CN112706892B - Device and method for testing controllable-speed free floating of underwater vehicle model - Google Patents
Device and method for testing controllable-speed free floating of underwater vehicle model Download PDFInfo
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- CN112706892B CN112706892B CN202011468638.XA CN202011468638A CN112706892B CN 112706892 B CN112706892 B CN 112706892B CN 202011468638 A CN202011468638 A CN 202011468638A CN 112706892 B CN112706892 B CN 112706892B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M10/00—Hydrodynamic testing; Arrangements in or on ship-testing tanks or water tunnels
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Abstract
The invention belongs to the technical field of hydrodynamic force experiment simulation systems, and particularly relates to a device and a method for testing controllable speed free floating of a model of an underwater vehicle. The test device comprises an underwater support (6), a guide rail device (5), a trolley platform (4), a front camera (10), a first sensor, a second sensor and a third sensor. The test device and the test method are practical and feasible, are simple to operate, have reliable test results and are wide in application range.
Description
Technical Field
The invention belongs to the technical field of hydrodynamic force experiment simulation systems, and particularly relates to a device and a method for testing controllable speed free floating of a model of an underwater vehicle.
Background
The requirement of the application range of the existing underwater vehicle is remarkably improved, the requirement of emergent quick floating is gradually improved when the underwater vehicle encounters a fault, and higher requirements are provided for the design of the stability and the quick performance of the motion attitude in the quick floating process. The floating test of the underwater vehicle is used as an important means for optimizing the appearance design and primarily analyzing the safety performance of the underwater vehicle, and plays an important reference role in the safety emergency floating verification of the underwater vehicle. In order to verify the design of an underwater vehicle with excellent floating property, at present, zero-navigational-speed underwater free floating simulation verification or numerical simulation analysis is mainly carried out through an underwater scaling model test, and due to the lack of a free floating test method with navigational speed, the dynamic motion property of the model is difficult to accurately simulate, and the reliability of a test result is low. At present, no practical method for testing the free floating of the underwater vehicle model exists.
Disclosure of Invention
The purpose of the invention is as follows: the method is practical, feasible, simple to operate, reliable in test result and wide in application range.
The technical scheme of the invention is as follows: on one hand, the test device for the controllable speed free floating of the underwater vehicle model comprises an underwater bracket 6, a guide rail device 5, a trolley platform 4, a front camera 10, a first sensor, a second sensor and a third sensor;
the guide rail device 5 is fixedly arranged below the underwater bracket 6; the underwater vehicle model 1 is fixedly arranged on a trolley platform 4, and the trolley platform 4 is arranged on a guide rail device 5 in a sliding way;
the front camera is arranged on the guide rail device 5, is positioned in front of the underwater vehicle model and is used for acquiring the motion attitude and track of the underwater vehicle model after floating;
the first sensor, the second sensor and the third sensor are installed on the underwater vehicle model and are respectively used for acquiring the motion speed, the acceleration parameters and the attitude angle of the underwater vehicle model.
Further, the testing device also comprises a side camera 13, wherein the side camera is positioned on the side of the underwater vehicle model and is arranged on the underwater bracket 6; the side camera is used for moving images of the underwater vehicle model.
Further, the underwater vehicle model is mounted on the guide rail device 5 through a release 13;
and after the speed of the underwater vehicle model reaches the set speed, the release 3 acts to separate the underwater vehicle model 1 from the trolley platform 4 and float up to the water surface freely.
Furthermore, the release 3 is connected with the guide rail device 5 in an installing mode, and the underwater vehicle model is fixed with the release 3 in a tensioning mode through a steel wire rope.
Further, the front camera 10 is fixedly mounted on the rail device 5 through a support rod 11, and the front camera 10 is located in front of the underwater vehicle model.
Further, the first sensor is a speed sensor 12, the second sensor is an overload sensor 8, and the third sensor is a tilt sensor 7.
In another aspect, a method for testing the model of the underwater vehicle with controllable navigational speed and free floating is provided, which uses the testing device as described above, and the method includes:
step 1: the front camera 10 is mounted on the rail device by a bracket 11; adjusting the height and the focal length of the front camera and the side camera, and respectively shooting the moving posture and the track of the underwater vehicle model after floating up and the moving image of the underwater vehicle model on the guide rail;
step 2: when the underwater trailer drags the trolley platform 4 to move on the track of the guide rail device 5, the towed underwater vehicle model 1 moves underwater; when the trolley platform 4 accelerates to reach the running speed required by the test, the release 3 on the trolley platform 4 acts to separate the underwater vehicle model 1 from the trolley platform 4 and float to the water surface freely;
correspondingly and respectively recording a speed change value, an overload change value and a model attitude angle in the floating motion process of the underwater vehicle model by using a speed sensor 12, an overload sensor 8 and an inclination sensor 7;
and comparing the test data recorded by the test with expected data, judging the validity and reliability of the result, analyzing and processing abnormal data, and giving a processing result.
Further, the method comprises: the central axis of the lens of the front camera 10 is parallel to the longitudinal-middle section of the underwater model and is parallel to the water surface; the front camera 10 and the side camera 13 are installed at the same height from the water surface.
The invention has the technical effects that: the underwater vehicle model navigational speed controllable free floating test method provided by the invention provides powerful support for future hydrodynamic tests, and expands the test modes and test selectable platforms of the hydrodynamic tests. The method for testing the controllable-navigational-speed free floating of the underwater vehicle model is used for testing and analyzing the stability and the rapid performance of the movement attitude of the underwater vehicle model in the rapid floating process.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the system apparatus of the present invention.
Detailed Description
Example 1
Fig. 1 is a schematic diagram of the overall structure of a system device of the present invention, and as shown in fig. 1, the present embodiment provides a controllable speed free floating test device for a model of an underwater vehicle, where the test device includes an underwater support 6, a guide rail device 5, a trolley platform 4, a camera, a speed sensor 12, an overload sensor 8, an inclination sensor 7, a front camera 10, and a side camera 13.
Wherein, the guide rail device 5 is fixedly arranged below the underwater bracket 6; the underwater vehicle model is fixedly arranged on a trolley platform 4, and the trolley platform 4 is arranged on a guide rail device 5 in a sliding way. The front camera 10 is fixedly arranged on the guide rail device 5 through a support rod 11, is positioned in front of the underwater vehicle model, and is used for acquiring the motion attitude and track of the model after floating. The side camera 13 is used to acquire a moving image of the model while moving along the guide rail. The speed sensor 12, the overload sensor 8 and the inclination angle sensor 7 are installed on the underwater vehicle model and are respectively used for acquiring the motion speed, the acceleration parameters and the attitude angle of the underwater vehicle model.
In this embodiment, the underwater vehicle model is mounted on the guide rail device 5 through the release 13; and after the speed of the underwater vehicle model reaches the set speed, the release 3 acts to separate the underwater vehicle model 1 from the trolley platform 4 and float up to the water surface freely. Specifically, the release 3 is connected with the guide rail device 5 in an installing mode, and the underwater vehicle model is fixed with the release 3 in a tensioning mode through a steel wire rope.
Example 2
The embodiment provides a test method for controlling free floating of a model of an underwater vehicle at a navigational speed, which specifically comprises the following steps:
step 1: model installation
The underwater vehicle model 1 is placed on a trolley platform 4 through a U-shaped bracket device 2 and is tensioned and fixed with a release 3 on the trolley platform 4 through a steel wire rope 9. The trolley platform 4 is fixed on the underwater support 6 through the guide rail device 5 and can move in the linear direction of the guide rail device 5.
Step 2: test equipment installation
i) Mounting a front camera and a side camera by adopting a bracket, and adjusting the height and the focal length of the cameras so as to shoot the moving posture and the track of the underwater vehicle model after floating upwards and the moving image of the underwater vehicle model on the guide rail;
ii) the front camera 10 should be located in front of the model, and the central axis of the lens should be parallel to the longitudinal section of the model and parallel to the water surface, the side camera 13 should be located at one side of the side surface of the model, and the connecting line of the central axis of the lens should be perpendicular to the longitudinal section of the model, and the relevant measurement parameters of each camera are recorded; and the camera synchronous photographing control device can keep the front and side two cameras to basically photograph synchronously.
And 3, step 3: controllable free floating test of underwater vehicle model
After the underwater model and the test equipment are installed, the trolley platform 4 drags the underwater vehicle model 1 to move underwater when moving on the track of the guide rail device 5, after the trolley platform 4 is accelerated to reach the running speed required by the test, the running speed of the trailer is continuously kept for about 1 second, and the release 3 on the trolley platform 4 acts, so that the underwater vehicle model 1 is separated from the trolley platform 4 and freely floats to the water surface. The sensor records the attitude angle, the speed change value and the overload change value of the model in the floating motion process. And keeping the running speed of the trailer for about 1 second so as to separate the underwater vehicle model in a constant speed state.
And judging the effectiveness of the collected original data, eliminating failure data, comparing and analyzing the test data with expected data, primarily judging the effectiveness and reliability of the result, analyzing and processing abnormal data, and giving a processing result.
Claims (6)
1. A test device for controlling the navigational speed of a model of an underwater vehicle to float freely is characterized by comprising an underwater bracket (6), a guide rail device (5), a trolley platform (4), a front camera (10), a first sensor, a second sensor and a third sensor;
the guide rail device (5) is fixedly arranged below the underwater bracket (6); the trolley platform (4) is slidably arranged on the guide rail device (5); the underwater vehicle model (1) is placed on the trolley platform (4) through the U-shaped bracket device (2) and is tensioned and fixed with the tripper (3) on the trolley platform (4) through a steel wire rope (9);
after the speed of the underwater vehicle model reaches a set speed, the release (3) acts to separate the underwater vehicle model (1) from the trolley platform (4) and float to the water surface freely;
the front camera is arranged on the guide rail device (5), is positioned in front of the underwater vehicle model and is used for acquiring the motion attitude and track of the underwater vehicle model after floating;
the first sensor, the second sensor and the third sensor are installed on the underwater vehicle model and are respectively used for acquiring the motion speed, the acceleration parameters and the attitude angle of the underwater vehicle model.
2. The test rig according to claim 1, characterized in that it further comprises a side camera (13) located at the side of the model of the underwater vehicle and mounted on the underwater support (6); the side camera is used for acquiring a motion image of the underwater vehicle model.
3. Test rig according to claim 1, characterized in that the front camera (10) is fixedly mounted to the rail arrangement (5) by means of a strut (11), the front camera (10) being located in front of the model of the underwater vehicle.
4. Testing device according to claim 1, characterized in that the first sensor is a speed sensor (12), the second sensor is an overload sensor (8) and the third sensor is a tilt sensor (7).
5. A test method for controlling the speed of a model of a submersible vehicle to freely float upwards by using the test device as claimed in any one of claims 1 to 4, characterized in that the method comprises the following steps:
step 1: the front camera (10) is arranged on the guide rail device through a bracket (11); adjusting the height and the focal length of the front camera and the side camera, and respectively shooting the moving posture and the track of the underwater vehicle model after floating up and the moving image of the underwater vehicle model on the guide rail;
step 2: when the underwater trailer drags the trolley platform (4) to move on the track of the guide rail device (5), the towed underwater vehicle model (1) moves underwater; when the trolley platform (4) accelerates to reach the running speed required by the test, the release (3) on the trolley platform (4) acts to separate the underwater vehicle model (1) from the trolley platform (4) and float up to the water surface freely;
correspondingly and respectively recording a speed change value, an overload change value and a model attitude angle of the underwater vehicle model in the floating motion process by using a speed sensor (12), an overload sensor (8) and an inclination sensor (7);
and comparing the test data recorded by the test with expected data, judging the validity and reliability of the result, analyzing and processing abnormal data, and giving a processing result.
6. The method for testing the model of the underwater vehicle with controllable navigational speed and free floating up according to claim 5, further comprising: the central axis of a lens of the front camera (10) is parallel to the longitudinal-middle section of the underwater model and is parallel to the water surface; the front camera (10) and the side camera (13) are installed at the same height from the water surface.
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| CN202011468638.XA CN112706892B (en) | 2020-12-11 | 2020-12-11 | Device and method for testing controllable-speed free floating of underwater vehicle model |
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| CN115140265A (en) * | 2022-07-27 | 2022-10-04 | 中国船舶重工集团公司第七0四研究所 | Limit speed control wheel rail system for limited-area underwater on-orbit navigation comprehensive test |
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| CN103837320B (en) * | 2013-11-18 | 2016-01-20 | 中国特种飞行器研究所 | A kind of water surface flying device splash list hull model basin test method |
| CN106184662B (en) * | 2016-08-05 | 2018-05-11 | 中国船舶重工集团公司第七一九研究所 | Noise high-speed floating acoustic experiment device in a kind of pond |
| CN106644388B (en) * | 2017-03-03 | 2023-03-14 | 中国工程物理研究院总体工程研究所 | Test device and test method for deep water floating of folding floating bag of unmanned underwater vehicle |
| CN109377835B (en) * | 2018-10-23 | 2020-11-03 | 哈尔滨工程大学 | Model test device for simulating submarine ice breaking |
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