수치해석을 이용한 연약지반 4열 강체 무한궤도 차량의 최적 선회비 연구
Study on Steering Ratio of Four-Row Rigid Tracked Vehicle on Extremely Cohesive Soft Soil Using Numerical Simulation
0
조회
0
다운로드
1
인용
0
참고문헌
키워드
초록
This paper considers the steering characteristics of a four-row tracked vehicle crawling on extremely cohesive soft soil, where each side is composed of two parallel tracks. The four-row tracked vehicle (FRTV) is assumed to be a rigid body with 6-DOF. A dynamic analysis program for the tracked vehicle is developed using the Newmark- method based on an incremental-iterative scheme. A terra-mechanics model of an extremely cohesive soft soil is implemented in the form of the relationships of the normal pressure to the sinkage, the shear resistance to the shear displacement,and the dynamic sinkage to the shear displacement. In order to investigate the steering characteristics of the four-row tracked vehicle, a series of dynamic simulations is conducted with respect to the distance between the left and right tracks (pitch), steering ratios, driving velocity, reference track velocity, lengths of the tracks, and properties of the cohesive soft soil. Through these numerical simulations, the possibility of using a kinematic steering ratio is explored.
Abstract
This paper considers the steering characteristics of a four-row tracked vehicle crawling on extremely cohesive soft soil, where each side is composed of two parallel tracks. The four-row tracked vehicle (FRTV) is assumed to be a rigid body with 6-DOF. A dynamic analysis program for the tracked vehicle is developed using the Newmark- method based on an incremental-iterative scheme. A terra-mechanics model of an extremely cohesive soft soil is implemented in the form of the relationships of the normal pressure to the sinkage, the shear resistance to the shear displacement,and the dynamic sinkage to the shear displacement. In order to investigate the steering characteristics of the four-row tracked vehicle, a series of dynamic simulations is conducted with respect to the distance between the left and right tracks (pitch), steering ratios, driving velocity, reference track velocity, lengths of the tracks, and properties of the cohesive soft soil. Through these numerical simulations, the possibility of using a kinematic steering ratio is explored.
참고문헌 (11)
- Bode, O., "Simulation der Fahrt von Raupenfahrwerken auf Teefseeböden", 박사, pp.1991
- Brink, A. W., "Automatic Position Control of a 300, 000-Ton Ship Ocean Mining System", Proc. Offshore Tech Conf, Houston, pp.4091~ (1981)
- Hong, S., "Proposed Technologies for Mining Deep-Seabed Polymetallic Nodules. Chap 12 Research and Development of Deep Seabed Mining Technologies for Polymetallic Nodules in Korea", Proc. International Seabed Authority's Workshop, Kingston, Jamaica, pp.261~283 (1999)
- Hong, S., "Experimental Study on Grouser Shape Effects on Trafficability of Extremely Soft Seabed", Proceedings of the 4th Ocean Mining Symposium, Szczecin, Poland, pp.115~121 (2001)
- Hong, S., "A Method for 3-D Dynamic Analysis of Tracked Vehicles on Soft Terrain of Seafloor", Fall KCORE Conference, pp.149~154 (2002)
- Hong, S., "Design of a Pilot Mining Robot for Deep-seabed Manganese Nodule", Proc. of KSOE conferences 2011, pp.22~25 (2011)
- Kim, H. W., "Comparative Study on Tracked Vehicle Dynamics on Soft Soil : Single-Body Dynamics vs. Multi –Body Dynamics", Proceedings of the 5th Ocean Mining Symposium, Tsukuba, Japan, pp.132~138 (2003)
- 김형우, "오일러 매개변수를 이용한 해저연약지반 무한궤도 차량의 동적거동 해석", 한국해양공학회지, 20(6), pp.93~100 (2006), 한국해양공학회
- Kim, H. W., "A Study on the Steering Performance of Four-Row Rigid Tracked Vehicle on Extremely Cohesive Soft Soil", Proc. of KSOE conferences 2010, pp.263~266 (2010)
- Lee, C. H., "A Study on the Steering Performance of Four-Row Tracked Vehicle on Extremely Cohesive Soft Soil", Proc. of KSOE conferences 2009, pp.310~315 (2009)
- Wong, JY., "Theory of Ground Vehicles" (1993), John Wiley & Sons