An unmanned underwater vehicle throw-off deployment into water impact data processing and equipment safety assessment system and method

Abstract

The present application provides an unmanned underwater vehicle throwing and launching into water impact data processing and equipment safety evaluation system and method, relates to the unmanned underwater vehicle throwing and launching into water impact data processing and equipment safety evaluation field, so as to solve the problems of large noise, multi-modal aliasing, lack of targeted processing method, difficult to adapt to multi-angle water entry scene, high cost and poor repeatability of unmanned underwater vehicle throwing and launching into water impact data. The present application collects acceleration data at the installation base of the safety evaluation equipment, sequentially passes through the mean method zero drift, db4 wavelet threshold denoising, EMD decomposition three-level processing, and then obtains the safety evaluation load through the impact response spectrum and half-sine wave conversion method. Finally, the safety evaluation is completed by combining the physical experiment or numerical simulation of the system and method of the present application. The present application accurately evaluates the safety of the unmanned underwater vehicle throwing and launching into water impact equipment, which can greatly reduce the experimental and calculation cost and promote the development of related fields.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned underwater vehicle (UUV) launch and deployment into water impact data processing and equipment safety evaluation, in particular to a UUV launch and deployment into water impact data processing and equipment safety evaluation system and method. BACKGROUND

[0002] The application of UUVs in the fields of ocean exploration, resource exploration, national defense security, etc. is becoming increasingly widespread. As a key operation link for executing tasks, the launch and deployment of UUVs directly determines whether the equipment can successfully carry out subsequent work. The current expansion of UUVs to deep sea and complex sea conditions operation scenarios has put forward higher requirements for the quickness of launch and deployment and the safety of equipment against impact. Therefore, efficient launch and deployment technology has become one of the core elements for improving the operation efficiency of UUVs. However, the UUVs will bear complex instantaneous impact loads when launched and deployed into water, and the internal equipment is threatened in safety. The existing technology has problems such as imperfect UUV launch and deployment into water impact data processing method and lack of systematic equipment safety evaluation method, which leads to insufficient equipment safety evaluation under the UUV launch and deployment into water impact scenario, and the equipment is easily damaged after entering the water, resulting in task interruption. Therefore, it is of great practical significance to develop research on the UUV launch and deployment into water impact data processing and equipment safety evaluation method and system.

[0003] Currently, there are many difficulties in UUV launch and deployment into water impact data processing and equipment safety evaluation, including:

[0004] 1. The UUV launch and deployment into water impact process belongs to a strong nonlinear dynamic response process. If a non-attached data measurement system is used, not only is it difficult to implement, but it also does not match the actual launch and deployment scenario, and it is easy to introduce artificial measurement errors. When using an attached measurement method, the measuring instrument needs to be installed inside the UUV. If too many measurement points are set, it will interfere with the structural dynamic response, resulting in limited number of measurement points. At the same time, the launch and deployment into water is a transient impact load, so the collected original impact data contains a large amount of noise and zero drift signals, further increasing the difficulty of data processing. Therefore, there is an urgent need for a data processing and safety evaluation method that can meet the equipment safety evaluation requirements with only a small amount of impact original data collected by a few measurement points, and can effectively denoise and remove zero drift for the original signals containing a large amount of noise and zero drift under the UUV launch and deployment into water impact scenario.

[0005] 2. Although the impact test bench can realize the reduction of impact load to achieve the purpose of evaluating the anti-impact safety of different equipment, since the unmanned underwater vehicle is a complex system structure, the original impact data is a multi-modal mixed signal containing many useless signals with little significance for equipment safety evaluation. This leads to the problem that even after the impact response data has been denoised, the data shock is still too complex, and the impact test bench is difficult to apply load. This requires a specific data processing method to extract the key information in the original impact data as the basis for the safety evaluation load of the impact bench. The existing methods and researches are mostly for the study of ship equipment anti-explosion impact, and there are significant differences in geometric size and structural arrangement between ships and unmanned underwater vehicles. Moreover, the load characteristics of the unmanned underwater vehicle impact into the water are also special compared with the explosion impact load, so it is urgent to design a data processing method for the unmanned underwater vehicle launch scene to extract the key information in the original impact data and convert it into a simplified time history impact load that can be loaded on the impact test bench as the safety evaluation load of the unmanned underwater vehicle impact into the water.

[0006] 3. In the real launch scene, the unmanned underwater vehicle is mostly impacted into the water at a non-vertical angle; while the existing impact test bench can only realize vertical impact load loading, it lacks a load conversion method for the unmanned underwater vehicle launch non-vertical angle into water impact, and cannot complete the equipment safety evaluation in the unmanned underwater vehicle launch non-vertical angle into water impact scene.

[0007] 4. When using numerical simulation method to analyze the unmanned underwater vehicle launch into water impact, a large number of grids need to be constructed to simulate the flow field by using fluid-structure coupling method, and the whole structure of the unmanned underwater vehicle needs to be modeled and simulated to simulate the whole process of launch into water. This requires high performance of computer hardware and a large amount of computing time resources; at the same time, the launch scene faces the demand of multi-speed, multi-angle and multi-working condition safety evaluation, which further causes huge consumption of computing resources, and the full-time fluid-structure coupling numerical simulation method is difficult to support the multi-working condition safety evaluation demand of the unmanned underwater vehicle launch into water impact.

[0008] In summary, due to the above difficulties, there is no unmanned underwater vehicle launch into water impact data processing and equipment safety evaluation method and system that can solve the above problems at the same time, and provide technical support for the equipment safety evaluation in the unmanned underwater vehicle launch into water impact scene, which hinders the development of the structure design of the unmanned underwater vehicle and the research of new launch methods. SUMMARY

[0009] The present application provides an unmanned underwater vehicle throwing and placing into water impact data processing and equipment safety evaluation system and method, through collecting acceleration data at the safety evaluation equipment installation base, sequentially through mean method zero drift, db4 wavelet threshold denoising of SURE criterion, three-level data processing of EMD empirical mode decomposition, and then through impact response spectrum method and half-sine wave conversion method to convert the data into loadable safety evaluation load, finally through physical experiment or numerical simulation to complete the evaluation, to solve the problems of large impact data noise, multi-modal aliasing, lack of targeted processing method, and difficulty in adapting to multi-angle water entry scene, insufficient equipment safety evaluation, and high cost of unmanned underwater vehicle throwing and placing into water.

[0010] An unmanned underwater vehicle throwing and placing into water impact data processing and equipment safety evaluation system, comprising an impact actuation system, a control and measurement system, a hydraulic power system and a reverser assembly, wherein,

[0011] The impact actuation system comprises an impact actuation system control transmission wiring board, an impact actuator, an impact actuation pad and an impact actuation system column, the impact actuation system column is vertically installed on the upper surface of the table surface of the impact actuation system, the impact actuation pad is limited on the impact actuation system column, the impact actuator is installed on the inner side of the impact actuation system column, the output end of the impact actuator is rigidly connected to the bottom of the impact actuation pad upward, and the impact actuation system control transmission wiring board is arranged on the side surface of the table surface of the impact actuation system and is signal connected with the impact actuator;

[0012] The reverser assembly comprises a reverser assembly bottom plate, a bolt, a reverser assembly axial rotation disc, a reverser assembly longitudinal rotation fixed side plate, a reverser assembly longitudinal rotation shaft and a reverser assembly top mounting plate, the reverser assembly bottom plate is fixedly installed on the upper surface of the impact actuation pad by the bolt, the reverser assembly axial rotation disc which can rotate around the vertical shaft is stacked on the upper surface of the reverser assembly bottom plate, after adjusting the rotation angle of the reverser assembly axial rotation disc, the position of the reverser assembly axial rotation disc relative to the reverser assembly bottom plate is fixed by the bolt penetrating the positioning hole reserved on the reverser assembly axial rotation disc and the reverser assembly bottom plate, the reverser assembly longitudinal rotation fixed side plate is fixedly connected to the upper surface of the reverser assembly axial rotation disc by the bolt, the reverser assembly longitudinal rotation shaft is arranged in the hollow part of the reverser assembly longitudinal rotation fixed side plate, after adjusting the rotation angle of the reverser assembly longitudinal rotation shaft, the position of the reverser assembly longitudinal rotation shaft relative to the reverser assembly longitudinal rotation fixed side plate is fixed by the fixed connection of the bolt and the two sides of the reverser assembly longitudinal rotation fixed side plate, and the outer circumferential surface of the reverser assembly longitudinal rotation shaft is fixedly connected with the lower surface of the reverser assembly top mounting plate;

[0013] The control and measurement system comprises a control computer, a data acquisition instrument, a data transmission pipe of the acceleration sensor and the data acquisition instrument, a data transmission pipe of the strain sensor and the data acquisition instrument, the acceleration sensor, the strain sensor and a safety evaluation device, the safety evaluation device is fixedly installed on the upper surface of the commutator assembly top mounting plate, and is kept at a set angle synchronously with the commutator assembly top mounting plate, the acceleration sensor is fixedly installed on the upper surface of the commutator assembly top mounting plate, and is used for collecting acceleration response in the impact process, the strain sensor is fixedly installed on a preset strain measurement point of the safety evaluation device, and is used for collecting structural strain response data, the data output end of the data acquisition instrument is connected with the data input end of the control computer, the signal output end of the control computer is connected with the control signal transmission pipe of the impact actuator system and the control transmission terminal block of the impact actuator system, the signal output end of the acceleration sensor is connected with the signal input end of the data acquisition instrument through the data transmission pipe of the acceleration sensor and the data acquisition instrument, and the signal output end of the strain sensor is connected with the signal input end of the data acquisition instrument through the data transmission pipe of the strain sensor and the data acquisition instrument.

[0014] The hydraulic power system comprises a hydraulic power system control cabinet, a hydraulic power system hydraulic pump and a power transmission pipe of the hydraulic power system and the impact actuator, the hydraulic power system control cabinet is electrically connected with the hydraulic power system hydraulic pump, and is used for starting and stopping and adjusting the output pressure and flow of the hydraulic power system hydraulic pump; the power output end of the hydraulic power system hydraulic pump is connected with the power input end of the impact actuator through the power transmission pipe of the hydraulic power system and the impact actuator, so as to transmit hydraulic energy to the impact actuator and drive the impact actuator to output a vertical impact load.

[0015] An unmanned underwater vehicle launching and placing into water impact data processing and equipment safety evaluation method based on the unmanned underwater vehicle launching and placing into water impact data processing and equipment safety evaluation system comprises the following steps.

[0016] S1, a launching and placing physical experiment is adopted or a fluid-solid coupling numerical method is adopted to simulate the whole process of launching and placing into water, and acceleration data at an unmanned underwater vehicle safety evaluation device installation base are measured as original impact input data;

[0017] S2, based on the original impact input data, a data denoising processing method is adopted to perform denoising processing, and intermediate impact load data after denoising are obtained;

[0018] S3, based on the intermediate impact load data, an impact response spectrum method is adopted to convert the intermediate impact load data into an impact design spectrum in a frequency domain; a half-sine wave conversion method is adopted to convert the impact design spectrum in the frequency domain into an impact time history load in a time domain, as safety evaluation load data;

[0019] S4, input the safety evaluation load data as load, combine the device safety evaluation system to conduct physical experiment, or establish a safety evaluation device numerical model, load the safety evaluation load, and complete the safety evaluation work of the unmanned underwater vehicle launching and placing into water impact device.

[0020] Further, in S1, the launching and placing physical experiment is conducted by arranging the data measuring instrument in the body of the unmanned underwater vehicle; the launching and placing numerical simulation is conducted by using the fluid-structure coupling method to establish a complete water area and air area, completely establishing the unmanned underwater vehicle structure and safety evaluation device, and completely simulating the whole process of the unmanned underwater vehicle launching and placing into water, and only measuring the acceleration data of the safety evaluation device installation base of the unmanned underwater vehicle as the original impact input data.

[0021] Further, in S2, the data denoising method adopts a data processing logic of first eliminating global offset, then suppressing random noise, and finally decomposing characteristic components, including the following steps:

[0022] S201, using the mean removal method to remove zero drift and eliminate global offset;

[0023] S202, using the db4 wavelet threshold denoising of SURE criterion to suppress random noise;

[0024] S203, using the EMD empirical mode decomposition method to decompose the complex impact signal into IMF with clear physical meaning, and selecting the appropriate range of IMF components according to the modal characteristics of the safety evaluation device and the structural response signal characteristics, reconstructing the signal related to the core characteristics of the impact signal, and forming the intermediate impact load data.

[0025] Further, in S3, the intermediate impact load data is converted into safety evaluation load data, including the following steps:

[0026] S301, Fourier transform is performed on the intermediate impact load data after denoising to obtain a frequency domain response, and the improved recursive method is used to calculate the impact response spectrum and the impact design spectrum;

[0027] S302, according to the spectrum value of the impact design spectrum, the semi-sine wave conversion method is used to calculate the safety evaluation load data.

[0028] Further, in S3, the safety evaluation load data obtained after the conversion of the intermediate impact load data is a combined semi-sine wave composed of two semi-sine waves, and after the spectrum value of the impact design spectrum is calculated based on S301, the parameters of the safety evaluation load semi-sine wave are calculated according to the semi-sine wave conversion method as follows:

[0029] S3021, the first semi-sine wave is positive, and the amplitude is The spectrum acceleration value of the design spectrum Related to,

[0030] S3022, the area of the first half-sine wave is The spectrum velocity value of the design spectrum Related to,

[0031] S3023, the half-period duration of the first half-sine wave is ,

[0032] S3024, the second half-sine wave is negative, and the amplitude thereof is ,

[0033] S3025, the area of the second half-sine wave is The spectrum velocity value of the design spectrum Related to,

[0034] S3026, the half-period duration of the second half-sine wave is The spectrum displacement value of the design spectrum Related to.

[0035] Further, in S4, the safety evaluation load data obtained in S3 is used to perform safety evaluation of the unmanned underwater vehicle throwing and placing into water impact equipment by using the following physical experiment method, including the following steps:

[0036] S401, check the component integrity and functional state of the impact actuator system, control and measurement system, hydraulic power system and commutator assembly, ensure that the impact actuator, acceleration sensor, strain sensor, hydraulic power system and power transmission pipe of the impact actuator, control computer and control signal transmission pipe of the impact actuator system, data transmission pipe of the acceleration sensor and data acquisition instrument, data transmission pipe of the strain sensor and data acquisition instrument are fault-free; the safety evaluation load data obtained in S3 is imported into the control computer, and data format adaptation and loading parameter preset are completed;

[0037] S402, the safety evaluation equipment is fixedly installed on the upper surface of the top mounting plate of the commutator assembly by bolts, to ensure firm installation without loosening; then the acceleration sensor is fixed on the upper surface of the top mounting plate of the commutator assembly, and the strain sensor is pasted to the preset strain measurement point of the safety evaluation equipment;

[0038] ​​​​​​S403, loosen the bolt connecting the commutator assembly axial rotation disc and the commutator assembly bottom plate, rotate the commutator assembly axial rotation disc around the vertical shaft to the target horizontal angle to simulate the horizontal entry angle of the unmanned underwater vehicle, align the positioning holes reserved on both, then pass in the bolt and tighten it to fix the axial angle;

[0039] Loosen the fixing part of the commutator assembly longitudinal rotation shaft and the commutator assembly longitudinal rotation fixed side plate, rotate the commutator assembly longitudinal rotation shaft with the commutator assembly top mounting plate and the safety evaluation equipment around the longitudinal shaft to the target longitudinal angle to simulate the pitch entry angle of the unmanned underwater vehicle, and then fix the connection between the commutator assembly longitudinal rotation shaft and the commutator assembly longitudinal rotation fixed side plate to ensure the angle locking;

[0040] S404, connect the power output end of the hydraulic power system hydraulic pump and the power input end of the impact actuator through the power transmission pipe of the hydraulic power system and the impact actuator to ensure that the hydraulic transmission has no leakage; connect the signal output end of the control computer and the impact actuation system control transmission terminal block through the control computer and the impact actuation system control signal transmission pipe to realize bidirectional transmission of control instructions; connect the signal output end of the acceleration sensor and the strain sensor to the corresponding channel interface of the data acquisition instrument through the data transmission pipe of the acceleration sensor and the data acquisition instrument and the data transmission pipe of the strain sensor; start the control computer and the data acquisition instrument, debug the data transmission link, and ensure that the sensor data can be normally collected and stored;

[0041] S405, start the hydraulic power system hydraulic pump through the hydraulic power system control cabinet, adjust the output pressure and flow according to the preset parameters; send control instructions from the control computer through the impact actuation system control transmission terminal block to instruct the impact actuator to work, convert hydraulic energy into vertical mechanical impact load, which is transmitted to the safety evaluation equipment through the impact actuation pad plate and the commutator assembly. During the loading process, the impact actuation pad plate is limited to vertical displacement only by the impact actuation system stand to avoid additional direction load interference;

[0042] S406, during the whole process of impact load loading, real-time acquisition of impact acceleration response data through the acceleration sensor, real-time acquisition of structural strain response data of the safety evaluation equipment through the strain sensor, and transmission of the collected data to the data acquisition instrument through the data transmission pipe of the acceleration sensor and the data acquisition instrument and the data transmission pipe of the strain sensor for storage, and synchronous feedback to the control computer;

[0043] S407, in the control computer, the actual acceleration response data of the upper surface of the top mounting plate of the commutator assembly collected by the acceleration sensor is compared with the preset safety evaluation load data, it is confirmed that the actual acceleration response data of the upper surface of the top mounting plate of the commutator assembly collected is consistent with the preset safety evaluation load data, the validity of loading is judged;The strain data stored by the data acquisition instrument is compared with the material strength limit of the corresponding structure of the safety evaluation equipment, if the measured strain does not exceed the material strength limit, it is determined that the equipment is safe under the angle water impact scene;If it exceeds, it is determined that the equipment has damage risk, and the safety evaluation of single working condition is completed;

[0044] S408, other water entry angles or impact strength working conditions need to be evaluated, S403-407 are repeated, the angle parameter of the commutator assembly is adjusted, the corresponding working condition safety evaluation load data is reloaded and the response data is collected, until the safety evaluation of all preset working conditions is completed.

[0045] Further, in S4, the safety evaluation load data obtained in S3 is used to perform unmanned underwater vehicle throwing and launching water impact equipment safety evaluation by numerical simulation, including: establishing a finite element model of the safety evaluation equipment and adjusting the angle as needed, the safety evaluation load data obtained in S3 is input as load, which is provided to numerical simulation for load application, to realize safety evaluation under multi-angle water impact scene.

[0046] A storage medium, the storage medium stores a computer program, the computer program is executed by the processor to realize the unmanned underwater vehicle throwing and launching water impact data processing and equipment safety evaluation method.

[0047] A computer device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executes the program to realize the unmanned underwater vehicle throwing and launching water impact data processing and equipment safety evaluation method.

[0048] Compared with the prior art, the above technical scheme has achieved remarkable beneficial effects:

[0049] 1. The input data of the equipment safety evaluation of the present application only needs the acceleration data at the base of the safety evaluation equipment, needs to install fewer measuring points and needs single measurement variable. The unmanned underwater vehicle throwing and launching water impact experiment can be carried out by supporting the data acquisition instrument with the body, which can minimize the influence of human interference on the motion of the unmanned underwater vehicle and the structural dynamic response during the throwing and launching process, so as to obtain the real data of the dynamic response of the unmanned underwater vehicle throwing and launching water impact process more accurately.

[0050] 2. The application establishes a data noise reduction processing logic that first eliminates global offset, then suppresses random noise, and finally decomposes characteristic components, which can fully process the signal characteristics of the unmanned underwater vehicle water impact process, such as large signal zero drift, high frequency noise, and multi-modal aliasing of structural dynamic response, better remove signal noise interference, and retain effective data to provide a good foundation for safety evaluation of unmanned underwater vehicle water impact equipment.

[0051] 3. The data processing method established by the application can convert complex unmanned underwater vehicle water impact raw data into time history signals that can be loaded by the impact actuation system, effectively simplifying the safety evaluation process of unmanned underwater vehicle water impact equipment and improving the repeatability.

[0052] 4. The experimental system established by the application can simulate multi-angle water impact working conditions under the unmanned underwater vehicle water impact scene, better restore the safety evaluation equipment load characteristics under the real water impact scene, and ensure the reliability of the safety evaluation of the equipment.

[0053] 5. When the safety evaluation of the unmanned underwater vehicle water impact equipment is carried out by using the physical experiment method, the unmanned underwater vehicle structure does not need to be completely established, and only the safety evaluation equipment needs to be assembled in the safety evaluation experimental system of the application for experiment. At the same time, when the safety evaluation of the unmanned underwater vehicle water impact equipment is carried out by using the numerical simulation method, the unmanned underwater vehicle structure does not need to be completely established, and the fluid-solid coupling method does not need to be used, only the safety evaluation load data processed by the method of the application needs to be loaded at the bottom base of the safety evaluation equipment to complete the safety evaluation. The physical experiment cost and numerical simulation cost of the safety evaluation of the unmanned underwater vehicle water impact equipment can be greatly reduced, which has strong applicability and is suitable for promotion. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 The method main flow chart of a specific embodiment of the unmanned underwater vehicle water impact data processing and equipment safety evaluation method and system of the application;

[0055] Figure 2 The data processing method flow chart of a specific embodiment of the unmanned underwater vehicle water impact data processing and equipment safety evaluation method and system of the application;

[0056] Figure 3 The safety evaluation load curve chart of a specific embodiment of the application;

[0057] Figure 4The total arrangement schematic diagram of the physical experiment system for safety evaluation of the unmanned underwater vehicle launching equipment of embodiment 1 of the present application;

[0058] Figure 5 The control computer and data acquisition instrument arrangement schematic diagram of the control and measurement system of the physical experiment system for safety evaluation of the unmanned underwater vehicle launching equipment of embodiment 1 of the present application;

[0059] Figure 6 The hydraulic power system arrangement schematic diagram of the physical experiment system for safety evaluation of the unmanned underwater vehicle launching equipment of embodiment 1 of the present application;

[0060] Figure 7 The impact actuating system arrangement schematic diagram of the physical experiment system for safety evaluation of the unmanned underwater vehicle launching equipment of embodiment 1 of the present application;

[0061] Figure 8 The commutator assembly and safety evaluation equipment assembly arrangement schematic diagram of the physical experiment system for safety evaluation of the unmanned underwater vehicle launching equipment of embodiment 1 of the present application;

[0062] Figure 9 The finite element model schematic diagram of the whole process fluid-solid coupling simulation method for the unmanned underwater vehicle launching of embodiment 2 of the present application;

[0063] Figure 10 The finite element model schematic diagram of the safety evaluation simulation method for the unmanned underwater vehicle launching equipment of embodiment 2 of the present application;

[0064] Figure 11 The safety evaluation equipment side plate structure stress curve diagram of the whole process fluid-solid coupling simulation method for the unmanned underwater vehicle launching of embodiment 2 of the present application;

[0065] Figure 12 The safety evaluation equipment side plate structure stress curve diagram of the safety evaluation simulation method for the unmanned underwater vehicle launching equipment of embodiment 2 of the present application.

[0066] Wherein, 1 is the impact actuator system; 2 is the control and measurement system; 3 is the hydraulic power system; 4 is the reverser assembly; 5 is the power transmission pipe of the hydraulic power system and the impact actuator; 6 is the control signal transmission pipe of the control computer and the impact actuator system; 7 is the data transmission pipe of the acceleration sensor and the data acquisition instrument; 8 is the data transmission pipe of the strain sensor and the data acquisition instrument; 9 is the control computer; 10 is the data acquisition instrument; 11 is the hydraulic power system control cabinet; 12 is the hydraulic power system hydraulic pump; 13 is the impact actuator system control transmission terminal block; 14 is the impact actuator; 15 is the impact actuator pad; 16 is the impact actuator system column; 17 is the reverser assembly bottom plate; 18 is the bolt; 19 is the reverser assembly axial rotation disc; 20 is the reverser assembly longitudinal rotation fixed side plate; 21 is the reverser assembly longitudinal rotation shaft; 22 is the reverser assembly top mounting plate; 23 is the acceleration sensor; 24 is the strain sensor; 25 is the safety evaluation device. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with 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. 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.

[0068] Embodiment 1: According to the method of step S1 described in the present application, the method of throwing and placing the unmanned underwater vehicle into the water impact physical experiment is adopted, and the data acquisition method of the data acquisition instrument is adopted to obtain the impact acceleration response data at the safety evaluation device installation base as the original impact input data. Further, according to the method of step S2, the noise reduction processing of the original impact input data is performed to obtain the intermediate impact load data. Further, according to the method of step S3, the data conversion of the intermediate impact load data is performed to obtain the safety evaluation load data as shown in Figure 3 It should be noted that in embodiment 1 of the present application, the implementation of the impact data processing methods described in steps S2 and S3 above all adopts the corresponding code written in MATLAB and implemented in the control computer 9. Further, according to step S4, the safety evaluation load data is obtained as shown in Figure 4The unmanned underwater vehicle safety evaluation physical experiment system for safety evaluation physical experiment, specifically comprising the following components: an impact actuator system 1; a control and measurement system 2; a hydraulic power system 3; a reverser assembly 4; a hydraulic power system and impact actuator power transmission pipe 5; a control computer and impact actuator control signal transmission pipe 6; an acceleration sensor and data acquisition instrument data transmission pipe 7; a strain sensor and data acquisition instrument data transmission pipe 8; a control computer 9; a data acquisition instrument 10; a hydraulic power system control cabinet 11; a hydraulic power system hydraulic pump 12; an impact actuator system control transmission wiring board 13; an impact actuator 14; an impact actuator pad 15; an impact actuator system stand 16; a reverser assembly bottom plate 17; a bolt 18; a reverser assembly axial rotation disc 19; a reverser assembly longitudinal rotation fixed side plate 20; a reverser assembly longitudinal rotation shaft 21; a reverser assembly top mounting plate 22; an acceleration sensor 23; a strain sensor 24; a safety evaluation device 25.

[0069] The impact actuator system 1 is used as a load input, as shown in Figure 7 The control and measurement system 2 is used to control the load application of the impact actuator system 1 and collect data during the experiment, as shown in Figure 5 The hydraulic power system 3 is used to provide a power source for the load output of the impact actuator system 1, as shown in Figure 6 The reverser assembly 4 is directly assembled with the safety evaluation device 25, as shown in Figure 8 The reverser assembly 4 is used to control the actual force direction of the safety evaluation device under the vertical impact load applied by the impact actuator 14, to restore the impact angle of the safety evaluation device under different angle throwing and launching into water impact scenarios.

[0070] The specific implementation process is that the original impact input data is first provided as input to the control computer 9, which contains MATLAB program code for running the impact data processing described in the present application. The original impact input data can be zeroed and denoised to intermediate impact load data, and further converted into safety evaluation load data according to the present application and stored in the storage medium in the control computer 9.

[0071] Further, the security evaluation device 25 is assembled on the commutator assembly top mounting plate 22 by using the bolts 18. The angle of the commutator assembly axial rotation disc 19 is adjusted, and the commutator assembly axial rotation disc 19 is fixed on the commutator assembly bottom plate 17 by using the bolts 18. The commutator assembly longitudinal rotation shaft 21 is adjusted, and the commutator assembly longitudinal rotation shaft 21 is fixedly connected with the commutator assembly longitudinal rotation fixed side plate 20 by using the bolts 18. In the embodiment 1 of the present application, the connection between the commutator assembly longitudinal rotation fixed side plate 20 and the commutator assembly bottom plate 17 is a welded fixed connection.

[0072] Further, the commutator assembly bottom plate 17 is fixedly mounted on the impact actuator pad 15 by using the bolts 18, the strain sensor 24 is pasted and mounted on the strain measurement point of the security evaluation device 25, and the acceleration sensor 23 is pasted and mounted on the commutator assembly top mounting plate 22.

[0073] Further, the hydraulic power system is connected with the power transmission pipe 5 of the impact actuator, the hydraulic pump 12 of the hydraulic power system is connected with the impact actuator 14. The control computer is connected with the control signal transmission pipe 6 of the impact actuator system, the control computer 9 is connected with the impact actuator system control transmission terminal board 13. The acceleration sensor is connected with the data transmission pipe 7 of the data acquisition instrument, the acceleration sensor 23 is connected with the data acquisition instrument 10. The strain sensor is connected with the data transmission pipe 8 of the data acquisition instrument, the strain sensor 24 is connected with the data acquisition instrument 10.

[0074] Further, the hydraulic power system 3 is started by the hydraulic power system control cabinet 11, the impact actuator system 1 is controlled to run by the control computer 9, the impact load is applied to the impact actuator pad 15 by the impact actuator 14, at this time, the impact actuator system stand 16 serves as a displacement limiting structure, the impact actuator pad 15 only generates vertical displacement and transmits the vertical impact load, and finally the impact load is applied to the security evaluation device 25, so as to complete the application of the security evaluation load data.

[0075] Further, the acceleration response data is collected by the acceleration sensor 23, the strain response data is collected by the strain sensor 24, and the collected data is transmitted to the data acquisition instrument 10 for collection and storage by the data transmission pipe 7 of the acceleration sensor and the data acquisition instrument and the data transmission pipe 8 of the strain sensor and the data acquisition instrument.

[0076] Further, by comparing the acceleration response data collected by the acceleration sensor 23 with the security evaluation load data, the loading effectiveness of the security evaluation load data in the experiment process can be known. By comparing the strain response data collected by the strain sensor 24 with the material properties of the corresponding structure of the security evaluation device 25, whether the measured strain exceeds the strength limit of the corresponding structure material can be known, that is, whether the structure is damaged can be judged, and the security evaluation work of the unmanned underwater vehicle throwing and launching into water impact equipment is completed.

[0077] Embodiment 2: According to the method of step S1, a complete fluid-structure interaction numerical simulation model as shown in FIG. 2 is established, which includes: a safety evaluation device finite element model 26; a water area finite element model 27; an unmanned underwater vehicle outer shell structure finite element model 28; an unmanned underwater vehicle internal structural component finite element model 29; and a safety evaluation device mounting base finite element model 30. Figure 9

[0078] The fluid-structure interaction numerical simulation method is used to simulate the entire time course of the impact of the unmanned underwater vehicle when it is thrown and placed into water. The simulation calculation result is solved by using explicit dynamic integration, and the impact acceleration response data at the safety evaluation device mounting base finite element model 30 is calculated and extracted as the original impact input data. It should be noted that the angle of the non-water area finite element model, such as the safety evaluation device finite element model 26, the unmanned underwater vehicle outer shell structure finite element model 28, the unmanned underwater vehicle internal structural component finite element model 29, and the safety evaluation device mounting base finite element model 30, should be adjusted as needed before the simulation starts. In Embodiment 2 of the present application, the Z-axis is the vertical direction as shown in FIG. 2, and the non-water area structure moves in the negative direction of the Z-axis to impact the water. Figure 9

[0079] Further, according to the method of step S2, the original impact input data is processed to obtain intermediate impact load data. Further, according to the method of step S3, the intermediate impact load data is converted to obtain safety evaluation load data as shown in FIG. 3. It should be noted that the implementation of the impact data processing method described in steps S2 and S3 in Embodiment 2 of the present application is achieved by writing corresponding codes in MATLAB and running them in the control computer 9. Figure 3

[0080] Further, according to step S4, a safety evaluation finite element model as shown in FIG. 4 is established, which only needs to establish the safety evaluation device finite element model 26. The angle of the safety evaluation device finite element model 26 is adjusted as needed. In Embodiment 2 of the present application, the Z-axis is the vertical direction as shown in FIG. 4, and the safety evaluation load data is applied in the positive direction of the Z-axis. Figure 10 Figure 10

[0081] The safety evaluation load data is applied to the bottom of the safety evaluation device finite element model 26, and the stress data at the safety evaluation device finite element model 26 is extracted by using explicit dynamic integration, and compared with the strength limit of the corresponding actual material, so as to determine whether the structure is safe, and complete the safety evaluation work of the unmanned underwater vehicle throwing and placing into water impact equipment.

[0082] ​​​​​The embodiment 2 also compares the full time history fluid-structure coupling simulation method with the method of the application, which converts the original impact input data into safety evaluation load data and directly loads the safety evaluation device finite element model 26 at the bottom. The absolute value of the maximum stress of the same measuring point under the two methods is calculated. The working condition is set to 3 meters per second, vertically along the Z axis into the water, and the calculation core time of the fluid-structure coupling numerical calculation model is 600 core times, while the calculation core time of the method of the application, which converts the original impact input data into safety evaluation load data and directly loads the safety evaluation device finite element model 26 at the bottom, is 0.5 core times. The calculation efficiency is obviously improved, and at the same time, as Figure 11 As shown in Figure 12 The stress change time curve of the same position of the safety evaluation device side plate is extracted, and the results show that the absolute value of the maximum stress calculated by the two methods is 16Mpa and 14.9Mpa, respectively, with an error of about 6.9%. In summary, the effectiveness and the beneficial effects of less calculation resource occupation of the method of the application are embodied.

[0083] The application is suitable for multi-angle and multi-entry speed device safety evaluation work of the unmanned underwater vehicle under the water impact scene.

[0084] By comprehensively considering the signal characteristics of multi-zero drift, high noise and multi-modal aliasing of the water impact signal of the throwing and launching, the mean zero drift removal method, the wavelet denoising method and the EMD empirical mode decomposition method are integrated to form a denoising method for the original impact data of the unmanned underwater vehicle throwing and launching into water, improve the quality and effectiveness of the original impact data of the unmanned underwater vehicle throwing and launching into water, and only need to measure the acceleration response data of the safety evaluation device installation place to perform subsequent device safety evaluation work, which can support the body-mounted measurement of the data acquisition instrument. At the same time, the impact spectrum design spectrum method is used to extract important frequency domain information from complex impact time history response data, and the half-sine wave conversion method of the application is used to convert the time history sine impact load again, so as to load the impact actuating system. The physical experiment cost can be greatly reduced, and the multi-angle water impact test working condition can be supported. At the same time, the modeling workload and the calculation resource occupation in the safety evaluation numerical simulation can be reduced, which is suitable for popularization and has high engineering practical value.

[0085] In the above description, the sensors, controllers and control programs that may be involved, related classical algorithms and theories are prior art, and will not be described here.

[0086] The above disclosed embodiments of the present application are only used to help explain the present application. The embodiments do not describe all the details of the present application, and the present application is not limited to the specific embodiments described. According to the content of the present specification, many modifications and changes can be made. The present specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and utilize the present application.

Claims

1. An unmanned underwater vehicle launch impact data processing and equipment safety assessment system, comprising: The impact actuator system (1), the control and measurement system (2), the hydraulic power system (3) and the reverser assembly (4), wherein, The impact actuator system (1) includes an impact actuator system control transmission terminal block (13), an impact actuator (14), an impact actuator pad (15) and an impact actuator system column (16). The impact actuator system column (16) is vertically installed on the upper surface of the platform of the impact actuator system (1). The impact actuator pad (15) is limited on the impact actuator system column (16). The impact actuator (14) is installed on the inner side of the impact actuator system column (16). The output end of the impact actuator (14) is rigidly connected to the bottom of the impact actuator pad (15) upward. The impact actuator system control transmission terminal block (13) is arranged on the side of the platform of the impact actuator system (1) and is signal connected with the impact actuator (14); The reverser assembly (4) includes a reverser assembly bottom plate (17), a bolt (18), a reverser assembly axial rotation disc (19), a reverser assembly longitudinal rotation fixed side plate (20), a reverser assembly longitudinal rotation shaft (21) and a reverser assembly top mounting plate (22). The reverser assembly bottom plate (17) is fixedly installed on the upper surface of the impact actuator pad (15) through the bolt (18). The reverser assembly axial rotation disc (19) which can rotate around the vertical shaft is stacked on the upper surface of the reverser assembly bottom plate (17). After adjusting the rotation angle of the reverser assembly axial rotation disc (19), the position of the reverser assembly axial rotation disc (19) relative to the reverser assembly bottom plate (17) is fixed by penetrating the reverser assembly axial rotation disc (19) and the reverser assembly bottom plate (17) through the bolt (18) and the positioning hole reserved on the reverser assembly bottom plate (17). The reverser assembly longitudinal rotation fixed side plate (20) is fixedly connected to the upper surface of the reverser assembly axial rotation disc (19) through the bolt (18). The reverser assembly longitudinal rotation shaft (21) is arranged in the hollow part of the reverser assembly longitudinal rotation fixed side plate (20). After adjusting the rotation angle of the reverser assembly longitudinal rotation shaft (21), the position of the reverser assembly longitudinal rotation shaft (21) relative to the reverser assembly longitudinal rotation fixed side plate (20) is fixed by fixedly connecting the reverser assembly longitudinal rotation shaft (21) and the two sides of the reverser assembly longitudinal rotation fixed side plate (20) through the bolt (18). The outer peripheral surface of the reverser assembly longitudinal rotation shaft (21) is fixedly connected with the lower surface of the reverser assembly top mounting plate (22). The control and measurement system (2) comprises a control computer (9), a data acquisition instrument (10), a data transmission pipe (7) of the acceleration sensor and the data acquisition instrument, a data transmission pipe (8) of the strain sensor and the data acquisition instrument, an acceleration sensor (23), a strain sensor (24) and a safety evaluation device (25). The safety evaluation device (25) is fixedly installed on the upper surface of the commutator assembly top mounting plate (22) and synchronously maintains a set angle with the commutator assembly top mounting plate (22). The acceleration sensor (23) is fixedly installed on the upper surface of the commutator assembly top mounting plate (22) and is used for collecting acceleration response in the impact process. The strain sensor (24) is fixedly installed on the preset strain measurement point of the safety evaluation device (25) and is used for collecting structural strain response data. The data output end of the data acquisition instrument (10) is connected with the data input end of the control computer (9). The signal output end of the control computer (9) is connected with the control signal transmission pipe (6) of the impact actuator system and the impact actuator system control transmission terminal block (13). The signal output end of the acceleration sensor (23) is connected with the signal input end of the data acquisition instrument (10) through the data transmission pipe (7) of the acceleration sensor and the data acquisition instrument. The signal output end of the strain sensor (24) is connected with the signal input end of the data acquisition instrument (10) through the data transmission pipe (8) of the strain sensor and the data acquisition instrument. The hydraulic power system (3) comprises a hydraulic power system control cabinet (11), a hydraulic power system hydraulic pump (12) and a power transmission pipe (5) of the hydraulic power system and the impact actuator. The hydraulic power system control cabinet (11) is electrically connected with the hydraulic power system hydraulic pump (12). The hydraulic power system control cabinet (11) is used for starting and stopping and adjusting the output pressure and flow of the hydraulic power system hydraulic pump (12). The power output end of the hydraulic power system hydraulic pump (12) is connected with the power input end of the impact actuator (14) through the power transmission pipe (5) of the hydraulic power system and the impact actuator, so as to transmit hydraulic energy to the impact actuator (14) and drive it to output vertical impact load.

2. An unmanned underwater vehicle (UUV) water entry impact data processing and equipment safety assessment method based on the UUV water entry impact data processing and equipment safety assessment system of claim 1, wherein, The method comprises the following steps: S1, a physical experiment of throwing and placing is adopted or a numerical simulation method of fluid-solid coupling is adopted to simulate the whole process of throwing and placing into water, and acceleration data at the safety evaluation device mounting base of the unmanned underwater vehicle are measured as original impact input data; S2, based on the original impact input data, a data noise reduction processing method is adopted to reduce noise, and intermediate impact load data after noise reduction are obtained; S3, based on the intermediate impact load data, an impact response spectrum method is adopted to convert the intermediate impact load data into an impact design spectrum in the frequency domain. A half-sine wave conversion method is adopted to convert the impact design spectrum in the frequency domain into an impact time history load in the time domain, which is used as safety evaluation load data. S4, input the safety evaluation load data as a load, combine the device safety evaluation system to conduct physical experiments, or establish a safety evaluation device numerical model, load the safety evaluation load, and complete the unmanned underwater vehicle throwing and launching into water impact device safety evaluation work.

3. The method of claim 2, wherein the method further comprises: In S1, the throwing and launching physical experiment adopts the method of arranging the data measuring instrument in the body of the unmanned underwater vehicle inside the unmanned underwater vehicle; the throwing and launching numerical simulation adopts the method of establishing a complete water area and air area, establishing the unmanned underwater vehicle structure and safety evaluation device, and simulating the whole process of the unmanned underwater vehicle throwing and launching into water, and only needs to measure the acceleration data of the safety evaluation device installation base of the unmanned underwater vehicle as the original impact input data.

4. The method of claim 3, wherein, In S2, the data denoising method adopts the data processing logic of eliminating global offset first, then suppressing random noise, and finally decomposing characteristic components, including the following steps: S201, remove zero drift by using mean removal method to eliminate global offset; S202, use SURE criterion db4 wavelet threshold denoising to suppress random noise; S203, use EMD empirical mode decomposition method to decompose the complex impact signal into IMF with clear physical meaning, and select appropriate range of IMF components according to the modal characteristics of safety evaluation device and structural response signal characteristics, reconstruct the signal related to the core characteristics of impact signal to form intermediate impact load data.

5. The method of claim 4, wherein, In S3, the intermediate impact load data is converted into safety evaluation load data, including the following steps: S301, Fourier transform the denoised intermediate impact load data to get frequency domain response, and calculate the impact response spectrum and impact design spectrum by using improved recursive method; S302, according to the spectrum value of impact design spectrum, calculate the safety evaluation load data by using half sine wave conversion method.

6. The method of claim 5, wherein the method further comprises: In S3, the safety evaluation load data obtained after conversion is a combined half sine wave composed of two half sine waves, and after calculating the spectrum value of impact design spectrum based on S301, the parameters of safety evaluation load half sine wave are calculated by using the following half sine wave conversion method: S3021, the first half-sine wave is positive, and an amplitude of the first half-sine wave is , the spectral acceleration value of the design spectrum , ; S3022、the area of the first half-sine wave is related to the spectral velocity value of the design spectrum , ; S3023, the half cycle time length of the first half-sine wave is , ; S3024, the second half-sine wave is negative, and an amplitude thereof is , ; S3025、the area of the second half-sine wave is related to the spectral velocity value of the design spectrum , ; S3026, the half cycle time length of the second half-sine wave is , the spectral shift value of the design spectrum , .

7. The method of claim 2, wherein, In S4, combined with the safety evaluation load data obtained in S3, the unmanned underwater vehicle throwing and launching into water impact device safety evaluation is carried out by using the following physical experiment method, including the following steps: S401, check the component integrity and functional state of the impact actuator (1), control and measurement system (2), hydraulic power system (3) and commutator assembly (4), ensure that the impact actuator (14), acceleration sensor (23), strain sensor (24), hydraulic power system and impact actuator power transmission pipe (5), control computer and impact actuator control signal transmission pipe (6), acceleration sensor and data acquisition instrument data transmission pipe (7), strain sensor and data acquisition instrument data transmission pipe (8) are fault-free; import the safety evaluation load data obtained in S3 into the control computer (9), and complete the data format adaptation and load parameter presetting; S402, the safety evaluation device (25) is fixedly installed on the upper surface of the commutator assembly top mounting plate (22) through the bolt (18), ensuring firm installation without loosening; then the acceleration sensor (23) is fixed on the upper surface of the commutator assembly top mounting plate (22), and the strain sensor (24) is pasted to the preset strain measurement point of the safety evaluation device (25); S403, loosen the bolt (18) connecting the commutator assembly axial rotation disc (19) and the commutator assembly bottom plate (17), rotate the commutator assembly axial rotation disc (19) around the vertical shaft to the target horizontal angle to simulate the horizontal entry angle of the unmanned underwater vehicle, then pass in the bolt (18) and tighten it after aligning the reserved positioning holes of the two, and fix the axial angle; Loosen the fixing part of the commutator assembly longitudinal rotation shaft (21) and the commutator assembly longitudinal rotation fixed side plate (20), rotate the commutator assembly longitudinal rotation shaft (21) to drive the commutator assembly top mounting plate (22) and the safety evaluation device (25) around the longitudinal shaft to the target longitudinal angle to simulate the pitch entry angle of the unmanned underwater vehicle, and then fix the connection between the commutator assembly longitudinal rotation shaft (21) and the commutator assembly longitudinal rotation fixed side plate (20) after adjustment, ensuring angle locking; S404, the power output end of the hydraulic power system hydraulic pump (12) is communicated with the power input end of the impact actuator (14) through the power transmission pipe (5) of the hydraulic power system and the impact actuator, ensuring that the hydraulic transmission has no leakage; the signal output end of the control computer (9) is connected with the impact actuation system control transmission terminal block (13) through the control signal transmission pipe (6) of the control computer and the impact actuation system, realizing bidirectional transmission of control instructions; the signal output end of the acceleration sensor (23) and the strain sensor (24) is connected with the corresponding channel interface of the data acquisition instrument (10) through the data transmission pipe (7) of the acceleration sensor and the data acquisition instrument and the data transmission pipe (8) of the strain sensor and the data acquisition instrument; start the control computer (9) and the data acquisition instrument (10), debug the data transmission link, and ensure that the sensor data can be normally collected and stored; S405, start the hydraulic power system hydraulic pump (12) through the hydraulic power system control cabinet (11), and adjust the output pressure and flow according to the preset parameters; send the control instruction by the control computer (9), instruct the impact actuator (14) to work through the impact actuation system control transmission terminal block (13), convert the hydraulic energy into vertical mechanical impact load, and transmit the load to the safety evaluation device (25) through the impact actuation pad (15) and the commutator assembly (4); during the loading process, the impact actuation pad (15) is limited to only vertical displacement through the impact actuation system stand (16), avoiding additional direction load interference. S406, during the whole process of impact load loading, the acceleration sensor (23) is used to collect the impact acceleration response data in real time, and the strain sensor (24) is used to collect the structural strain response data of the safety evaluation equipment (25) in real time. The collected data is transmitted to the data acquisition instrument (10) for storage through the data transmission pipe (7) of the acceleration sensor and the data acquisition instrument and the data transmission pipe (8) of the strain sensor and the data acquisition instrument, and is fed back to the control computer (9) synchronously. S407, in the control computer (9), the preset safety evaluation load data is compared with the actual acceleration response data of the upper surface of the commutator assembly top mounting plate (22) collected by the acceleration sensor (23), it is confirmed that the collected actual acceleration response data of the upper surface of the commutator assembly top mounting plate (22) is consistent with the preset safety evaluation load data, and the loading effectiveness is determined; the strain data stored in the data acquisition instrument (10) is extracted and compared with the material strength limit of the corresponding structure of the safety evaluation equipment (25), if the measured strain does not exceed the material strength limit, it is determined that the equipment is safe in the water entry impact scene at this angle; if it exceeds, it is determined that the equipment has damage risk, and the safety evaluation for single working condition is completed; S408, if other water entry angles or impact strength working conditions need to be evaluated, repeat S403-407, adjust the angle parameters of the commutator assembly (4) in turn, reload the corresponding working condition safety evaluation load data and collect the response data, until the safety evaluation of all preset working conditions is completed.

8. The method of USU launch and deployment into water impact data processing and equipment safety assessment of claim 2, wherein, In S4, the safety evaluation load data obtained in S3 is used to perform the safety evaluation of the unmanned underwater vehicle throwing and launching water entry impact equipment by numerical simulation, including: establishing a finite element model of the safety evaluation equipment and adjusting the angle as needed, inputting the safety evaluation load data obtained in S3 as load to the numerical simulation for load application, and realizing the safety evaluation under the multi-angle water entry impact scene.

9. A storage medium having stored thereon a computer program, characterized in that The computer program is executed by the processor to realize the unmanned underwater vehicle throwing and launching water entry impact data processing and equipment safety evaluation method of any one of claims 2-8.

10. A computer device, comprising: Including: Memory, processor and computer program stored on the memory and executable on the processor, the processor executes the program to realize the unmanned underwater vehicle throwing and launching water entry impact data processing and equipment safety evaluation method of any one of claims 2-8.

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