CN112710420B - Underwater robot self-propulsion efficiency testing method and device - Google Patents
Underwater robot self-propulsion efficiency testing method and device Download PDFInfo
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/26—Devices for measuring efficiency, i.e. the ratio of power output to power input
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- G—PHYSICS
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/13—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the tractive or propulsive power of vehicles
- G01L5/133—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the tractive or propulsive power of vehicles for measuring thrust of propulsive devices, e.g. of propellers
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Abstract
The invention discloses a method and a device for testing the self-propulsion efficiency of an underwater robot, which are used for fixing the underwater robot to be tested in water flow with known water flow speed through a clamp, acquiring the stress values of the underwater robot to be tested at different water flow speeds, simultaneously acquiring the stress values of the clamp at different water flow speeds for data compensation, and obtaining a speed-resultant force curve by numerical fitting so as to determine the self-propulsion speed of the underwater robot to be tested, thereby realizing the estimation of the self-propulsion speed under simplified experimental conditions, avoiding complex self-propulsion test experiments, then acquiring the thrust value of the underwater robot to be tested under the condition of no flow speed, and obtaining the propulsion power under the self-propulsion state by combining two experimental results so as to calculate the self-propulsion efficiency. The test efficiency is improved, and a novel research idea is provided for researching the propulsion performance of the underwater robot.
Description
Technical Field
The invention belongs to the technical field of underwater bionic robots, and particularly relates to a method and a device for testing self-propulsion efficiency of an underwater robot.
Background
The propulsion efficiency of the underwater robot is an important basis for judging the underwater comprehensive performance of the underwater robot and is an important index for measuring the energy conversion rate of the robot, the underwater robot with high propulsion efficiency has a larger operation range, longer endurance time and more task loads, and the underwater robot has important significance for ocean resource detection, water area investigation and monitoring and deep sea operation.
The experimental test of the propulsion efficiency of the underwater robot is an important link in research, and the comprehensive performance of the underwater robot can be more comprehensively evaluated by a researcher through simple experimental conditions, an efficient test method and accurate test results. The existing underwater robot propulsion performance test mainly comprises a traction method and a self-propulsion method, wherein the traction method and the self-propulsion method are mainly used for fixing the underwater robot in an experimental water pool through a fixed truss, and simulating the relative motion between the underwater robot and water flow by applying uniform incoming flows with different flow rates so as to test the propulsion performance of the underwater robot. The self-propelled method is that the underwater robot is firstly enabled to reach a self-propelled state, and a performance test is carried out under the state. The self-propelled state is a uniform motion state that the underwater robot uses the propulsion device to start from a standstill and to undergo accelerated motion and finally arrives. Under the self-propelled state, the thrust of the underwater robot is approximately equal to the resistance, namely the resultant external force is approximately equal to zero, so that the experimental test difficulty is increased, and the thrust and the resistance can hardly be separated under the condition that the resultant external force is zero, so that the effective propulsion power is difficult to measure. Meanwhile, the self-propelled test also puts forward higher requirements on an experimental site and depends on equipment such as a low-friction guide rail and a closed-loop driving sliding table.
Disclosure of Invention
The invention aims to provide a method and a device for testing the self-propulsion efficiency of an underwater robot, so as to overcome the defects of the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a self-propelled efficiency testing method for an underwater robot comprises the following steps:
s1, fixing the underwater robot to be detected in water flow with known water flow speed through a clamp, starting the underwater robot to be detected to propel at the known water flow speed, and detecting the stress value of the underwater robot to be detected at the moment, wherein the propelling direction of the underwater robot to be detected is opposite to the water flow direction; changing the water flow speed, and continuously obtaining the stress values of the underwater robot to be tested at different water flow speeds;
s2, acquiring a hydrostatic thrust value of the underwater robot to be detected in a hydrostatic state;
s3, detecting stress values of the clamp at different water flow speeds, taking the sum of the stress value of the clamp at the same water flow speed and the stress value of the underwater robot to be measured as the final stress value of the robot to be measured, and performing data fitting on the final stress value and the corresponding water flow speed by adopting a least square method to obtain a speed-resultant force curve, wherein the intersection point of the speed-resultant force curve and a horizontal coordinate is the final speed of the underwater robot to be measured in a self-propelled state;
s4, obtaining the self-propulsion efficiency of the underwater robot to be tested according to the obtained hydrostatic thrust value, the final speed in the self-propulsion state and the input power of the underwater robot to be tested:
self-propulsion efficiency is the hydrostatic thrust value and the final speed/input power in the self-propulsion state is 100%.
Furthermore, the estimated self-propelled speed is used as the water flow speed, and the interval between the estimated self-propelled speed and the water flow speed is used as the interval between the estimated self-propelled speed and the water flow speed.
Further, the water flow speed interval is 0.5U ' -1.4U ', and U ' is the estimated self-propulsion speed.
And further, selecting discrete values corresponding to the water flow speed to detect the stress value of the underwater machine to be detected in the water flow speed interval.
Further, the continuous water velocity application range is divided into a plurality of discrete values, each discrete value defining a water velocity, in units of separation at a speed that is an order of magnitude lower than the estimated self-propulsion speed.
And further, enabling the underwater robot to be detected to be in a still water state, starting the underwater robot to be detected to carry out self-propulsion, and acquiring a still water thrust value generated by the underwater robot to be detected through a force transducer.
Further, the underwater robot to be tested is stressed in water flow to be supplemented:
FR＝FT-FD-F′
wherein, FTPropulsive force, F, generated for the underwater robot to be measuredDIs the fluid resistance to which the underwater robot to be tested is subjected, FRThe force applied by the clamp to the underwater robot to be tested, F', represents the fluid resistance to which the part of the clamp in the water is subjected.
Further, a quadratic polynomial function which is the best in fitting of the discrete points is obtained through a least square method, and the polynomial function is as follows:
f(u)＝au4+bu3+cu2+du+e
according to the data after the clamp is subjected to force compensation, the following data can be written:
f(U1)＝F1，f(U2)＝F2...f(U10)＝F10.
the polynomial coefficients to be solved form a column vector
x＝[a b c d e]T
The abbreviation is as follows:
Ax＝m
the equation can be solved by least squares, and the least squares solution result is:
after the least square coefficient is determined, the coordinate of the intersection point of the polynomial and the abscissa can be obtained, and the coordinate value is the self-propulsion speed U of the underwater robot to be measured0。
Furthermore, the input power P ═ T omega of the underwater robot is measured
T is the rotating torque of the motor driving shaft, and omega is the rotating speed of the motor driving shaft;
the self-propelled efficiency of the underwater robot to be tested is as follows:
P0still water produced for underwater robot to be measuredA thrust value.
A self-propelled efficiency testing device of an underwater robot comprises a testing water tank, wherein a fixed support is fixed at the upper end of the testing water tank, a pulling pressure sensor is fixedly connected onto the fixed support through a sensor connecting rod, a clamp used for clamping the underwater robot to be tested is fixed onto the pulling pressure sensor, and the pulling pressure sensor is fixed onto the sensor connecting rod through a screw; the pull pressure sensor is provided with a threaded hole which is in threaded connection with the clamp.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention relates to a method for testing self-propulsion efficiency of an underwater robot, which comprises the steps of fixing the underwater robot to be tested in water flow with known water flow speed through a clamp, starting the underwater robot to be tested to propel at the known water flow speed, and detecting the stress value of the underwater robot to be tested at the moment, wherein the propelling direction of the underwater robot to be tested is opposite to the water flow direction; changing the water flow speed, continuously obtaining the stress values of the underwater robot to be tested at different water flow speeds, obtaining the stress values at different water flow speeds by changing the water flow speed, meanwhile, the stress values of the clamp at different water flow speeds are obtained for data compensation, a speed-resultant force curve is obtained by numerical fitting, thereby determining the self-propulsion speed of the underwater robot to be tested, realizing the pre-estimation of the self-propulsion speed under the simplified experimental condition, avoiding the complex self-propulsion test experiment, then obtaining the thrust value of the hydrostatic thrust of the underwater robot to be tested under the condition of no flow velocity, combining two experimental results to obtain the thrust power under the self-thrust state, the experimental method provided by the invention can simplify the self-propulsion efficiency test experiment of the underwater robot, improve the test efficiency and provide a brand-new research idea for researching the propulsion performance of the underwater robot.
Furthermore, in the interval of the water velocity, the discrete value is selected to correspond to the water velocity to detect the stress value of the underwater machine to be detected, so that the accuracy of the water velocity and the stress value can be effectively simplified, the data change caused by continuous change is avoided, and meanwhile, the experiment resource can be solved.
Furthermore, the speed which is lower than the estimated self-propelled speed by one order of magnitude is taken as a separation unit, the continuous water flow speed application range is divided into a plurality of discrete values, each discrete value determines one water flow speed, and the self-propelled speed can be effectively and quickly determined by adopting the estimation method and combining a data fitting method.
The self-propulsion efficiency testing device of the underwater robot can determine the positions and stress conditions of a clamp and the underwater robot to be tested, starts the underwater robot to be tested to propel at a known water flow speed, detects the stress value of the underwater robot to be tested at the moment, and ensures that the propelling direction of the underwater robot to be tested is opposite to the water flow direction; the underwater robot self-propulsion efficiency testing device has the advantages that the water flow speed is changed, the stress value of the underwater robot to be tested under different water flow speeds is continuously obtained, the stress value under different water flow speeds is obtained in a mode of changing the water flow speed, meanwhile, the stress value of the clamp under different water flow speeds is obtained, data compensation is conducted, the structure is simple, the self-propulsion efficiency testing experiment of the underwater robot can be simplified, and the testing efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of an experimental test platform according to an embodiment of the present invention.
FIG. 2 is a schematic view of a load cell assembly according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of an experimental test of the underwater robot in the embodiment of the invention.
In the figure, 1, test pool; 2. fixing a bracket; 3. a sensor connecting rod; 4. a pull pressure sensor; 5. a clamp; 6. the underwater robot to be tested.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
as shown in fig. 1 to 3, the underwater robot self-propulsion efficiency testing device comprises a test water tank 1, wherein a fixed support 2 is fixed at the upper end of the test water tank 1, a pressure sensor 4 is fixedly connected to the fixed support 2 through a sensor connecting rod 3, and a clamp 5 used for clamping an underwater robot to be tested is fixed on the pressure sensor 4. The fixed bracket 2 is fixed on the test pool 1 through bolts. The water flow speed in the test water tank 1 can be controlled and measured. The tension and pressure sensor 4 can be used for testing pressure or tension; the pulling pressure sensor 4 is fixed on the sensor connecting rod 3 through a screw; as shown in fig. 2, the tension/pressure sensor 4 is provided with a threaded hole, and is connected with the clamp 5 through a thread.
A self-propelled efficiency testing method for an underwater robot comprises the following steps:
s1, fixing the underwater robot to be detected in water flow with known water flow speed through a clamp, starting the underwater robot to be detected to propel at the known water flow speed, and detecting the stress value of the underwater robot to be detected at the moment, wherein the propelling direction of the underwater robot to be detected is opposite to the water flow direction; changing the water flow speed, and continuously obtaining the stress values of the underwater robot to be tested at different water flow speeds;
specifically, the estimated self-propelled speed is adopted as the water flow speed, the estimated self-propelled speed is used as the water flow speed, the self-propelled speed lower than the estimated self-propelled speed and the self-propelled speed higher than the estimated self-propelled speed are used as the water flow speed interval, and specifically, the water flow speed interval is 0.5U ' -1.4U ', and U ' is the estimated self-propelled speed.
In the interval of the water velocity, the discrete value is selected to correspond to the water velocity to detect the stress value of the underwater machine to be detected, so that the experiment times are reduced, the water velocity and the stress value are stable, and the data are accurate and controllable.
Estimating the self-propulsion speed which can be reached by the underwater robot to be detected to obtain estimated self-propulsion speed, determining the water flow speed application range, dividing the continuous water flow speed application range into a plurality of discrete values by taking the speed which is one order of magnitude lower than the estimated self-propulsion speed as a separation unit according to the determined water flow speed range, determining one water flow speed according to each discrete value according to the water flow speed determined by the discrete values, carrying out a force measurement experiment, recording the value obtained by a force measurement sensor on a clamp, wherein the value obtained by the force measurement sensor is the resultant force borne by the underwater robot to be detected at the moment.
S2, acquiring a self-propelled stress value of the underwater robot to be tested in a still water state, namely the still water thrust value of the underwater robot to be tested;
and (3) enabling the underwater robot to be detected to be in a still water state, carrying out a force measurement experiment, starting the underwater robot to be detected to carry out self-propulsion, recording a numerical value obtained by a force measurement sensor on the clamp, wherein the numerical value obtained by the force measurement sensor is a still water thrust value generated by the underwater robot to be detected.
S3, detecting stress values of the clamp at different water flow speeds, taking the sum of the stress value of the clamp at the same water flow speed and the stress value of the underwater robot to be measured as the final stress value of the robot to be measured, and performing data fitting on the final stress value and the corresponding water flow speed by adopting a least square method to obtain a speed-resultant force curve, wherein the intersection point of the speed-resultant force curve and a horizontal coordinate is the final speed of the underwater robot to be measured in a self-propelled state;
and (2) only detecting the stress values of the clamp at different water flow speeds, determining the water flow speed according to the water flow speed interval divided in the step S1, determining a water flow speed according to each discrete value, performing a force measurement experiment, recording the value obtained by the force measurement sensor, wherein the tested stress value data is the value of the action of the clamp on the received water flow, and the method is mainly used for compensating the resultant force of the underwater robot to be tested in the step (1).
Specifically, the obtained stress values of the underwater robot to be tested at different water flow speeds and the stress values of the clamp at the same water flow speed are added to draw a data discrete point diagram, a least square method is adopted for data fitting to obtain a fitting curve which is a speed-resultant force curve, the speed-resultant force curve must pass through an abscissa axis, therefore, the intersection point of the curve and the abscissa axis is obtained, namely, the underwater robot propulsion test is carried out at a fixed position at the current flow speed, the resultant force of the curve is zero, and therefore, the flow speed at the point can represent the final speed of the underwater robot in a self-propulsion state.
S4, obtaining the self-propulsion efficiency of the underwater robot to be tested according to the obtained hydrostatic thrust value, the final speed in the self-propulsion state and the input power of the underwater robot to be tested:
self-propulsion efficiency is the hydrostatic thrust value and the final speed/input power in the self-propulsion state is 100%.
The invention has no special requirements on the type and the size of the water pool adopted by the known water flow speed, the water pool has the function of quantitatively controlling the water flow speed, and the water pool meeting the test conditions comprises a circulating water tank and a DPIV platform.
The experiment needs to test the resultant force of the underwater robot under different flow rates, so that the flow rate test range needs to be estimated firstly; if the flow rate is too high, the propulsion force generated by the underwater robot is not sufficient to overcome the resistance generated by the fluid, and therefore, the load cell test appears as a pressure, which is negative. If the flow rate is too low, the propulsion force generated by the underwater robot will be greater than the resistance force generated by the fluid, and therefore, the load cell test will show a positive force as a pull force. The water flow speed range is set as [ U ]L，UU]It should be satisfied that there is a flow rate U0，U0In the range [ UL，UU]And at a flow rate U0And then, the measurement value of the sensor is 0 at the moment, namely the resultant force borne by the underwater robot to be tested is zero, and the underwater robot to be tested is stressed in the water flow direction. At this time, the thrust generated by the underwater robot to be measured is approximately equal to the resistance generated by the fluid, so that no force is applied to the clamp. And the flow rate U at this time0The self-propelled speed of the underwater robot is called, namely the speed of the underwater robot in the constant-speed motion finally achieved in the self-propelled state under the actual working condition.
Water flow speed test range UL，UU]Setting the self-propulsion speed which the robot can possibly reach under the water to be tested as U', namely estimating the self-propulsion speed, wherein the test range of the flow velocity of the water flow is as follows:
UL＝0.5·U′，UU＝1.4·U′
in this case, the range [ U ] is set in units of 0.1. UL，UU]The method comprises the steps of dividing the underwater robot into 10 parts, wherein 10 discrete values represent 10 tests, namely changing the flow rate of water flow, and testing and recording the stress values of the underwater robot to be tested at different flow rates by using a force sensor.
And (2) enabling the underwater robot to be tested to be in a still water state, starting the underwater robot to be tested, carrying out a force measurement experiment, recording a numerical value obtained by the force measurement sensor, wherein no flow velocity exists, no fluid resistance exists, and the underwater robot to be tested only receives the propelling force generated by the underwater robot to be tested at the moment, so that the opposite acting force generated on the clamp is equal to the propelling force, and the numerical value obtained by the force measurement sensor is the still water propelling force value generated by the underwater robot to be tested.
In the test experiment, a part of the clamp is in water, and under the action of the water flow, the fluid resistance is generated. The resistance experienced by the underwater robot to be tested is overestimated. The stress state of the underwater robot to be tested can be expressed as follows:
FR＝FT-FD-F′
wherein, FTRepresenting the propulsive force generated by the underwater robot to be measured, FDRepresenting the fluid resistance to which the underwater robot to be tested is subjected, FRThe acting force representing the acting force applied to the underwater robot to be measured by the clamp, namely the force bearing value obtained by the force measuring sensor, is used for maintaining the motion balance of the fixed position, and the acting force of the clamp is also equal to the measured value of the sensor. F' represents the fluid resistance experienced by the part of the clamp in the water. It can be seen that F' is not needed for the experiment, which corresponds to an overestimation of the resistance experienced by the underwater robot, and that a compensation experiment should be performed.
And adding the obtained stress values of the underwater robot to be tested at different water flow speeds and the stress value of the clamp at the same water flow speed to draw a data discrete curve, wherein if the discrete curve passes through an abscissa axis, the coordinate of the intersection point of the discrete curve and the abscissa axis needs to be obtained. The solution is as follows, and the best quartic polynomial function of the discrete point fitting is solved by the least square method. A polynomial function of
f(u)＝au4+bu3+cu2+du+e
According to the data after the clamp is stressed and compensated, the data can be written
f(U1)＝F1，f(U2)＝F2...f(U10)＝F10.
The polynomial coefficients to be solved form a column vector
x＝[a b c d e]T
The data of 10 tests constitute an overdetermined equation of 5 unknowns and 10 known conditions, which is abbreviated as follows:
Ax＝m
the equation can be solved by least squares, the least squares solution result is
After the least square coefficient is determined, the coordinate of the intersection point of the polynomial and the abscissa can be obtained, and the coordinate value is the self-propulsion speed U of the underwater robot to be measured0。
Underwater robot propelling force F to be measured0Namely the static water thrust value generated by the underwater robot to be measured,
the underwater robot to be tested has the propelling power in the self-propelling state of
P0＝F0U0
The input power of the underwater robot to be tested, which means the mechanical energy input by the rotation of the motor, is calculated by the following formula:
P＝Tω
wherein T is the rotating torque of a motor driving shaft and is determined by the type of the motor; and omega is the rotating speed of the motor driving shaft.
The self-propulsion efficiency of the underwater robot to be tested can be determined by the following formula
In summary, the invention provides a method for testing the self-propulsion efficiency of an underwater robot, aiming at the problems that the self-propulsion power cannot be measured and the experimental equipment is complex in the traditional test experiment of the propulsion performance of the underwater robot, and the like, and based on a traction method test thought and a platform, the method utilizes numerical fitting to obtain a speed-resultant force curve according to the experimental result by changing the flow velocity of water flow, thereby determining the self-propulsion speed, realizing the estimation of the self-propulsion speed under the simplified experimental condition, avoiding the complex self-propulsion test experiment, measuring the propulsion force of the underwater robot by propelling movement under the no-flow condition, obtaining the propulsion power under the propulsion state by combining the two experimental results, thereby calculating the self-propulsion efficiency, and the experimental method provided by the invention can simplify the test experiment of the self-propulsion efficiency of the underwater robot and improve the test efficiency, provides a new research idea for researching the propulsion performance of the underwater robot.
The above-mentioned contents are only for explaining the technical idea of the invention of the present application, and can not be used as the basis for limiting the protection scope of the invention, and any modifications and substitutions made on the technical solution according to the design concept and technical features proposed by the present invention are within the protection scope of the claims of the present invention.
Claims (10)
1. A self-propelled efficiency testing method of an underwater robot is characterized by comprising the following steps:
s1, fixing the underwater robot to be detected in water flow with known water flow speed through a clamp, starting the underwater robot to be detected to propel at the known water flow speed, and detecting the stress value of the underwater robot to be detected at the moment, wherein the propelling direction of the underwater robot to be detected is opposite to the water flow direction; changing the water flow speed, and continuously obtaining the stress values of the underwater robot to be tested at different water flow speeds;
s2, acquiring a hydrostatic thrust value of the underwater robot to be detected in a hydrostatic state;
s3, detecting stress values of the clamp at different water flow speeds, taking the sum of the stress value of the clamp at the same water flow speed and the stress value of the underwater robot to be measured as the final stress value of the robot to be measured, and performing data fitting on the final stress value and the corresponding water flow speed by adopting a least square method to obtain a speed-resultant force curve, wherein the intersection point of the speed-resultant force curve and a horizontal coordinate is the final speed of the underwater robot to be measured in a self-propelled state;
s4, obtaining the self-propulsion efficiency of the underwater robot to be tested according to the obtained hydrostatic thrust value, the final speed in the self-propulsion state and the input power of the underwater robot to be tested:
self-propulsion efficiency is the hydrostatic thrust value and the final speed/input power in the self-propulsion state is 100%.
2. The method for testing self-propelled efficiency of the underwater robot as claimed in claim 1, wherein the estimated self-propelled speed is used as the water flow velocity, and the intervals of the water flow velocity are used as the interval of the lower than estimated self-propelled speed and the higher than estimated self-propelled speed.
3. The underwater robot self-propulsion efficiency testing method according to claim 2, wherein the water flow speed interval is [0.5U ', 1.4U ' ], and U ' is the estimated self-propulsion speed.
4. The underwater robot self-propulsion efficiency testing method according to claim 2, characterized in that in a current speed interval, discrete values are selected to correspond to current speeds for detecting the stress value of the underwater robot to be tested.
5. A method as claimed in claim 4, wherein the continuous water velocity application range is divided into a plurality of discrete values, each discrete value defining a water velocity, in units of separation at a speed an order of magnitude lower than the estimated self-propulsion speed.
6. The underwater robot self-propulsion efficiency testing method according to claim 1, wherein the underwater robot to be tested is in a still water state, the underwater robot to be tested is started to carry out self-propulsion, and a still water thrust value generated by the underwater robot to be tested is obtained through a force transducer.
7. The underwater robot self-propelled efficiency testing method according to claim 1, wherein the underwater robot to be tested is supplemented with the following forces in water flow:
FR＝FT-FD-F′
wherein, FTPropulsive force, F, generated for the underwater robot to be measuredDIs the fluid resistance to which the underwater robot to be tested is subjected, FRThe force applied by the clamp to the underwater robot to be tested, F', represents the fluid resistance to which the part of the clamp in the water is subjected.
8. The method for testing the self-propelled efficiency of the underwater robot as claimed in claim 5, wherein a quadratic polynomial function optimal for fitting discrete points is obtained by a least square method, and the polynomial function is:
f(u)＝au4+bu3+cu2+du+e
according to the data after the clamp is subjected to force compensation, the following data can be written:
f(U1)＝F1,f(U2)＝F2...f(U10)＝F10.
the polynomial coefficients to be solved form a column vector
x＝[a b c d e]T
The abbreviation is as follows:
Ax＝m
the equation can be solved by least squares, and the least squares solution result is:
after determining the polynomial coefficient, the coordinate of the intersection point of the polynomial and the abscissa can be obtained, and the coordinate value is the self-propulsion speed U of the underwater robot to be measured0。
9. The underwater robot self-propelled efficiency testing method according to claim 1, wherein the underwater robot input power P-T ω is measured
T is the rotating torque of the motor driving shaft, and omega is the rotating speed of the motor driving shaft;
the self-propelled efficiency of the underwater robot to be tested is as follows:
P0propelling power for the underwater robot to be tested in a self-propelled state;
P0＝F0U0
self-propelled speed U of underwater robot to be measured0(ii) a Underwater robot propelling force F to be measured0。
10. The underwater robot self-propulsion efficiency testing device used for the underwater robot self-propulsion efficiency testing method of claim 1 is characterized by comprising a test water tank (1), wherein a fixed support (2) is fixed at the upper end of the test water tank (1), a pulling pressure sensor (4) is fixedly connected onto the fixed support (2) through a sensor connecting rod (3), a clamp (5) for clamping an underwater robot to be tested is fixed onto the pulling pressure sensor (4), and the pulling pressure sensor (4) is fixed onto the sensor connecting rod (3) through a screw; the pulling pressure sensor (4) is provided with a threaded hole which is in threaded connection with the clamp (5).
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