Segmented underwater vehicle model and method suitable for multi-working-condition floating icebreaking test

Abstract

The invention discloses a segmented underwater vehicle model and method suitable for a multi-working-condition floating icebreaking test, relates to the technical field of ships, and solves the problem of lack of an underwater vehicle test model device suitable for floating icebreaking of an ice pool scale. A connecting cross beam is arranged in a shell structure, and a plurality of six-component force measuring sensors and a plurality of single-component force tension and compression sensors are arranged on the connecting cross beam and are connected with the shell structure; the shell structure comprises a first-section bow shell, a second-section surrounding shell connecting outer shell, a plurality of parallel middle body shells, a sixth-section shell and a seventh-section stern shell. An optical fiber gyroscope inertial navigation device is arranged at the end part of the connecting cross beam and is connected with the segmented first bow shell; and a floating block is arranged on the connecting cross beam. According to the invention, the six-component sensor and the single-component sensor are arranged in a sectional manner, the loading condition of the model in contact with ice is analyzed in multiple directions, the vertical load of the enclosure is independently evaluated, and the vertical, horizontal and lateral load processes of the navigation body in vertical surface movement are accurately measured.

Description

Technical Field

[0001] The present invention relates to the field of ship technology, and in particular to a segmented underwater navigation body model and method suitable for multi-condition surfacing and icebreaking tests. Background Art

[0002] Researchers at home and abroad have conducted research on underwater vehicles surfacing and breaking ice. Chinese Patent Application No. 202310016024.5 proposes a test device and method for simulating underwater vehicle surfacing and breaking ice. These devices analyze the interaction between underwater vehicles and ice sheets, and through vertical flexible constraints, simulate the entire process of vehicle-test ice plate interaction. Chinese Patent Application No. 202320276768.6 discloses a model test device for simulating submarine icebreaking. This device utilizes a submarine model flexibly connected to the inner cavity of a water tank, in conjunction with other instruments such as pressure sensors and positioning devices, offering the advantage of convenient recording. This addresses the issues of existing model test devices, which lack accurate visualization of ice breaking during use and the ability to continuously display and record pressure values. However, there is no description of the accuracy of the pressure values. Furthermore, the device's model device does not address how to implement the model, how to control the underwater vehicle's ice contact angle and speed. In summary, there is currently a lack of a test model for underwater vehicles capable of performing ascent and icebreaking at an ice-tank scale. This model would accurately describe the ascent and icebreaking phenomena of the vehicle's hull, tail, and other structures, while also precisely measuring the vertical loads during the ascent. Furthermore, it would be capable of freely switching between constrained and free ascent, enabling both ascent and icebreaking at a constant speed and angle, and free ascent under a constant net buoyancy. Summary of the Invention

[0003] To address the aforementioned issue of the lack of a test model device for underwater vehicles capable of floating and breaking ice at the scale of an ice-water tank, the present invention proposes a segmented underwater vehicle model and method suitable for multi-condition floating and breaking ice tests. The present invention can accurately measure the vertical, horizontal, and lateral load history of an underwater vehicle during vertical motion. In particular, considering that the model's icebreaking areas are primarily located at the bow, hull, and stern of the model, a segmented design with six-component force sensors is used to perform multi-directional analysis of the load on the model when it touches ice. A single-component force sensor is used in the middle of the model, particularly a single-component force sensor installed where the segmented two hulls connect to the outer shell, allowing for a separate assessment of the vertical load on the hull.

[0004] The present invention proposes a segmented underwater vehicle model suitable for multi-condition surfacing and icebreaking tests, which specifically includes a hull structure and a connecting beam. The connecting beam is arranged inside the hull structure, and is provided with a plurality of six-component force sensors and a plurality of single-component tension and compression sensors on the connecting beam and is connected to the hull structure; the hull structure includes a segmented bow hull, a segmented second surrounding hull connected to an outer hull, a plurality of parallel mid-body hulls, a segmented sixth hull and a segmented seventh stern hull; a fiber optic gyroscope inertial navigation device is provided at the end of the connecting beam and is connected to the segmented bow hull; a plurality of floating blocks are slidably arranged on the connecting beam.

[0005] Furthermore, gaps are provided between the segmented one bow shell, the segmented two surrounding shells connected to the outer shell, the plurality of parallel mid-body shells, the segmented six shells and the segmented seven stern shells.

[0006] Furthermore, a tail entity is provided on the segmented seven stern shell, and a plurality of six-component force sensors are respectively connected to the segmented one bow shell, the segmented six shell and the tail entity.

[0007] Furthermore, the parallel middle body shell includes a segmented three-parallel middle body shell, a segmented four-parallel middle body shell and a segmented five-parallel middle body shell, and a segmented two-enclosing shell connected to the outer shell is provided with an enclosing shell entity.

[0008] Furthermore, the plurality of single-component tension and compression sensors on the connecting beam are respectively connected to the enclosure entity, the segmented three-parallel middle body shell, the segmented four-parallel middle body shell and the segmented five-parallel middle body shell.

[0009] Furthermore, a plurality of floating blocks are provided inside the segmented one bow shell, the segmented two surrounding shells connected to the outer shell, the plurality of parallel mid-body shells, the segmented six shells and the segmented seven stern shells.

[0010] Furthermore, the floating block is detachably mounted on the connecting beam.

[0011] Furthermore, the floating blocks include a plurality of large buoyancy material floating blocks and a plurality of small buoyancy material floating blocks.

[0012] Furthermore, electromagnet devices or screws are provided on the connecting beam at positions corresponding to the segmented three-parallel middle body shell and the segmented five-parallel middle body shell.

[0013] A test method using the above-mentioned segmented underwater vehicle model suitable for multi-condition surfacing and icebreaking tests includes the following steps: Under the constrained buoyancy condition, the underwater vehicle model is connected to the buoyancy device via a screw. The buoyancy device controls the underwater vehicle model's attitude and adjusts the angle of contact with the ice. The buoyancy device also controls the underwater vehicle model to collide with the ice sheet at a target constant speed and angle. The fiber optic gyroscope inertial navigation device records the speed and angle of the underwater vehicle model in real time, and the six-component force sensor and single-component tension and compression sensor record the ice load history of each segment of the underwater vehicle model. Under the free floating condition, the underwater vehicle model is adsorbed to a fixed position at the bottom of the pool by an electromagnet device. At the beginning of the test, the electromagnet device is powered off, and the underwater vehicle model freely floats up and breaks the ice. The changing process of the ice load on each segment of the underwater vehicle model is recorded by a six-component force sensor and a single-component tension and compression sensor.

[0014] The beneficial effects of the segmented underwater vehicle model and method suitable for multi-condition surfacing and icebreaking tests described in the present invention are: (1) The segmented underwater vehicle model and method suitable for multi-condition buoyancy and icebreaking tests described in the present invention can take into account the test conditions of constrained motion and free motion at the same time, realize free switching between underwater vehicle models under different test conditions, and accurately capture the model's non-simultaneous and multi-region measurement of the load condition and motion posture of the model under the action of sea ice; by switching the screw and the electromagnet device on the connecting beam, it is possible to achieve simple switching between the vertical plane constrained motion and free motion models, effectively saving the test cost; the underwater vehicle model and the buoyancy device are connected by the screw, the buoyancy device is used to control the posture of the underwater vehicle model to adjust the buoyancy angle of the underwater vehicle model, and the buoyancy device is used to control the underwater vehicle model to collide with the ice sheet at a target constant speed and angle; the underwater vehicle model is adsorbed to the bottom of the pool by the electromagnet device, and the electromagnet device is turned off to allow the underwater vehicle model to float freely and break the ice.

[0015] (2) The present invention discloses a segmented underwater vehicle model and method suitable for multi-condition buoyancy and icebreaking tests. By adjusting the number and position of the floating blocks connecting the crossbeam, the different initial net buoyancy and center of gravity positions of the underwater vehicle model during free buoyancy are adjusted. The method for measuring and evaluating the net buoyancy and center of gravity positions is simple and feasible.

[0016] (3) The present invention describes a segmented underwater vehicle model and method suitable for multi-condition buoyancy and icebreaking tests. The entire model is divided into seven sections and each section is equipped with a force sensor. The six-component force sensor and the single-component tension and compression sensor can accurately measure the load conditions of each section of the underwater vehicle during vertical motion. While realizing multi-segment force measurement, each section can capture the ice load more independently. In particular, for the free buoyancy and icebreaking process, the vertical load on the hull can be evaluated separately. The fiber optic gyroscope inertial navigation device located at the bow of the model can monitor the speed and posture changes of the model in real time during the entire motion process, thereby obtaining test data from multiple angles during the test.

[0017] (4) The segmented underwater vehicle model and method suitable for multi-condition surfacing and icebreaking tests described in the present invention can use structures such as sensors and fixings as connecting devices to connect with the crossbeam, which can improve the utilization rate of the internal space of the model. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0019] In the attached figure: Figure 1 This is a schematic diagram of the outer shell structure of a segmented underwater vehicle model suitable for multi-condition surfacing and icebreaking tests according to the present invention; Figure 2 This is a schematic diagram of the internal structure of a segmented underwater vehicle model suitable for multi-condition surfacing and icebreaking tests according to the present invention; Among them: 1-segment one bow shell, 2-segment two enclosures connecting the outer shell, 3-segment three parallel middle body shell, 4-segment four parallel middle body shell, 5-segment five parallel middle body shell, 6-segment six shells, 7-segment seven stern shells, 8-enclosure entity, 9-tail entity, 10-magnet device, 11-connecting beam, 12-fiber optic gyroscope inertial navigation device, 13-six-component force sensor, 14-single-component tension and compression sensor, 15-sensor fixing part, 16-sensor connecting part, 17-stern sensor horizontal fixing part, 18-stern sensor horizontal connecting part, 19-large buoyancy material floating block, 20-small buoyancy material floating block. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0021] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0023] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0024] Specific implementation method 1: See Figure 1-Figure 2 The present embodiment is described in detail. The segmented underwater vehicle model suitable for multi-condition floating icebreaking test described in the present embodiment specifically includes a shell structure and a connecting beam 11. The connecting beam 11 is arranged inside the shell structure. Three six-component force sensors 13 and four single-component tension and compression sensors 14 are arranged on the connecting beam 11. The six-component force sensors 13 and the single-component tension and compression sensors 14 are all connected to the shell structure. The shell structure is made of 6061 aluminum alloy and includes a segmented bow shell 1, a segmented second shell connected to the outer shell 2, a number of parallel mid-body shells, a segmented sixth shell 6 and a segmented seventh stern shell 7, and a 3mm gap is set between them to reduce the mutual interference of loads between the segments. A shell entity 8 is set on the segmented second shell connected to the outer shell 2, and a tail entity 9 is set on the segmented seventh stern shell 7. The underwater vehicle model is determined to be a solid model or a shell model based on the test scale and curvature change characteristics. The hull and tail fin were solid models due to their small size and large curvature variations, while the main hull was a shell model. The underwater vehicle model (hull, hull, and tail fin) was fabricated using CNC machine tools based on the design drawings.

[0025] A fiber optic gyroscope inertial navigation device 12 is provided at the end of the connecting beam 11, and the fiber optic gyroscope inertial navigation device 12 is connected to the segmented bow shell 1; a number of floating blocks are detachably provided on the connecting beam 11, and the floating blocks can be moved on the connecting beam 11; a number of floating blocks are correspondingly provided inside the segmented bow shell 1, the segmented second shell connecting outer shell 2, a number of parallel middle shells, the segmented sixth shell 6 and the segmented seventh stern shell 7.

[0026] The six-component load cell 13 includes a first six-component load cell, a second six-component load cell, and a third six-component load cell. The first six-component load cell has its lower end mounted on the connecting beam 11 via a sensor fixing 15, and its upper end connected to the first segment bow hull 1 via a sensor connector 16. The second six-component load cell has its lower end mounted on the connecting beam 11 via a sensor fixing 15, and its upper end connected to the sixth segment hull 6 via a sensor connector 16. The third six-component load cell has its left end mounted on the connecting beam 11 via a stern sensor horizontal fixing 17, and its right end directly connected to the seventh segment stern hull 7 and the empennage body 9 via a stern sensor horizontal connector 18. The six-component load cell 13 has an IP68 waterproof rating.

[0027] The parallel middle body shell includes a segmented three-parallel middle body shell 3, a segmented four-parallel middle body shell 4 and a segmented five-parallel middle body shell 5. The single-component tension and compression sensor 14 includes a first single-component tension and compression sensor, a second single-component tension and compression sensor, a third single-component tension and compression sensor and a fourth single-component tension and compression sensor; the lower end of the first single-component tension and compression sensor is mounted on the connecting beam 11 via a sensor fixing member 15. In order to measure the vertical load of the enclosure separately, the upper end of the segmented two enclosures is opened to connect the outer shell 2. The upper end of the first single-component tension and compression sensor is directly connected to the enclosure entity 8 through the sensor connecting member 16 through the segmented two enclosures connecting the outer shell 2, ensuring that the segmented two enclosures connecting the outer shell 2 can measure the force. The second single-component tension and compression sensor is mounted on the connecting crossbeam 11 at its lower end via a sensor fixture 15, and its upper end is connected to the three-parallel section midbody housing 3 via a sensor connector 16. The third single-component tension and compression sensor is mounted on the connecting crossbeam 11 at its lower end via a sensor fixture 15, and its upper end is connected to the four-parallel section midbody housing 4 via a sensor connector 16. The fourth single-component tension and compression sensor is mounted on the connecting crossbeam 11 at its lower end via a sensor fixture 15, and its upper end is connected to the five-parallel section midbody housing 5 via a sensor connector 16. The single-component tension and compression sensor 14 has an IP68 waterproof rating.

[0028] The lower ends of the three six-component force sensors 13 and the four single-component tension and compression sensors 14 are simultaneously fixed on the connecting beam 11, ensuring that the resultant vertical loads measured by the seven segments at the same time reflect the loading condition of the entire model.

[0029] The floats include several large buoyancy material floats 19 and several small buoyancy material floats 20. The small buoyancy material floats 20 are set between the second six-component force sensor and the third six-component force sensor; the large buoyancy material floats 19 are set between other sensors. The connecting beam 11 can be equipped with up to 22 large buoyancy material floats 19 and 2 small buoyancy material floats 20 at the same time. During the test, the buoyancy distribution and the center of gravity position of the underwater vehicle model can be adjusted by removing the number of floats or adjusting the position of the floats. The floats are made of a density of 0.38g / cm 3 It is made of epoxy resin-based solid buoyancy material.

[0030] An electromagnet device 10 or a screw is provided on the connecting beam 11 at positions corresponding to the segmented three-parallel middle body shell 3 and the segmented five-parallel middle body shell 5, and the lower end of the electromagnet device 10 or the screw passes through the segmented three-parallel middle body shell 3 and the segmented five-parallel middle body shell 5.

[0031] The segmented underwater vehicle model suitable for multi-condition surfacing and icebreaking tests described in the present invention is designed to take into account the test conditions of constrained motion and free motion at the same time, realize free switching between underwater vehicle models under different test conditions, and accurately capture the model's non-simultaneous and multi-region measurement of the load condition and motion posture of the model under the action of sea ice.

[0032] A test method using the above-mentioned segmented underwater vehicle model suitable for multi-condition surfacing and icebreaking tests includes the following steps: Under the constrained buoyancy condition, the underwater vehicle model is connected to the buoyancy device through a screw. The attitude of the underwater vehicle model is controlled by adjusting the ratchets at both ends of the buoyancy device, and the angle of the underwater vehicle model touching the ice when buoying is adjusted. The driving motor on the buoyancy device is adjusted to control the underwater vehicle model to collide with the ice sheet at a target constant speed and angle, thereby achieving constrained buoyancy and icebreaking under different working conditions. The speed and angle of the underwater vehicle model are recorded in real time by the fiber optic gyroscope inertial navigation device 12, and the ice load history of each segment of the underwater vehicle model is recorded by the six-component force sensor 13 and the single-component tension and compression sensor 14. Under free ascent conditions, the underwater vehicle model is adsorbed to a fixed position on the bottom of the pool by an electromagnet device 10 while powered. At the start of the test, the electromagnet device 10 is de-energized, allowing the underwater vehicle model to freely ascent and break ice. The model's ascent motion is monitored in real time by the fiber optic gyroscope inertial navigation unit 12 within the underwater vehicle model. By adjusting the position and number of internal buoyancy blocks within the underwater vehicle model, the net buoyancy and center of gravity of the entire model are altered, simulating the ice contact angle and speed required for icebreaking in open water conditions, largely ensuring that the target speed and angle are achieved under icebreaking conditions. The changing ice loads on each segment of the underwater vehicle model are recorded by a six-component force sensor 13 and a single-component tension and compression sensor 14. Due to the release mechanism through the electromagnet device, the model's motion during free ascent is relatively stable, with minimal roll, achieving an icebreaking pattern and posture that more closely resembles the ascent motion of a real model.

[0033] To summarize the above implementation cases, the segmented underwater vehicle model and method suitable for multi-condition buoyancy and icebreaking tests described in the present invention can take into account the test conditions of constrained motion and free motion at the same time, realize free switching between underwater vehicle models under different test conditions, and accurately capture the model's non-simultaneous and multi-region measurement of the load condition and its motion posture under the action of sea ice; by switching the screw and the electromagnet device 10 on the connecting beam 11, a simple switch between the vertical plane constrained motion and free motion models can be achieved, effectively saving the test cost; the underwater vehicle model and the buoyancy device are connected by a screw, the buoyancy device is used to control the posture of the underwater vehicle model to adjust the buoyancy angle of the underwater vehicle model, and the buoyancy device is used to control the underwater vehicle model to collide with the ice cover at a target constant speed and angle; the underwater vehicle model is adsorbed to the bottom of the pool by the electromagnet device, and the electromagnet device is turned off to allow the underwater vehicle model to float freely and break the ice.

[0034] The present invention describes a segmented underwater vehicle model and method suitable for multi-condition buoyancy and icebreaking tests. By adjusting the number and position of the floating blocks connecting the crossbeam 11, the different initial net buoyancy and center of gravity positions of the underwater vehicle model during free floating are adjusted. The method for measuring and evaluating the net buoyancy and center of gravity positions is simple and feasible.

[0035] The present invention describes a segmented underwater vehicle model and method suitable for multi-condition buoyancy and icebreaking tests. The entire model is divided into seven sections and a force sensor is installed in each section. The six-component force sensor 13 and the single-component tension and compression sensor 14 are arranged to accurately measure the load conditions of each section of the underwater vehicle during vertical plane movement. While realizing multi-segment force measurement, each section can capture the ice load more independently, especially for the free buoyancy and icebreaking process, the vertical load on the hull can be evaluated separately; the fiber optic gyroscope inertial navigation device 12 located at the bow of the model can monitor the speed and posture changes of the model in real time during the entire movement process, thereby realizing multi-angle acquisition of test data during the test.

[0036] The segmented underwater vehicle model and method suitable for multi-condition surfacing and icebreaking tests described in the present invention can use structures such as sensors and fixings as connecting devices to connect with the connecting beam 11, which can improve the utilization rate of the internal space of the model.

[0037] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above description is merely a specific embodiment of the present invention and is not intended to limit the invention. Reasonable combinations of the features described in the above embodiments are also possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A segmented underwater vehicle model suitable for multi-condition surfacing and icebreaking tests, characterized by: The invention comprises a shell structure and a connecting crossbeam (11), wherein the connecting crossbeam (11) is arranged inside the shell structure, and a plurality of six-component force sensors (13) and a plurality of single-component tension and compression sensors (14) are arranged on the connecting crossbeam (11) and connected to the shell structure; the shell structure comprises a segmented bow shell (1), a segmented second surrounding shell connected to an outer shell (2), a plurality of parallel mid-body shells, a segmented sixth shell (6) and a segmented seventh stern shell (7); a fiber optic gyroscope inertial navigation device (12) is arranged at the end of the connecting crossbeam (11) and connected to the segmented bow shell (1); and a plurality of floating blocks are slidably arranged on the connecting crossbeam (11).

2. The segmented underwater vehicle model suitable for multi-condition surfacing and icebreaking tests according to claim 1 is characterized by: Gaps are provided between the segmented first bow shell (1), the segmented second surrounding shell connecting outer shell (2), the plurality of parallel mid-body shells, the segmented sixth shell (6) and the segmented seventh stern shell (7).

3. The segmented underwater vehicle model suitable for multi-condition surfacing and icebreaking tests according to claim 2 is characterized by: The segmented seven-stern housing (7) is provided with a tail entity (9), and a plurality of six-component force sensors (13) are respectively connected to the segmented one bow housing (1), the segmented six housing (6) and the tail entity (9).

4. The segmented underwater vehicle model suitable for multi-condition surfacing and icebreaking tests according to claim 2 is characterized in that: The parallel middle body shell comprises a segmented three-parallel middle body shell (3), a segmented four-parallel middle body shell (4) and a segmented five-parallel middle body shell (5), and a segmented two-enclosure shell connected to the outer shell (2) is provided with an enclosure body (8).

5. The segmented underwater vehicle model suitable for multi-condition surfacing and icebreaking tests according to claim 4 is characterized in that: The plurality of single-component tension and compression sensors (14) on the connecting crossbeam (11) are respectively connected to the enclosure entity (8), the segmented three-parallel middle body shell (3), the segmented four-parallel middle body shell (4), and the segmented five-parallel middle body shell (5).

6. The segmented underwater vehicle model suitable for multi-condition surfacing and icebreaking tests according to claim 4 is characterized by: Several floating blocks are provided inside the segmented one bow shell (1), the segmented two surrounding shells connected to the outer shell (2), the several parallel mid-body shells, the segmented six shells (6) and the segmented seven stern shells (7).

7. The segmented underwater vehicle model suitable for multi-condition surfacing and icebreaking tests according to claim 6 is characterized by: The floating block is detachably mounted on the connecting beam (11).

8. The segmented underwater vehicle model suitable for multi-condition surfacing and icebreaking tests according to claim 7 is characterized in that: The floating blocks include a plurality of large buoyancy material floating blocks (19) and a plurality of small buoyancy material floating blocks (20).

9. The segmented underwater vehicle model suitable for multi-condition surfacing and icebreaking tests according to claim 6 is characterized by: Electromagnet devices (10) or screws are provided on the connecting crossbeam (11) at positions corresponding to the segmented three-parallel middle body shell (3) and the segmented five-parallel middle body shell (5).

10. A test method using the segmented underwater vehicle model suitable for multi-condition surfacing and icebreaking tests according to claim 9, characterized in that: The following steps are involved: Under the constrained buoyancy condition, the underwater vehicle model is connected to the buoyancy device through a screw, the buoyancy device is used to control the underwater vehicle model's attitude to adjust the angle of the underwater vehicle model's buoyancy contact with the ice, and the buoyancy device is used to control the underwater vehicle model to collide with the ice sheet at a target constant speed and angle, the fiber optic gyroscope inertial navigation device (12) is used to record the speed and angle of the underwater vehicle model in real time, and the six-component force sensor (13) and the single-component tension and compression sensor (14) are used to record the ice load history of each segment of the underwater vehicle model; Under the free floating condition, the underwater vehicle model is adsorbed to a fixed position on the bottom of the pool by the electromagnet device (10). At the beginning of the test, the electromagnet device (10) is powered off, and the underwater vehicle model freely floats up to break the ice. The change process of the ice load on each segment of the underwater vehicle model is recorded by the six-component force sensor (13) and the single-component tension and compression sensor (14).

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