CN113804398A - Cluster large-scale three-dimensional flow field and hydrodynamic force synchronous measurement system and test method - Google Patents
Cluster large-scale three-dimensional flow field and hydrodynamic force synchronous measurement system and test method Download PDFInfo
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Abstract
The invention relates to a testing method of a cluster large-scale three-dimensional flow field and hydrodynamic force synchronous measuring system. The method can simultaneously measure key parameters reflecting the performance of the underwater vehicle, such as energy utilization rate, torque coefficient, thrust coefficient and the like in a cluster working mode of the bionic underwater vehicle, three-dimensional flow field characteristics in the cluster mode, and the motion characteristics, the spanwise deformation, the waveform and the like of flapping wings of the vehicle in an experimental process, and the cluster array type is variable. The measuring system has the advantages of simple structure, strong reliability, high measuring precision and flexible measuring form. The test result is closer to the real situation of the cluster operation mode of the bionic aircraft, and effective reference and more accurate and comprehensive data support can be provided for the design of a bionic aircraft engineering prototype for cluster operation.
Description
Technical Field
The invention belongs to the field of underwater acoustic test platforms and test methods, and relates to a test method of a cluster large-scale three-dimensional flow field and hydrodynamic force synchronous measurement system.
Background
71 percent of the surface area of the earth is seawater, the ocean not only contains abundant resources such as food, petroleum, gas and the like, but also plays an important role in military strategic space and transportation channels, and the survival and development of countries in the world are closely connected with the resources, so that various underwater vehicles such as ships, submarines, submersibles, underwater robots and the like are necessary tools for people to explore the ocean in the golden age of developing the ocean and utilizing the ocean. The bionic unmanned underwater vehicle as a bionic unmanned intelligent underwater moving platform has wide application prospect and value in the fields of ocean resource exploration, marine organism and submarine topography observation, marine scientific research activities, military affairs and the like. With the further progress of underwater exploration activities of people, bionic underwater vehicles with high-quality performance are increasingly required. The research of the bionic underwater vehicle with high excellent performance can not leave a large number of accurate experimental tests, which puts higher requirements on an experimental platform and an experimental test method. The invention relates to a synchronous measurement system and a test method for a cluster large-scale three-dimensional flow field and hydrodynamic force, and provides a measurement system for synchronously testing and researching the performance of the cluster large-scale three-dimensional flow field and hydrodynamic force in a circulating water tank and a test method based on the measurement system. Specifically, under the measuring system, key parameters such as energy conversion efficiency, torque coefficient, thrust coefficient and the like of the bionic underwater vehicle for measuring the performance of the bionic vehicle can be measured, reference is provided for the design of an engineering prototype in the research process of the vehicle, and experimental verification is provided for CFD numerical simulation and theoretical research of the hydrodynamic performance of the vehicle. The synchronous measurement of the large-scale three-dimensional flow field and the hydrodynamic performance of the cluster can be realized, and more comprehensive data support and theoretical support are provided for the research and design of the bionic aircraft operated by the cluster.
At present, in experimental research on a bionic unmanned underwater vehicle, researchers mostly research the performances of a three-dimensional flow field and the hydrodynamic force of the vehicle respectively, but lack attention on the interaction effect of the vehicle and the flow field, and also lack synchronous measurement on a cluster large-scale three-dimensional flow field and the hydrodynamic force due to the limitation of the scale of an experimental platform and the like. Compared with a single operation mode, the cluster operation mode of the bionic underwater vehicle is not only increased in the number of the pure vehicles, but also the bionic bat ray underwater vehicle is taken as an example, the bionic flapping wing needs to be intermittently or continuously flapping according to different operation modes in the operation process, and the peripheral flow field of the bionic flapping wing is inevitably influenced in the flapping process. Therefore, even under the condition that other conditions are completely the same, the flow field environment of the simulated bat underwater vehicle in the cluster operation mode is obviously different from that of the vehicle in the single operation mode, so that the research on the bionic underwater vehicle in the single operation mode cannot provide enough reference for the research on the vehicle in the cluster operation mode. The same respective research on the three-dimensional flow field and the hydrodynamic performance of the aircraft cannot replace the synchronous measurement of the three-dimensional flow field and the hydrodynamic force.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a testing method of a cluster large-scale three-dimensional flow field and hydrodynamic force synchronous measuring system.
Technical scheme
A cluster large-scale three-dimensional flow field and hydrodynamic force synchronous measurement system is characterized by comprising a fixed support 1, a water body 3 with fluorescent particles, a water tank 4, a high-speed camera 6, an LED/laser high-intensity body light source 7, a rear observation camera 8, a connecting mechanism 9 and a six-dimensional force/moment balance 14; the fixed support 1 is positioned at the upper part of a water tank 4, a water body 3 of fluorescent particles is arranged in the water tank 4, an LED/laser high-intensity body light source 7 is positioned at the bottom of the water tank 4, a high-speed camera 6 is positioned at one side of the water tank 4, a rear observation camera 8 is positioned at one side of the water tank 4 in the opposite direction of water flow, a connecting mechanism 9 is positioned on the fixed support 1, a six-dimensional force/moment balance 14 is arranged at the lower end of the connecting mechanism, and the connecting mechanism is connected with a bionic aircraft during measurement.
The fixed support 1 is composed of a fixed slide rail 10 parallel to the water flow direction and a fixed slide rail 11 perpendicular to the water flow direction, and grooves are formed in the fixed slide rails.
The top of the upper connecting piece 12 of the connecting mechanism 9 is provided with a T-shaped structure which is embedded with a groove on the fixed slide rail; the lower adapter rod 12 is connected to a six-dimensional force/moment balance.
The connecting mechanism 9 is plural.
The high-speed cameras 6 are plural.
A method for implementing measurement by adopting the cluster large-scale three-dimensional flow field and hydrodynamic synchronous measurement system is characterized by comprising the following steps:
step 1: adding fluorescent particles into the experimental water body according to the proportion of 10 g of fluorescent particles per cubic meter of water body;
step 2, calibration before experiment:
placing the calibration plate in a water tank, wherein the surface where the round points are located faces the high-speed camera, and the upper side surface and the lower side surface of the calibration plate are parallel to the head direction of the aircraft;
respectively taking pictures of the calibration plate by using a plurality of high-speed cameras;
overlapping photos shot by a plurality of high-speed cameras, taking a square pattern at the center of a calibration plate and a triangular pattern at the lower right of the calibration plate as reference points, if corresponding square, triangular and round dots on four pictures cannot be completely overlapped, adjusting the positions and angles of the high-speed cameras to shoot again, and completing calibration until corresponding points on the photos shot by the plurality of cameras can be completely overlapped;
and step 3: respectively installing a plurality of bionic aircraft below a prototype fixing mechanism of a measuring system, internally installing a six-dimensional force/moment balance between each aircraft and the fixing mechanism, and performing zero clearing treatment on the balance after the installation is finished;
and 4, step 4: starting a circulating water tank, finely adjusting each bionic aircraft to be in a position required by an experiment when the water flow speed slowly reaches the flow speed v required by the experiment;
and 5: the bionic prototype control system adjusts the flapping amplitude, the flapping frequency and the flapping phase difference of the flapping wings of the bionic prototype and controls the bionic prototype to move in different states; the upper computer and the lower computer are in wireless communication through a data transmission radio, after receiving a control instruction from the upper computer, the lower computer transmits the control instruction to a steering engine of the bionic prototype through wired connection, and the steering engine drives the flapping wings of the bionic prototype to flap in different states according to the instruction;
step 6: testing the stress of the bionic prototype in the x, y and z directions and the moment around the three axes by a built-in six-dimensional force/moment balance, and exporting a table data file by balance control software;
shooting real-time deformation conditions and the like of the flapping wings of the bionic prototype in different motion states by using a rear observation camera, and storing and exporting data files;
utilizing four high-speed cameras to shoot flow field conditions of the bionic sample cluster in different motion states, and storing and exporting files;
and 7: after completing all experiments of a group of bionic sample cluster under fixed array type and different motion parameters, closing the circulating water tank and other experimental equipment; if the prototype group array type needs to be changed or other bionic prototypes need to be replaced, the experiment is carried out again after adjustment is carried out according to the experiment needs.
Advantageous effects
The invention provides a testing method of a cluster large-scale three-dimensional flow field and hydrodynamic force synchronous measuring system. The method can simultaneously measure key parameters reflecting the performance of the underwater vehicle, such as energy utilization rate, torque coefficient, thrust coefficient and the like in a cluster working mode of the bionic underwater vehicle, three-dimensional flow field characteristics in the cluster mode, and the motion characteristics, the spanwise deformation, the waveform and the like of flapping wings of the vehicle in an experimental process, and the cluster array type is variable. The measuring system has the advantages of simple structure, strong reliability, high measuring precision and flexible measuring form. The test result is closer to the real situation of the cluster operation mode of the bionic aircraft, and effective reference and more accurate and comprehensive data support can be provided for the design of a bionic aircraft engineering prototype for cluster operation.
The method can measure key parameters of the performance of the bionic underwater vehicle such as energy conversion efficiency, torque coefficient, thrust coefficient and the like in high precision during the motion of the bionic underwater vehicle. The synchronous measurement of the large-scale three-dimensional flow field and the hydrodynamic performance of the cluster can be realized, more real and more accurate experimental data can be obtained, and more accurate and more comprehensive data support is provided for the research and design of the high-performance bionic underwater vehicle. And more data support and theoretical support are provided for the research and design of the underwater vehicle operating in a cluster mode.
The invention can realize the synchronous measurement of the large-scale three-dimensional flow field and the hydrodynamic characteristic under the cluster operation mode of the bionic aircraft in an experiment, comprehensively test the three-dimensional flow field and the hydrodynamic characteristic performance under the mutual influence of the experimental sample cluster, lead the test result to be closer to the real situation of the cluster operation mode of the bionic aircraft, lead the cluster array type to be variable and lead the test to be more flexible, and can provide reference and more accurate and more comprehensive data support for the design of the engineering prototype of the bionic aircraft for cluster operation.
Drawings
FIG. 1 shows a calibration board for PIV system
Fig. 2 is a schematic view of a measurement system. The numbering in the figures has the following meaning:
1-bionic sample group fixing support;
2-indicates the water flow direction;
3-water body with fluorescent particles added;
4-water tank;
5-bionic prototype cluster (built-in six-dimensional force balance);
6-four high-speed cameras;
7-LED/laser high intensity bulk light source;
8-post observation camera.
Fig. 3 is a schematic diagram of a bionic prototype mounting and fixing bracket. The numbering in the figures has the following meaning:
9-4 groups of connecting mechanisms for connecting the bionic aircraft cluster;
10-fixed slide rail parallel to water flow direction;
and 11-a fixed slide rail perpendicular to the water flow direction.
Fig. 4 is a schematic diagram of a bionic prototype installation and connection mechanism. The numbering in the figures has the following meaning:
12-a switching rod for connecting the slide rail and the upper connecting piece of the balance;
13-balance upper connecting piece, connecting slide rail and balance;
14-six-dimensional force/moment balance;
15-balance lower connecting piece, connecting balance and prototype upper adapter;
and 16, a model machine upper adapter piece is connected with the balance lower connecting piece and the experimental model machine.
Fig. 5 is a schematic diagram of the engagement between the fixed slide rail and the adapter rod 12. The numbering in the figures has the following meaning:
17-fixed slide 10, 11;
18-the adapter rod 12.
The fixed mode of connection between fixed slide rail and the switching pole is not only, and this system adopts the bolt to penetrate from the slide rail lower part, links firmly slide rail and connecting rod.
Fig. 6 is a flowchart of a testing method of the measurement system according to the present invention.
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the main parts of the cluster large-scale three-dimensional flow field and hydrodynamic synchronous measurement system in this embodiment are shown in fig. 1: the measuring system mainly comprises a three-dimensional flow field measuring part and a hydrodynamic performance measuring part.
The measuring system mainly comprises a three-dimensional flow field measuring part and a hydrodynamic performance measuring part. The three-dimensional flow field measuring part mainly comprises a circulating water tank, a water body added with fluorescent particles, an LED/laser high-intensity body light source, 4 high-speed video cameras, a post-observation camera and the like. The hydrodynamic test part is mainly completed by a six-dimensional force/moment balance which is arranged between the tested sample machine and the test mechanism fixing device.
The bionic prototype cluster system comprises a bionic prototype cluster fixing support 1, a water body 3 added with fluorescent particles, a water tank 4, a bionic prototype cluster 5, four high-speed cameras 6, an LED/laser high-intensity body light source 7 and a rear observation camera 8. Wherein the fixed support is used for fixedly connecting the bionic prototype cluster; the visible part of the water tank is 4m long, 1.2m wide and 1.2m high, and the tank body is made of acrylic materials, so that the water tank has the advantages of excellent light transmission and excellent weather resistance.
The fluorescent particles should be added in a proportion of 10 grams per cubic meter of water; a six-dimensional force/moment balance is arranged in the bionic prototype cluster; the four high-speed cameras can change the arrangement array type according to the requirement of a view field; the LED/laser high-intensity body light source is arranged below the water tank and is opposite to the observed area; the high-speed camera, the rear observation camera and the light source are all placed on the damping platform.
The LED/laser high-intensity body light source, the 4 high-speed cameras, the rear observation camera and the like form a Particle Image Velocimetry (PIV) system, so that a water body with fluorescent particles can be observed in the experimental process, pictures and videos are shot, and a three-dimensional flow field is visualized through the processing of PIV system post-processing software. The LED/laser high-intensity body light source and the 4 high-speed cameras are arranged on the damping platform, so that the influence of environmental vibration on a shooting result is reduced.
The post-observation camera is mainly used for monitoring the motion characteristics, deformation conditions and the like of the flapping wing of the bionic aircraft in the experimental process, and the monitoring result can provide reference for the optimal design of the flapping wing of the bionic prototype. The post observation camera is placed on the shock attenuation platform to reduce the influence of environmental vibrations to the result of shooing.
The fixing device for fixing the test sample machine is additionally provided with the shock-absorbing treatment, so that the vibration of non-experimental factors can be reduced to the maximum extent, and the experimental precision is ensured. The positions of the connecting rods of the 4 connection experiment prototypes are variable, namely the cluster array type is variable.
The bionic prototype cluster fixing support is shown in fig. 2, two cross beams 2 and two longitudinal beams 3 are provided with tracks, the tracks are provided with locking structures, the two cross beams 2 can move in the direction of the longitudinal beams 3, 4 connecting rods 1 can move on the tracks of the cross beams and the longitudinal beams, and the locking structures can be fixed after the transformation to an expected matrix, so that the matrix transformation effect is achieved.
The connection mechanism of the bionic prototype cluster fixing support and the bionic prototype cluster is shown in figure 3, and a six-dimensional force/moment balance 3 is connected with a fixing support 1 through an upper connecting piece 2 and is connected with an experimental prototype through a lower connecting piece 4. The six-dimensional force/moment balance can monitor the stress of the experimental prototype in the x, y and z directions and the moment around three coordinate axes in real time in the hydrodynamic performance test process.
As shown in fig. 4, the testing method based on the cluster large-scale three-dimensional flow field and hydrodynamic force synchronous measurement system includes the following steps:
s0: and (3) preparing an experiment, namely adding the fluorescent particles into an experiment water tank according to the proportion of 10 g of the fluorescent particles per cubic meter of water.
S1: and (4) performing experimental calibration, namely calibrating the positions and angles of the four high-speed cameras by using a calibration plate shown in figure 1. The calibration plate is provided with a plurality of round points, and the middle square pattern is the center of the calibration plate.
S1.1, before calibration begins, a calibration plate is placed in a water tank, the surface where the dots are located faces a high-speed camera, and the upper side surface and the lower side surface of the dot face the direction parallel to the head of the aircraft.
S1.2, four high-speed cameras are used for respectively taking pictures of the calibration plate.
S1.3, overlapping photos shot by four high-speed cameras, taking a square pattern in the center of a calibration plate and a triangular pattern on the lower right of the calibration plate as reference points, if corresponding square, triangular and circular points on the four pictures cannot be completely overlapped, adjusting the positions and angles of the high-speed cameras to shoot again, and completing calibration until corresponding points on the photos shot by the four cameras can be completely overlapped.
S2: the method comprises the steps of respectively installing a plurality of bionic aircraft below a prototype fixing mechanism of a measuring system, installing a six-dimensional force/moment balance between each aircraft and the fixing mechanism in a built-in mode, and carrying out zero clearing treatment on the balance after installation is finished.
S3: and (3) starting the circulating water tank, and finely adjusting each bionic aircraft to be in the position required by the experiment when the water flow speed slowly reaches the flow speed v required by the experiment.
S4: the flapping amplitude, the flapping frequency and the flapping phase difference of the flapping wings of the bionic prototype are adjusted through upper computer software of a control system of the bionic prototype, and the bionic prototype is controlled to move in different states. The upper computer and the lower computer are in wireless communication through a data transmission radio, after receiving a control command from the upper computer, the lower computer transmits the control command to a steering engine of the bionic prototype through wired connection, and the steering engine drives the flapping wings of the bionic prototype to flap in different states according to the command.
S5: the stress of the bionic prototype in the x, y and z directions and the moment around the three axes are monitored in real time through a built-in six-dimensional force/moment balance, and the stress and the moment around the three axes are exported into a table data file through balance control software.
S6: and shooting real-time deformation conditions and the like of the flapping wings of the bionic prototype in different motion states by using a rear observation camera, and storing and exporting data files.
S7: and shooting the flow field condition of the bionic sample cluster in different motion states by using four high-speed cameras, and storing and exporting the file.
S8: and after finishing all experiments of a group of bionic sample cluster under fixed array types and different motion parameters, closing the circulating water tank and other experimental equipment. If the prototype group array type needs to be changed or other bionic prototypes need to be replaced, the experiment can be carried out again after adjustment is carried out according to the experiment needs.
S9: and respectively processing images acquired by the four high-speed cameras and the rear observation camera according to the data acquired by the six-dimensional force/moment balance.
The data collected by the balance is processed mainly by analyzing hydrodynamic performance parameters of the experimental prototype, such as thrust, lift force, energy utilization rate and the like generated by the movement of the experimental prototype under different movement parameters.
The processing of the images collected by the four high-speed cameras is mainly to analyze the three-dimensional flow field characteristics of the sample group in different motion states, such as analyzing the track tracking of vortex and tip points of flapping wings of a prototype, and the like.
The processing of the image collected by the post-observation camera is mainly to observe the motion characteristics of the bionic prototype in the spanwise direction of the flapping wing under different motion parameters, the deformation of the trailing edge of the flapping wing, the waveform in the motion process and the like.
In the measurement system, the six-dimensional force/moment balance can measure the stress condition of the bionic prototype in real time, the speed of the circulating water tank is a known quantity, and the two components are multiplied to obtain useful work. And a power meter is connected in series in a power supply system of the motor of the experimental prototype, so that the output power of the power supply can be recorded in real time, and the final worker can obtain the output power conveniently. The energy utilization rate of each bionic prototype can be obtained by dividing the useful work by the total work.
Regarding the analysis of the three-dimensional flow field characteristics, images shot by four high-speed cameras in the experimental process are guided into post-processing software of a PIV system for processing, so that the analysis of the flow field characteristics such as vortex street, the speed of each point of the flow field and the like can be carried out, and meanwhile, the post-processing software can also track the tip point of the flapping wing of the bionic prototype.
Claims (6)
1. A cluster large-scale three-dimensional flow field and hydrodynamic force synchronous measurement system is characterized by comprising a fixed support (1), a water body (3) with fluorescent particles, a water tank (4), a high-speed camera (6), an LED/laser high-intensity body light source (7), a rear observation camera (8), a connecting mechanism (9) and a six-dimensional force/moment balance (14); the fixed support (1) is positioned at the upper part of the water tank (4), a water body (3) with fluorescent particles is arranged in the water tank (4), the LED/laser high-intensity body light source (7) is positioned at the bottom of the water tank (4), the high-speed camera (6) is positioned at one side of the water tank (4), the rear observation camera (8) is positioned at one side of the water tank (4) in the relative direction of water flow, the connecting mechanism (9) is positioned on the fixed support (1), the lower end of the connecting mechanism is provided with a six-dimensional force/moment balance (14), and a bionic aircraft is connected during measurement.
2. The system for synchronously measuring the cluster large-scale three-dimensional flow field and the hydrodynamic force according to claim 1, characterized in that: the fixed support (1) is composed of a fixed slide rail (10) parallel to the water flow direction and a fixed slide rail (11) perpendicular to the water flow direction, and a groove is formed in the fixed slide rail.
3. The system for synchronously measuring the cluster large-scale three-dimensional flow field and the hydrodynamic force according to claim 1, characterized in that: the top of an upper connecting piece (12) of the connecting mechanism (9) is provided with a T-shaped structure, and the T-shaped structure is embedded in a groove on the fixed slide rail; the lower adapter rod (12) is connected with a six-dimensional force/moment balance.
4. The system for synchronously measuring the cluster large-scale three-dimensional flow field and the hydrodynamic force according to claim 1, characterized in that: the number of the connecting mechanisms (9) is multiple.
5. The system for synchronously measuring the cluster large-scale three-dimensional flow field and the hydrodynamic force according to claim 1, characterized in that: the high-speed cameras (6) are multiple.
6. A method for measuring by adopting the cluster large-scale three-dimensional flow field and hydrodynamic force synchronous measuring system according to any one of claims 1-5 is characterized by comprising the following steps:
step 1: adding fluorescent particles into the experimental water body according to the proportion of 10 g of fluorescent particles per cubic meter of water body;
step 2, calibration before experiment:
placing the calibration plate in a water tank, wherein the surface where the round points are located faces the high-speed camera, and the upper side surface and the lower side surface of the calibration plate are parallel to the head direction of the aircraft;
respectively taking pictures of the calibration plate by using a plurality of high-speed cameras;
overlapping photos shot by a plurality of high-speed cameras, taking a square pattern at the center of a calibration plate and a triangular pattern at the lower right of the calibration plate as reference points, if corresponding square, triangular and round dots on four pictures cannot be completely overlapped, adjusting the positions and angles of the high-speed cameras to shoot again, and completing calibration until corresponding points on the photos shot by the plurality of cameras can be completely overlapped;
and step 3: respectively installing a plurality of bionic aircraft below a prototype fixing mechanism of a measuring system, internally installing a six-dimensional force/moment balance between each aircraft and the fixing mechanism, and performing zero clearing treatment on the balance after the installation is finished;
and 4, step 4: starting a circulating water tank, finely adjusting each bionic aircraft to be in a position required by an experiment when the water flow speed slowly reaches the flow speed v required by the experiment;
and 5: the bionic prototype control system adjusts the flapping amplitude, the flapping frequency and the flapping phase difference of the flapping wings of the bionic prototype and controls the bionic prototype to move in different states; the upper computer and the lower computer are in wireless communication through a data transmission radio, after receiving a control instruction from the upper computer, the lower computer transmits the control instruction to a steering engine of the bionic prototype through wired connection, and the steering engine drives the flapping wings of the bionic prototype to flap in different states according to the instruction;
step 6: testing the stress of the bionic prototype in the x, y and z directions and the moment around the three axes by a built-in six-dimensional force/moment balance, and exporting a table data file by balance control software;
shooting real-time deformation conditions and the like of the flapping wings of the bionic prototype in different motion states by using a rear observation camera, and storing and exporting data files;
utilizing four high-speed cameras to shoot flow field conditions of the bionic sample cluster in different motion states, and storing and exporting files;
and 7: after completing all experiments of a group of bionic sample cluster under fixed array type and different motion parameters, closing the circulating water tank and other experimental equipment; if the prototype group array type needs to be changed or other bionic prototypes need to be replaced, the experiment is carried out again after adjustment is carried out according to the experiment needs.
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| CN114248881A (en) * | 2021-12-28 | 2022-03-29 | 哈尔滨工程大学 | Longitudinal and transverse two-degree-of-freedom composite motion underwater vehicle control mechanism |
| CN114414205A (en) * | 2022-01-21 | 2022-04-29 | 中山大学 | Load and flow field integrated and measuring device |
| CN114894435A (en) * | 2022-05-09 | 2022-08-12 | 西安交通大学 | Visual experimental device and method for fluid in branch channel under ocean condition |
| CN115081318A (en) * | 2022-06-10 | 2022-09-20 | 西北工业大学 | Simulated bat aircraft experimental data prediction method based on antagonistic neural network |
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| CN114248881A (en) * | 2021-12-28 | 2022-03-29 | 哈尔滨工程大学 | Longitudinal and transverse two-degree-of-freedom composite motion underwater vehicle control mechanism |
| CN114414205A (en) * | 2022-01-21 | 2022-04-29 | 中山大学 | Load and flow field integrated and measuring device |
| CN114894435A (en) * | 2022-05-09 | 2022-08-12 | 西安交通大学 | Visual experimental device and method for fluid in branch channel under ocean condition |
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| CN117906910B (en) * | 2024-03-20 | 2024-06-04 | 季华实验室 | Underwater flow field information measurement system and method |
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Application publication date: 20211217 |