한국해양공학회:학술대회논문집 (Proceedings of the Korea Committee for Ocean Resources and Engineering Conference)
- 한국해양공학회 2002년도 추계학술대회 논문집
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- Pages.149-154
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- 2002
해저 연약 지반 주행차량의 3차원 동력학 해석 기법
A Method for 3-D Dynamic Analysis of Tracked Vehicles on Soft Terrain of Seafloor
- Hong, Sup (Korea Research Institute of Ships and Ocean Engineering, KORDI) ;
- Kim, Hyung-Woo (Korea Research Institute of Ships and Ocean Engineering, KORDI) ;
- Choi, Jong-Su (Korea Research Institute of Ships and Ocean Engineering, KORDI)
- 발행 : 2002.10.25
초록
A simplified 3D dynamic model of tracked vehicle crawling on cohesive soft soil is investigated. The vehicle is assumed as rigid body with 6-dof. Cohesive soft soil is modeled through relations: pressure to sinkage, shear displacement to shear stress, and shear to dynamic sinkage. Equations of motion of vehicle are derived with respect to the body-fixed coordinates. In order to investigate 3D transient dynamics of tracked vehicle, Newmark's method is employed based on incremental-iterative algorithm. 3D dynamic simulations are conducted for a tracked vehicle model and steering performance is investigated.