Impact resistance assessment method for internal equipment of underwater vehicle

Abstract

The invention relates to the technical field of impact resistance evaluation of underwater vehicles, in particular to an impact resistance evaluation method for internal equipment of an underwater vehicle. The method comprises the following steps: setting a flow field size of an underwater test environment and carrying out flow field modeling; based on the modeled flow field, performing numerical simulation on the dynamic response of the underwater vehicle under the impact load, obtaining the dynamic response value of internal equipment in each key cabin section of the underwater vehicle, and performing low-pass filtering processing; fourier transform is carried out on the dynamic response value of the internal equipment in each key cabin section after low-pass filtering processing, and an impact spectrum of the underwater vehicle is constructed; and converting the impact spectrum into a design spectrum for impact resistance evaluation, and comparing the design spectrum with an impact resistance standard system to judge the impact resistance of the internal equipment of the underwater vehicle. According to the method, the influence of the impact environment on the underwater vehicle can be intuitively and accurately quantified, so that the structural design of an internal cabin section of the vehicle is helped to be optimized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of shock resistance performance evaluation of underwater vehicles, and particularly relates to a shock resistance performance evaluation method for internal equipment of underwater vehicles. BACKGROUND

[0002] During the operation of underwater vehicles, underwater explosion shock may be encountered, which may cause the shell to break or deform, and further may cause damage to internal electronic equipment, affecting the normal function of the equipment and the overall performance of the system. Such shock not only causes physical damage to the structure, but also may damage critical electronic systems, thereby affecting the combat effectiveness and task execution of the vehicle. Therefore, it is necessary to develop a shock resistance performance test method specifically for the internal electronic equipment of underwater vehicles.

[0003] In the existing standard system, there are some mature evaluation specifications for the shock resistance of ships and their equipment, which can comprehensively evaluate the shock resistance performance of ships and their devices. Due to the significant differences between underwater vehicles and ships in terms of structural design, shock wave propagation characteristics, and equipment installation methods, the shock resistance standards of ships cannot be directly applied to underwater vehicles. Considering the extreme conditions in the underwater environment, there is no clear and perfect shock resistance performance evaluation standard for the internal electronic systems of underwater vehicles and other underwater equipment. SUMMARY

[0004] In order to solve the problems in the prior art, the present application provides a shock resistance performance evaluation method for internal equipment of underwater vehicles. The method sets the flow field size of the underwater test environment and performs flow field modeling. Based on the modeled flow field, the dynamic response of the underwater vehicle under shock load is numerically simulated, and the dynamic response values of the internal equipment in each key cabin section of the underwater vehicle are obtained and subjected to low-pass filtering. The dynamic response values of the internal equipment in each key cabin section after low-pass filtering are subjected to Fourier transform, and the shock spectrum of the underwater vehicle is constructed. The shock spectrum is converted into a design spectrum for shock resistance performance evaluation. By comparing the design spectrum with the shock resistance performance standard system, the shock resistance performance of the internal equipment of the underwater vehicle is judged. The present application can intuitively and accurately quantify the impact of the shock environment on the underwater vehicle, thereby helping to optimize the structural design of the internal cabin section of the vehicle The present application adopts the following technical solution, a shock resistance performance evaluation method for internal equipment of underwater vehicles, comprising: setting the flow field size of the underwater test environment and performing flow field modeling; based on the modeled flow field, numerically simulating the dynamic response of the underwater vehicle under shock load, and obtaining the dynamic response values of the internal equipment in each key cabin section of the underwater vehicle; The dynamic response values of the internal equipment in each key cabin section of the underwater vehicle are low-pass filtered; The dynamic response values of the internal equipment in each key cabin section after low-pass filtering are subjected to Fourier transform to construct an impact spectrum of the underwater vehicle; The impact spectrum is converted into a design spectrum for impact resistance performance evaluation, and the impact resistance performance of the internal equipment of the underwater vehicle is judged by comparing the design spectrum with the impact resistance performance standard system.

[0005] Further, the size of the flow field of the underwater test environment is set, specifically including: The flow field is divided into an inner flow field and an outer flow field, the radius of the inner flow field is set to 6 times the radius of the underwater vehicle structure, and the radius of the outer flow field is set to 6 times the radius of the inner flow field.

[0006] Further, the dynamic response values of the internal equipment in each key cabin section of the underwater vehicle are obtained, including: The material properties of the flow field structure and the material properties of the underwater vehicle structure are defined respectively; A combined model of the flow field structure and the underwater vehicle structure is established by using a finite element software, and the combined model is meshed by using tetrahedral mesh elements; The input load of the combined model after meshing is determined by using a sound-solid coupling algorithm, the input load is input into the combined model, and the combined model is analyzed by using the finite element software to obtain the dynamic response values of the underwater vehicle.

[0007] Further, the material properties of the flow field structure and the material properties of the underwater vehicle structure are defined respectively, specifically: the material properties of the flow field structure are acoustic elements; and the material properties of the underwater vehicle structure are solid elements.

[0008] Further, the dynamic response values of the internal equipment in each key cabin section of the underwater vehicle are low-pass filtered, specifically: The order and cutoff frequency of the Butterworth low-pass filter are set; The dynamic response values of the internal equipment in each key cabin section of the underwater vehicle are low-pass filtered by using a Butterworth low-pass filter with an order of 5 and a cutoff frequency of 250 Hz.

[0009] Further, the impact spectrum of the underwater vehicle is constructed, including: A plurality of single-degree-of-freedom spring oscillator systems are established, and the dynamic response values after low-pass filtering are used as excitation sources and applied to the plurality of single-degree-of-freedom spring oscillator systems; The maximum acceleration response of each single-degree-of-freedom spring oscillator system is obtained by solving the responses of the plurality of single-degree-of-freedom spring oscillator systems. According to the natural frequency and the maximum acceleration response of each single-degree-of-freedom spring oscillator system, a frequency-acceleration curve is established, and an impact spectrum of the underwater vehicle is obtained.

[0010] Further, the impact spectrum is converted into a design spectrum for impact resistance performance evaluation, specifically: The low-frequency band in the impact spectrum is represented by a spectrum displacement; The medium-frequency band in the impact spectrum is represented by a spectrum velocity; The high-frequency band in the impact spectrum is represented by a spectrum acceleration; The design spectrum is constructed according to the spectrum displacement, the spectrum velocity, and the spectrum acceleration.

[0011] Further, the design spectrum is compared with the impact resistance performance standard system, including: The impact resistance performance standard system adopts the German BV043 / 85 standard; The spectrum acceleration in the design spectrum is taken as an evaluation index, and is compared with the corresponding standard value in the impact resistance performance standard system; If the spectrum acceleration in the design spectrum exceeds the corresponding standard value in the impact resistance performance standard system, it is determined that the impact resistance performance of the internal equipment in the key cabin section corresponding to the spectrum acceleration in the underwater vehicle is unqualified.

[0012] The beneficial effects of the present application are: the test method proposed by the present application provides a standardized impact resistance evaluation means for the internal electronic equipment of the underwater vehicle, filling the gap of the current impact resistance evaluation specification for torpedoes and other underwater equipment; by constructing the internal and external flow fields, the accuracy of using the acoustic-structure coupling method to simulate the underwater explosion problem can be ensured, the dynamic response of the underwater vehicle under the impact load is further numerically simulated, and the obtained response is filtered to effectively remove the high-frequency noise in the response value, so as to ensure the accuracy of the final result; the impact spectrum method can intuitively and accurately quantify the influence of the equipment under the impact environment, avoiding the misjudgment problem caused by relying only on time domain analysis; in summary, the method proposed by the present application is suitable for impact resistance performance evaluation of internal equipment of various types of underwater vehicles, so that by comparing the impact response data of the internal equipment under different working conditions, the structure design of the vehicle cabin can be optimized, and the reliability of the vehicle in extreme environments can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0014] Figure 1 A flow chart of a method for checking the anti-impact performance of internal equipment of an underwater vehicle according to an embodiment of the present application is shown in Figure 2 A structure diagram of an internal and external flow field model according to an embodiment of the present application is shown in Figure 2 (a) is an internal flow field model, Figure 2 (b) is an external flow field model; Figure 3 A combined model and a mesh division diagram thereof according to an embodiment of the present application is shown in Figure 4 A comparison diagram of the effects before and after low-pass filtering of a dynamic response value of an underwater vehicle according to an embodiment of the present application is shown in Figure 5 A diagram of an impact spectrum and a design spectrum of an underwater vehicle according to an embodiment of the present application is shown in DETAILED DESCRIPTION

[0015] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0016] A flow chart of a method for checking the anti-impact performance of internal equipment of an underwater vehicle according to an embodiment of the present application is shown in Figure 1 , which comprises: Setting the size of a flow field of an underwater test environment and performing flow field modeling; In the embodiments of the present application, flow field modeling is a process of describing and simulating the physical properties and motion laws of an underwater flow field by mathematical methods and computer technology, and the purpose is to better understand the behavior of the flow field, predict the influence of water flow on the underwater vehicle, and thus provide theoretical support for simulating the impact load of underwater explosion on the underwater vehicle in the present application.

[0017] Specifically, when simulating underwater explosion by using the acoustic-structure coupling method, the larger the flow field is, the more accurate the result will be. However, due to the limitations of device performance and other factors in the actual modeling process, the flow field cannot be set to be infinite, and therefore, in the embodiments of the present application, the internal and external flow field is constructed to ensure the accuracy of the acoustic-structure coupling method for simulating underwater explosion, as shown in Figure 2 , wherein Figure 2 (a) is an internal flow field model, Figure 2(b) is an outer flow field model; the radius of the inner flow field is 6 times the radius of the underwater vehicle structure, and the radius of the outer flow field is 6 times the radius of the inner flow field, and by such a setting mode, the radius of the overall flow field reaches 36 times the radius of the vehicle structure, so that the dynamic response of the underwater vehicle under the underwater explosion load can be accurately simulated.

[0018] Based on the modeled flow field, the dynamic response of the underwater vehicle is numerically simulated to obtain the dynamic response values of the internal equipment in each key cabin section of the underwater vehicle. In the embodiment of the present application, when the dynamic response of the underwater vehicle is numerically simulated, the material properties of the flow field structure and the material properties of the underwater vehicle structure need to be defined first; wherein the material properties of the flow field structure are acoustic units, and the material properties of the underwater vehicle structure are solid units; further, a merged model of the flow field structure and the underwater vehicle structure is established by using finite element software, and the merged model is meshed by using tetrahedral mesh units; the input load of the merged model after meshing is determined by using acoustic-solid coupling algorithm, the input load is input into the merged model, and the dynamic response values of the underwater vehicle are obtained by analyzing the merged model by using finite element software.

[0019] Specifically, in the embodiment of the present application, the acoustic units are used to model the constructed inner flow field and outer flow field, and only the density and bulk modulus of the fluid need to be considered, wherein the density , and the bulk modulus For the outer flow field, the boundary is set to be non-reflective to simulate an infinite flow field; for the material properties of the underwater vehicle structure, ZAlSi7Mg high-strength cast aluminum alloy is used to represent the material properties in the embodiment of the present application, and the Johnson-Cook material model is used to define the constitutive relation of the underwater vehicle structure, and the specific expression is as follows: In the above formula, is the von Mises equivalent stress; is the equivalent plastic strain; is the effective plastic strain rate; is the reference strain rate, usually ; is the yield stress under the reference temperature and the reference strain rate, B is the hardening modulus of the material, and n is the hardening index; is the coefficient of strain rate hardening, is the coefficient of thermal softening index; is the dimensionless temperature, defined as: In the formula, is the room temperature; is the melting temperature, The current temperature.

[0020] The material parameters of the ZAlSi7Mg high-strength cast aluminum alloy used in the underwater vehicle structure are shown in Table 1: Table 1 shows the material parameters of the ZAlSi7Mg high-strength cast aluminum alloy The Johnson-Cook failure model is further used for material failure in the embodiment of the application, and a failure parameter D is introduced, and the expression is as follows: In the formula: represents the equivalent plastic strain increment, represents the instantaneous failure strain; represents the dimensionless von Mises equivalent stress, wherein p is the hydrostatic pressure, is the equivalent stress, is the stress triaxiality; represents the dimensionless effective strain; , , , and are material failure parameters, which can be calculated through experiments, and the values of the material failure parameters in this case are shown in Table 2: Table 2 shows the Johnson-Cook failure model parameters of the ZAlSi7Mg high-strength cast aluminum alloy In the embodiment of the application, a combined model of the flow field structure and the underwater vehicle structure is established by using a finite element software, and the combined model is meshed by using tetrahedral mesh elements, as shown in Figure 3 The combined model after meshing is obtained by gradually increasing the mesh size from the outer flow field to the inner flow field through the tetrahedral mesh elements, wherein the mesh size of the outer flow field is 0.2 m, and the mesh size of the inner flow field is 0.05 m.

[0021] The input load of the combined model after meshing is determined by using the acoustic-solid coupling algorithm, and specifically: The acoustic-structure coupling algorithm is a numerical calculation method for solving the interaction of acoustic problems and solid mechanics problems. The principle is that in the actual physical scene, when the sound wave propagates in the fluid (such as air, water), it will interact with the surrounding solid structure. On the one hand, the sound wave exerts pressure on the solid structure, causing the solid to vibrate and deform; on the other hand, the vibration of the solid structure will in turn affect the propagation of the sound wave in the surrounding fluid, changing the propagation characteristics of the sound wave, such as propagation direction, intensity, etc. This interaction is the acoustic-structure coupling phenomenon. The acoustic-structure coupling algorithm can simulate the acoustic-structure coupling phenomenon by establishing a mathematical model to solve the acoustic equation (such as the wave equation) and the solid mechanics equation (such as the elasticity equation) simultaneously. Common algorithms include the finite element method, the boundary element method, etc.; the finite element method discretizes the solution region into a finite number of elements, and the equations of the entire system are obtained by analyzing and assembling each element; the boundary element method converts the solution problem into an integral equation on the boundary, thereby reducing the dimension of the calculation. In the present embodiment, the finite element method is used to determine the input load, and the establishment process is as follows: The finite element equation of the fluid is represented as: Through the virtual work principle, the dynamic equation of the solid unit corresponding to the underwater vehicle structure coupled with the acoustic unit representing the flow field is obtained as: By solving the above equations simultaneously, the finite element equation for acoustic-structure coupling analysis is obtained: In the above equation: is the acoustic pressure displacement, is the second derivative of the acoustic pressure displacement, is the first derivative of the acoustic pressure displacement, is the structure displacement, is the second derivative of the structure displacement, is the first derivative of the structure displacement; is the mass matrix of the flow field, is the damping matrix of the flow field, is the stiffness matrix of the flow field; is the mass matrix of the combined model, is the damping matrix of the combined model, is the stiffness matrix of the combined model; A is the coupling matrix, ; is the load matrix of the combined model, is the density of the fluid.

[0022] The input load is input into the combined model, and the finite element software is used to analyze the combined model to obtain the dynamic response value of the underwater vehicle: When the acoustic solid coupling algorithm is used to calculate the underwater explosion problem, there are mainly two forms of input load, one is to use the built-in explosion load calculation model in Abaqus software, and the other is to use the Geers-Hunter model for calculation; in the embodiment of the application, the second form is adopted, after the corresponding explosion load is calculated through the Geers-Hunter model, the input load is obtained by defining the load amplitude form and input into the merged model, and the input load is converted into a spherical incident wave by using the keyword "*Incident WaveInteraction", after the above operations, the merged model can be submitted to the finite element software Abaqus for analysis, and the dynamic response value of the underwater vehicle under the explosion load is obtained.

[0023] The dynamic response values of the internal equipment in each key cabin section of the underwater vehicle are subjected to low-pass filtering processing. In the embodiment of the application, the low-pass filtering process is performed by using the Butterworth low-pass filter designed by the butter function in MATLAB software; the Butterworth filter is widely used in the field of signal processing due to its flat passband characteristics and good phase response, in the design of the embodiment of the application, the order and the cutoff frequency of the filter are first determined, the order determines the steepness of the filter, and the cutoff frequency is the frequency at which the filter starts to attenuate the signal; in the embodiment of the application, the order of the filter is set to 5 and the cutoff frequency is 250 Hz, and the high-frequency response value part in the dynamic response value of the internal equipment in each key cabin section of the underwater vehicle can be filtered out by the low-pass filter with the cutoff frequency of 250 Hz, for example, the guide section in the vehicle is taken as an example, as shown in Figure 4 It can be seen that, after the dynamic response value of the internal equipment in the guide section of the underwater vehicle is filtered by the filter, the high-frequency noise in the response value can be effectively removed, thereby ensuring the accuracy of the final result.

[0024] The dynamic response values of the internal equipment in each key cabin section after low-pass filtering processing are subjected to Fourier transform, and the shock spectrum of the underwater vehicle is constructed. In the embodiment of the application, the Fourier transform is performed on the filtered dynamic response value to convert the dynamic response value to the frequency domain, and the shock spectrum of the underwater vehicle is further constructed, and the specific steps include: A plurality of single-degree-of-freedom spring oscillator systems are established, and the dynamic response value after low-pass filtering processing is used as an excitation source and applied to the plurality of single-degree-of-freedom spring oscillator systems. In one specific embodiment of the application: A single degree of freedom spring-mass system is an idealized mechanical model used to study the laws of vibration of an object; it is composed of a mass and a spring, the mass can be regarded as a particle, with a certain mass; the spring is an elastic element, the mass is usually negligible, and the spring stiffness k represents the force required to produce a unit deformation of the spring. Single degree of freedom means that the motion state of the system can be completely described by only one independent coordinate variable, for example, a spring-mass system doing simple harmonic vibration in the horizontal direction, only the displacement of the mass relative to the equilibrium position is needed to determine the state of the system at any time.

[0025] The response of a plurality of single degree of freedom spring-mass systems is solved, and the maximum acceleration response of each single degree of freedom spring-mass system is obtained; The embodiment of the present application sets the mass of the mass in the single degree of freedom spring-mass system as m, the stiffness of the spring as k, and the base acceleration excitation of the mass motion as The relative displacement of the mass and the base is The relative displacement response between the mass and the base is solved by Duhamel integral, and is expressed as: The maximum value of the absolute value of , that is, the relative displacement spectrum value of the spring-mass system with an angular frequency of : The expression for solving the relative displacement response between the mass and the base by Duhamel integral is differentiated, and then multiplied by the angular frequency , that is, the commonly used spectrum velocity in engineering, is expressed as: The maximum value of the absolute value of corresponds to the relative velocity spectrum value of the spring-mass system with an angular frequency of : The absolute acceleration of the spring-mass system and the relative displacement satisfy the relationship , that is, in the vibration system, according to the dynamics relationship, the absolute acceleration of the spring-mass system and the relative displacement usually satisfy , and the maximum value of the absolute value of is the absolute acceleration spectrum value of the spring-mass system with an angular frequency of , that is, the spectrum acceleration , is expressed as: According to the natural frequency and the maximum acceleration response of each single degree of freedom spring oscillator system, a frequency-acceleration curve is established, and an impact spectrum of the underwater vehicle is obtained.

[0026] In the embodiment of the present application, a frequency-acceleration curve is established according to the spectral displacement, the spectral velocity and the spectral acceleration value of different frequency bands, and an impact spectrum of the underwater vehicle is obtained.

[0027] The impact spectrum is converted into a design spectrum for impact resistance performance evaluation, and the impact resistance performance of the internal equipment of the underwater vehicle is judged by comparing the design spectrum with the impact resistance performance standard system.

[0028] In order to facilitate the prediction of structural response, the impact spectrum is further designed into a three-fold line design spectrum for impact resistance performance evaluation, and the impact spectrum has the following characteristics in different frequency ranges: the displacement excitation is mainly based on the low frequency band; the acceleration excitation is mainly based on the high frequency band; the velocity impact is mainly based on the medium frequency band; therefore, taking the guide section as an example, the impact spectrum of the guide section is described by three three-fold lines represented by the spectral displacement, the spectral velocity and the spectral acceleration according to the low, medium and high frequency bands in the impact spectrum, and the obtained design spectrum is as shown in Figure 5 .

[0029] In order to examine whether the internal equipment of the underwater vehicle fails, the existing impact resistance performance standard system is searched and obtained, and the obtained design spectrum is compared with the impact resistance performance standard system to examine whether the internal equipment of the underwater vehicle fails, and an existing impact resistance performance standard system is selected as the German BV043 / 85 standard in the embodiment of the present application.

[0030] Table 3 BV043 / 85 impact resistance performance standard system parameter table The parameters shown in Table 3 are: classified according to the weight of the equipment and the displacement of the ship, for the ship with a full load displacement greater than 2000t, the impact resistance index parameters of the equipment with a weight less than 5 tons installed thereon, from the table, it can be seen that the existing German BV043 / 85 standard examines the impact environment in the vertical and horizontal directions of the internal equipment of the ship, and the main examination object of the present application is the underwater vehicle, which is different from the ship, under the impact of underwater explosion load, the impact load suffered by the vehicle comes from all directions, and the vertical and horizontal impact environments are basically the same, and there is no examination standard for the underwater vehicle in the prior art, therefore, the embodiment of the present application refers to the German BV043 / 85 standard, and takes the spectral acceleration of the vehicle as the main examination index, when the spectral acceleration of the internal equipment of the underwater vehicle exceeds 320g, it can be considered that the equipment has failed, and from Figure 5The design spectrum of the leading section of the underwater vehicle can be found that the spectrum acceleration of the leading section part has reached 384.2 g, so it can be considered that the leading section of the vehicle has failed, and when the vehicle structure optimization design is carried out, the anti-impact ability of the leading section structure of the vehicle needs to be considered.

[0031] The above merely describes preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for evaluating the impact resistance of underwater vehicle internal equipment, characterized in that, The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle.

2. The method of claim 1, wherein: The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle.

3. The method of claim 1, wherein: The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle.

4. The method of claim 3, wherein: The application relates to a method for evaluating the anti-impact performance of an underwater vehicle.

5. The method of claim 1, wherein: The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle.

6. The method of claim 1, wherein: The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle.

7. The method of claim 1, wherein: The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle.

8. The method of claim 1, wherein: The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. The application relates to a method for evaluating the anti-impact performance of an underwater vehicle. 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