many technical challenges, especially regarding the dynamic load characteristics, icebreaking modes, and motion stability of underwater vehicles during the surfacing and icebreaking process, which have not yet been fully studied and resolved. In special scenarios, such as communication, positioning, and emergency needs, underwater vehicles need to surface and break through the ice to emerge from the water. The complexity of the polar subglacial environment means that this process is affected by a variety of factors, including ice characteristics, environmental conditions, and vehicle design parameters.

[0003] To address these issues, model testing serves as a crucial research method, enabling the simulation of the actual icebreaking process under relatively controlled experimental conditions and providing reliable data support. In particular, underwater vehicles may experience complex attitude changes during surfacing and icebreaking. By simulating the multi-attitude surfacing process in model tests, the dynamic changes in the floating state of the vehicle during icebreaking can be more realistically reflected, and the structural stress and ice sheet failure process can be accurately obtained, thus providing strong experimental evidence for vehicle design and performance evaluation.

[0004] Some model test studies have focused on the icebreaking process of submersibles. For example, Wang Chunhui (2021) conducted a vertical icebreaking test on a cylinder in a waterless environment using freshwater ice as the test object, and obtained the icebreaking load and ice cover crack failure process. Lei Jianqi (2021) studied the influence of different loading rates, model sizes and ice thicknesses on the icebreaking load during surfacing using a hemispherical shell curved surface model. Zhao Weihang (2023) simulated the surfacing failure process of a cylinder using a cylindrical specimen in an ice-water pool. However, these studies mainly focus on experiments under fixed or single attitudes, analyzing the interaction between the structure and the ice layer, emphasizing physical processes such as icebreaking load and crack evolution, and have not fully considered the multi-attitude free surfacing behavior that may occur during actual operation of the submersible. The attitude changes of the submersible during the icebreaking process will have a significant impact on the ice cover failure process and the distribution of ice load on the structure. Therefore, the multi-attitude change process of the underwater submersible should be simulated during the experiment.

[0005] Existing research indicates that no experimental method has yet been developed that can effectively simulate the ice-breaking process of an underwater submersible during its ascent, particularly considering the attitude changes during the ascent process.

[0006] Therefore, there is an urgent need to develop an ice-water pool test simulation device and method for the multi-attitude surfacing and ice-breaking process of submersibles in order to solve the above-mentioned technical problems. Summary of the Invention

[0007] To address the aforementioned problems, an ice-water pool test simulation device and method for the multi-attitude surfacing and ice-breaking process of a submersible 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 summary of the invention. It is not intended to identify key or essential parts of the invention, nor is it intended to limit the scope of the invention.

[0008] The technical solution of the present invention: A simulation device for multi-attitude surfacing and ice-breaking processes of a submersible in an ice-water pool includes a lifting mechanism, an L-shaped extendable arm, a support structure, an angle sensor, a limiting block, a crossbeam base, a force sensor, a buoyancy device, and a camera. One end of the L-shaped extendable arm is connected to the lifting mechanism, and the other end is connected to the support structure. The other end of the L-shaped extendable arm is connected to the crossbeam base via the angle sensor. A buoyancy device is installed on one side of the crossbeam base, and a limiting block is installed on one side of the support structure. The limiting block engages with the crossbeam base. The upper part of the crossbeam base is connected to the submersible model via a force sensor. A camera is arranged around the L-shaped extendable arm.

[0009] Preferably, the number of cameras is at least three, including a first camera, a second camera, and a third camera. The first camera is positioned above the submersible model, the second camera is positioned below the submersible model, and the third camera is coaxially positioned with the corner sensor.

[0010] Preferred: An ice-water pool test simulation device for the multi-attitude surfacing and ice-breaking process of a submersible, hereinafter referred to as the test device, includes the following steps: To prepare a model ice cap for an ice-water pool; Adjust the initial attitude of the test apparatus; Place the test apparatus in the ice water tank at the required test location; The simulation test device was used to float and break through the ice, and the load, attitude, and ice surface crack propagation were recorded.

[0011] Preferred method: In the process of preparing the model ice cap for the ice-water pool, by controlling the air temperature, water temperature and spray parameters in the laboratory, water droplets are sprayed above the water surface using an industrial spray gun; these atomized water droplets quickly form tiny ice crystals in the -22°C cold air, and when they fall onto the supercooled water surface, they do not melt, but form a uniform crystal bed, which then grows downward under the temperature gradient of the water, generating a model ice cap with a crystal texture similar to that of natural sea ice; finally, by stopping the machine and adjusting the intensity through reheating, the physical and mechanical properties of the model ice cap can be ensured to meet the experimental requirements.

[0012] Preferred method: During the initial attitude adjustment of the test device, select and adjust the limiting pad, the rotation sensor, and the buoyancy device to set the initial attitude and the upward angle.

[0013] Preferably, during the process of placing the test device in the ice water pool at the required test position, there is a test trailer spanning the 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. The vertical position can be further adjusted through the lifting mechanism. That is, the first and second cameras can be fixedly connected to the ice water pool through a steel frame and set on the upper and lower sides of the ice surface in the vertical direction at the initial position. Then, the test trailer moves the test device to the initial position so that it is set up corresponding to the two cameras. The vertical position is adjusted during the submersion.

[0014] Preferred configuration: The simulation test device ascends and breaks through ice, recording the load, attitude, and ice surface crack propagation process. Based on the preset ascending speed and lifting force requirements, the lifting mechanism is set to ascend and start. After the submersible contacts the model ice cover, it can rotate around the angle sensor, thereby simulating the real multi-attitude ascending and ice-breaking process. During this process, the force sensor and the first, second, and third cameras record in real time the changes in ice-breaking load and the propagation of ice surface cracks when the submersible contacts the ice surface.

[0015] The present invention has the following beneficial effects: This invention is applicable to different ice-water pool environments and can realistically reproduce the multi-attitude changes of the submersible during the ice-breaking process, taking into account various test scenarios such as different ice thicknesses, submersible design parameters, initial tilt angles and ice-breaking conditions. It provides important experimental data support for the design, performance evaluation and numerical simulation research of underwater submersibles. Attached Figure Description

[0016] Figure 1 This is a three-dimensional diagram of an ice-water pool simulation device for the multi-attitude surfacing and ice-breaking process of a submersible.

[0017] Figure 2 This is a partial view of the ice-water pool test simulation device for the multi-attitude surfacing and ice-breaking process of a submersible.

[0018] Figure 3 This is a side view of the ice-water pool test simulation device for the multi-attitude surfacing and ice-breaking process of a submersible.

[0019] Figure 4 This is a bottom view of the ice-water pool test simulation device for the multi-attitude surfacing and ice-breaking process of a submersible.

[0020] 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 Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0022] Specific implementation method one: Combining Figure 1-4 This embodiment describes an ice-water pool test simulation device for the multi-attitude surfacing and ice-breaking process of a submersible. It includes a lifting mechanism 2, an L-shaped extendable arm 3, a support structure 4, an angle sensor 5, a limiting pad 6, a crossbeam base 7, a force sensor 8, a buoyancy device 9, and a camera. One end of the L-shaped extendable arm 3 is bolted to the lifting mechanism 2, and the other end is fixedly connected to the support structure 4. The other end of the L-shaped extendable arm 3 is connected to the middle of the crossbeam base 7 via the angle sensor 5. Specifically, the fixed end of the angle sensor 5 is fixedly connected to the L-shaped extendable arm 3, and the rotating end of the angle sensor 5 is fixedly connected to the crossbeam base 7. The displacement of the crossbeam base 7 is measured by the relative angle between the fixed end and the rotating end of the angle sensor 5. A buoyancy device 9 is fixedly installed on one side of the crossbeam base 7. A limiting block 6 is bolted to one side of the support structure 4. By adjusting the height of the block 6, the angle of the crossbeam base 7 above it is changed, limiting the angular displacement of the crossbeam base 7. The limiting block 6 and the crossbeam base 7 are in cooperation. 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), realizing the change from head tilt to tail tilt. When the model emerges from the water, the tail of the model can be raised within a certain range. The upper part of the crossbeam base 7 is connected to the submersible model through a force sensor 8. Cameras are set around the L-shaped extension arm 3. The support structure 4 is a square support structure. Through key devices such as the lifting mechanism, L-shaped extension arm, angle sensor, limiting block, and buoyancy device, multi-angle attitude adjustment is realized during the submersible's ascent, simulating the real behavior of the submersible's attitude change during the ascent and icebreaking process. Device design of this invention: To simulate the surfacing and ice-breaking process of an underwater submersible, a suitable surfacing and ice-breaking test device for an ice-water pool environment needs to be designed and manufactured first. A lifting mechanism is used to fix the entire test device and provide the driving force for the vertical movement of the submersible model, as well as control its speed and stroke. The lifting mechanism needs to be fixed at a certain height above the ice-water pool and be able to move horizontally. The vertical movement of the lifting mechanism is driven by a servo motor-drive screw. This servo drive system allows for adjustment and control of the lifting mechanism's speed and stroke. The main parameters of the servo drive system (rated power, rated speed, reduction ratio, etc.) can be determined by the maximum lifting force required, which can be calculated by referring to the surfacing and ice-breaking load of the underwater submersible model. Kerr proposed a semi-theoretical, semi-empirical estimation method for the vertical destructive force of ice. (1) In the formula, P f The vertical failure load of the ice layer when a circumferential crack penetrates; σ N The bending strength of the ice layer; h This refers to the thickness of the ice layer. k It is a dimensionless constant; R The radius of ice layer destruction; L The characteristic length of the ice layer can be calculated using the following formula: (2) In the formula, E The elastic modulus of ice; υ Poisson's ratio for ice; ρ w The density of water; The lifting mechanism has multiple openings and grooves for fixed connection with the L-shaped extendable arm, ensuring the reliability and stability of the connection. The L-shaped extendable arm is mainly used to extend the submersible model into the ice sheet area a certain distance and place it at a certain depth below the ice sheet, thereby avoiding the influence of the free edge of the ice sheet on the surfacing and ice-breaking process, and ensuring that the structural model has sufficient space for acceleration and surfacing to achieve uniform contact with the ice sheet and break through the ice to emerge from the water. The L-shaped extendable arm is connected by welding rectangular steel pipes, ensuring the strength of the connection and the stability of the structure. The angle sensor is installed at the horizontal end of the L-shaped extendable arm, serving as the core rotating component for controlling and measuring the attitude of the submersible model. The rotating component of this angle sensor can achieve free rotation around the axis, that is, while fixing the submersible model, it can be freed to rotate around the axis, and the angle value can be measured in real time. The crossbeam base is securely fixed to the angle sensor via a robust mechanical connection and should possess sufficient rigidity to prevent significant bending deformation during the test. A limiting pad (or a limiting pad on one side) is fixedly installed on each side of the angle sensor at the corner of the rectangular support structure to limit the rotational angle range of the submersible model, preventing excessive rotation and collision damage. According to the test requirements, a buoyancy device is fixedly installed below one end of the crossbeam base to provide additional buoyancy to that end of the submersible model, working in conjunction with the limiting pads to control the initial tilt angle of the submersible model. After the model touches the ice, it will pitch under the ice-breaking load, thus changing its attitude during the surfacing and ice-breaking 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. The number of cameras is at least three, employing high-resolution cameras, including a first camera 1, a second camera 10, and a third camera 11. The first camera 1 is located on the ice surface, positioned above the submersible model; the second camera 10 is located below the ice surface, positioned below the submersible model; and the third camera 11 is coaxially mounted 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 and has a longitudinal slide rail. The motion base 104 is slidably disposed within the slide rail of the support frame 101, and the motion base 104 has threaded holes machined on it. The transmission screw 103 is driven by the motor... The threaded hole of the base 104 is threadedly connected to the moving base 104. The upper end of the transmission screw 3 is connected to the output end of the motor. The moving 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 fixed in position by connecting them to the support frame 101 through the bracket. The third camera 11 can be fixed in position in front of the angle sensor 5 by connecting it to the horizontal rod of the L-shaped extension arm 3 or the support structure 4 through the bracket. The measurement system includes a high-precision force sensor, a high-resolution camera and an angle sensor. It collects the load changes, ice sheet crack evolution process and attitude changes of the submersible in real time during the surfacing and ice-breaking process, providing data support for submersible performance optimization and design improvement. The measurement system design of this invention: In the experiment, force sensors and high-resolution cameras were deployed to measure the ice-breaking load, ice sheet deformation, and crack development process of the submersible model, providing data support for analyzing the submersible model's surfacing and ice-breaking process. High-resolution cameras were deployed in at least three locations: above the model, below the ice surface, and in front of the corner sensor. The camera above the model was responsible for capturing the ice sheet deformation process and crack propagation; the camera below the ice surface recorded the submersible model's contact with the ice and its movement in real time; and the camera in front of the corner sensor recorded the attitude changes of the underwater submersible model during its surfacing process. The range and accuracy of the force sensors should be determined based on the submersible model's surfacing and ice-breaking load. Simultaneously, they should be able to operate normally within a temperature range of -20℃ to 80℃, be waterproof, and have a sampling frequency of at least 100Hz. This invention provides an ice-water pool test simulation device and method for the multi-attitude surfacing and ice-breaking process of an underwater submersible. It is applicable to different ice-water pool environments and can realistically reproduce the multi-attitude changes of the submersible during the ice-breaking process by taking into account various test scenarios such as different ice thicknesses, submersible design parameters, initial tilt angles, and ice-breaking conditions. This provides important experimental data support for the design, performance evaluation, and numerical simulation research of underwater submersibles.

[0023] Specific Implementation Method Two: Combining Figure 1-4This embodiment describes a method for simulating the multi-attitude surfacing and ice-breaking process of a submersible in an ice-water pool. The method utilizes the aforementioned ice-water pool simulation device for the multi-attitude surfacing and ice-breaking process of a submersible (hereinafter referred to as the testing device), and includes the following steps: Step 1: Prepare the model ice cap for the ice water pool; In step one, by controlling the ambient air temperature, water temperature, and spray parameters in an ice-water tank, water droplets are sprayed above the water surface using an industrial spray gun. These atomized water droplets rapidly form tiny ice crystals in the -22°C cold air. When they fall onto the supercooled water surface, they do not melt but form a uniform crystal bed. Subsequently, they grow downwards under the temperature gradient of the water, generating a model ice cap with a crystal texture similar to that of natural sea ice. Finally, by stopping the machine and adjusting the temperature to regulate the intensity, the physical and mechanical properties of the model ice cap can be ensured to meet the experimental requirements. Stopping the machine refers to stopping the operation of the refrigeration compressor in the ice-water tank laboratory, and adjusting the temperature generally means bringing the ambient water temperature back to near 0°C. The use of the spray crystallization method in the ice-water tank to prepare the model ice cap is crucial to fully simulating the real ice-water environment and is essential to the entire experimental process. Step 2: Adjust the initial attitude of the test apparatus; In step two, select and adjust the limiting pad 6, the angle sensor 5, and the buoyancy device 9 to set the initial attitude and the upward angle; Step 3: Place the test apparatus in the ice water tank at the required test location; In step three, a test trailer spans the ice water pool above the pool. The lifting mechanism 2 of the test device is connected to the test trailer via the support frame 101. The test trailer moves the test device to the initial position required for the test in the ice water pool. The vertical position can be further adjusted via the lifting mechanism 2. That is, the first and second cameras can be fixedly connected to the ice water pool via steel frames and set on the upper and lower sides of the ice surface in the vertical direction at the initial position. The test trailer then moves the test device to the initial position so that it is set up in correspondence with the two cameras. The vertical position is adjusted during the submersion. Step 4: The model is lifted up by the lifting mechanism to simulate the ice-breaking process of the test device, and the load, attitude, ice surface crack propagation and other key parameters are recorded. In step four, based on the preset ascent speed and lifting force requirements, the ascent speed of the lifting mechanism 2 is set, and the lifting mechanism 2 is activated. After the submersible contacts the model ice sheet, it can rotate around the angle sensor 5, thereby simulating the real multi-attitude ascent and ice-breaking process. During this process, the force sensor 8 and the first camera 1, the second camera 10, and the third camera 11 record in real time the changes in ice-breaking load and the expansion of ice surface cracks when the submersible contacts the ice surface. That is, the lifting mechanism provides lifting force to drive the submersible to rise and contact the ice surface; the submersible model can rotate freely around the rotation axis within a certain range to simulate the attitude changes of the underwater submersible during the ascent and ice-breaking process under real conditions; the force sensor and high-resolution camera collect data in real time to record the load changes, attitude changes, ice surface crack expansion, and other key parameters during the ascent and ice-breaking process of the submersible. It also includes step five: results analysis; During the experiment, by comparing the interaction between the submersible and the ice layer under different test conditions (such as initial tilt angle, ice thickness, etc.), the changing trend of the submersible's ice-breaking load, attitude changes, crack propagation process and ice-breaking mode are analyzed, thereby providing data support for the design and operation of underwater submersibles. This invention, by considering the multi-attitude changes of the submersible during the test, realistically reproduces the submersible's surfacing and ice-breaking behavior, thus providing an effective model test method for the study of underwater submersible surfacing and ice-breaking problems. It can more realistically reproduce the dynamic changes in the attitude of the underwater submersible during actual surfacing and ice-breaking, and can observe and record the attitude change process of the submersible in real time, enabling control of the underwater submersible's motion process and measurement of various physical quantities. This allows for accurate simulation of the submersible's surfacing and ice-breaking process under multiple attitudes. Compared with traditional fixed-attitude model test methods, the simulation method of this invention can more comprehensively reflect the ice-breaking behavior of the submersible in complex environments, providing more reliable experimental data support for submersible design, performance evaluation, and operational optimization, while also providing more accurate verification data for numerical simulation research.

[0024] Example 1: 1. Installation of the test apparatus In this example, a test trailer spans the ice-water pool. The lifting mechanism 2 in the test setup is reliably connected to the test trailer frame via a precisely designed slide rail system. The slide rail system uses two parallel, high-strength rails. The bottom of each rail is fixed to the mounting base of the test trailer frame with high-strength bolts, ensuring that the rails will not loosen or shift during trailer operation. The surface of the rails is precision-machined to ensure that the flatness and straightness of the guide surface are within ±0.2mm, providing accurate guidance. Two sets of high-strength sliders are installed on the back of the lifting mechanism 2. The sliders are firmly connected to the fixing base of the lifting mechanism 2 with bolts, used to adjust the gap between the sliders and the rails during installation, ensuring that the sliders can slide smoothly along the rails without loosening. For the maximum ice thickness (10cm) of the model in this example, the maximum buoyancy speed of the submersible model is 300mm / s, and the maximum ice-breaking force is approximately 1000 kg. Therefore, the rated power, maximum speed, and reduction ratio of the lifting mechanism servo drive system should be determined accordingly. In the ice-water tank test setup for the multi-attitude surfacing and ice-breaking process of an underwater submersible, key components such as the lifting mechanism 2, L-shaped extendable arm 3, rectangular support structure 4, angle sensor 5, fixing pad 6, and crossbeam base 7 should be correctly installed. The L-shaped extendable arm 3 is connected to the lifting mechanism 2 with bolts, ensuring the strength and stability of the connection. Simultaneously, the horizontal lengths of the lifting mechanism 2 and the L-shaped extendable arm 3 are adjusted to meet the test requirements, meaning that cracks generated during the surfacing and ice-breaking process of the structural model will not propagate to the free edge of the ice sheet. In this example, the horizontal length of the L-shaped extendable arm is 3.5 meters. Next, install the angle sensor 5 and connect it to the horizontal end of the L-shaped extension arm 3, ensuring that the connector can rotate freely around the angle sensor. The angle sensor can measure and record the tilt angle change of the submersible in real time during the entire process of the submersible surfacing and breaking ice. Subsequently, install the crossbeam base 7 and the rectangular support structure 4 to enhance the stability and bending resistance of the device. The limiting pad 6 is installed at the end of the rectangular support structure. By adjusting the height of the limiting pad 6, the tilt angle change range of the underwater submersible model can be limited, and the initial surfacing tilt angle can be set. Finally, install the force sensor 8 on the crossbeam base and fix the submersible model on the force sensor 8 to ensure that the sensor can measure the load change during the submersible's surfacing process in real time. At the same time, adjust the shooting range and angle of the high-resolution camera 1 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 a maximum icebreaking load of 2000 kg, the range of each sensor is designed to be 500 kg, the force measurement accuracy is 0.05% FS, and the operating temperature range is [not specified]. It has an IP68 waterproof rating and a sampling frequency of 100 Hz, with a temperature range of 20°C to 80°C. 2. Preparation of the model ice cap A urea solution of a certain proportion was prepared in an ice-water tank, and its temperature was lowered to 0°C using a refrigeration system. Further cooling was then applied until the air temperature above the ice-water tank dropped to -22°C. An industrial spray gun was used to spray the same urea solution as the one in the tank into the cold air. This solution was rapidly atomized from the spray gun nozzle and froze into tiny ice crystals in the cold air. These tiny ice crystals fell evenly onto the supercooled water surface, forming a stable crystal bed – this is the spray crystallization process. During this process, disturbance to the water tank surface must be avoided to ensure the uniformity of ice crystal distribution. The low-temperature environment was maintained, and the ice crystals grew vertically downwards under the influence of the temperature gradient in the water until the ice cap reached the predetermined thickness. Subsequently, the system was shut down, and the temperature was restored to adjust the mechanical properties of the ice cap, monitoring its strength until it reached the design target value for the experiment. 3. Experimental Operation and Process Control Before the experiment begins, the height of the limiting block 6 is adjusted, and under the joint control of the limiting block 6 and the buoyancy device 9, the submersible model will rise in the designed initial attitude. According to the preset rising 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 ice cover of the model, it can rotate around the angle sensor 5, thereby simulating the real multi-attitude rising and ice-breaking process. During this process, the force sensor 8 and the high-resolution camera 1 record in real time the changes in ice-breaking load and the expansion of ice surface cracks when the submersible contacts the ice surface. 4. Data Analysis After the experiment is completed, the collected ice-breaking load, ice surface crack changes and other key data will be analyzed to analyze the ice-breaking behavior of the submersible under different structural types, ice conditions and surfacing attitudes, and provide data support for the structural design, performance optimization and operation evaluation of underwater submersibles.

[0025] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be permuted and combined. Those skilled in the art can exhaust all possibilities based on the mathematical knowledge of permutation and combination. Therefore, the present invention will not describe the technical solutions after permutation and combination one by one, but it should be understood that the technical solutions after permutation and combination have been disclosed by the present invention.

[0026] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An ice-water pool simulation device for multi-attitude surfacing and ice-breaking processes of a submersible, characterized in that: The system includes a lifting mechanism (2), an L-shaped extension arm (3), a support structure (4), an angle sensor (5), a limiting pad (6), a crossbeam base (7), a force sensor (8), a buoyancy device (9), and a camera. The vertical end of the L-shaped extension arm (3) is connected to the lifting mechanism (2), and the horizontal end of the L-shaped extension arm (3) is connected to the support structure (4). The horizontal end of the L-shaped extension arm (3) is connected to the middle of the crossbeam base (7) through the angle sensor (5). The fixed end of the angle sensor (5) is fixedly connected to the L-shaped extension arm (3), and the rotating end of the angle sensor (5) is fixed to the crossbeam base (7). The displacement of the beam base (7) is measured by the relative angle between the fixed end and the rotating end of the angle sensor (5). A buoyancy device (9) is provided on one side of the beam base (7). A limit pad (6) is provided on one side of the support structure (4) by bolts. By adjusting the height of the limit pad (6), the angle of the beam base (7) on its upper side is changed, thus limiting the rotation range of the beam base (7). The limit pad (6) and the beam base (7) are engaged. 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).

2. The ice-water pool test simulation device for the multi-attitude surfacing and ice-breaking process of a submersible according to claim 1, characterized in that: The number of cameras is at least three, including a first camera (1), a second camera (10) and a third camera (11). The first camera (1) is set above the submersible model, the second camera (10) is set below the submersible model, and the third camera (11) is set coaxially with the corner sensor (5).

3. A simulation method for ice-water pool tests of the multi-attitude surfacing and ice-breaking process of a submersible, characterized in that: The ice-water pool test simulation device for the multi-attitude surfacing and ice-breaking process of a submersible as described in claim 2 includes the following steps: To prepare a model ice cap for an ice-water pool; Adjust the initial attitude of the test apparatus; Place the test apparatus in the ice water tank at the required test location; The simulation test device floats and breaks through the ice, recording the load, attitude, and ice surface crack propagation process.

4. The ice-water pool test simulation method for the multi-attitude surfacing and ice-breaking process of a submersible according to claim 3, characterized in that: In the process of preparing the model ice cap in the ice-water pool, the ambient air temperature, water temperature, and spray parameters are controlled, and water droplets are sprayed above the water surface using an industrial spray gun. These atomized water droplets quickly form tiny ice crystals in the -22°C cold air, fall onto the water surface to form a uniform crystal bed, and grow downwards under the temperature gradient of the water to form a model ice cap with a crystal texture similar to that of natural sea ice. Finally, by stopping the machine and reheating to adjust the intensity, the physical and mechanical properties of the model ice cap can be ensured to meet the test requirements.

5. The ice-water pool test simulation method for the multi-attitude surfacing and ice-breaking process of a submersible according to claim 4, characterized in that: Before the test begins, by adjusting the height of the limiting pad (6), the submersible model will float up in the designed initial attitude under the joint control of the limiting pad (6) and the buoyancy device (9).

6. The ice-water pool test simulation method for the multi-attitude surfacing and ice-breaking process of a submersible according to claim 5, characterized in that: During the process of placing the test device in the ice water pool at the required test position, there is a test trailer spanning the ice water pool above the pool. 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 method for the multi-attitude surfacing and ice-breaking process of a submersible according to claim 6, characterized in that: During the simulation test device's surfacing and ice-breaking process, the load, attitude, and ice surface crack propagation process are recorded. The lifting mechanism (2) is activated, and the submersible model can rotate around the rotation angle sensor (5) after contacting the model ice cover, thereby simulating the real multi-attitude surfacing and ice-breaking process. During this process, the force sensor (8) and the first camera (1), the second camera (10), and the third camera (11) record the changes in ice-breaking load and the propagation of ice surface cracks when the submersible contacts the ice surface in real time.

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