The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY (한국해양학회지:바다)

The Korean Society of Oceanography (한국해양학회)
권호 표지
DOI QR코드

DOI QR Code

Dynamic Analysis of Underwater Test Collector on Extremely Soft Soil

해저연약지반 시험집광기의 동적거동 해석

  • Kim, Hyung-Woo (Ocean Engineering Research Department, MOERI/KORDI) ;
  • Hong, Sup (Ocean Engineering Research Department, MOERI/KORDI) ;
  • Choi, Jong-Su (Ocean Engineering Research Department, MOERI/KORDI) ;
  • Yeu, Tae-Yeong (Ocean Engineering Research Department, MOERI/KORDI)
  • 김형우 (한국해양연구원 해양시스템연구부) ;
  • 홍섭 (한국해양연구원 해양시스템연구부) ;
  • 최종수 (한국해양연구원 해양시스템연구부) ;
  • 여태경 (한국해양연구원 해양시스템연구부)
  • Published : 2008.08.31
Download PDF
⟨ Previous Next ⟩

Abstract

We conducted a dynamic analysis of an underwater test collector, which operates on extremely soft soil of deep-seafloor. The underwater test collector consists of nodule pick-up device, vehicle tracks, nodule crusher, loading frame and electric-electronic system. The weight of underwater test collector is about 8600 kg. The average normal pressure, that the underwater test collector supports, is about 6.0 kPa. The dynamic analysis model of underwater test collector is developed using commercial software RecurDyn-LM and Visual Fortran 90. A terramechanics model of extremely soft soil is implemented to the software based on user-written subroutine and applied to the dynamic analysis of the underwater test collector model. The dynamic responses of test collector are studied with respect to track velocities, terrain conditions, and coefficients of added mass and drag.

본 논문은 해저 연약지반 위를 주행하는 시험집광기의 동적거동 해석을 다루고 있다. 시험집광기는 단괴채집장치, 무한궤도, 단괴파쇄기, 샤시프레임, 전기 전자 시스템으로 구성되어 있다. 시험집광기의 공기 중 무게는 8,600 kg이며, 수중에서의 시험집광기의 평균접지압은 6.0 kPa이다. 상용해석 프로그램인 RecurDyn-LM과 Visual Fortran 90을 이용하여 시험집광기의 동적거동 해석 모델 및 유체저항력 모델을 구축하였다. 상용해석 프로그램(RecurDyn-LM)에서 제공되는 사용자 정의 서브루틴을 이용하여 연약지반역학 모델 및 유체저항력 모델을 구축하였으며, 이를 통하여 해저 시험집광기의 동적거동 해석을 수행하였다. 궤도속도, 지반조건, 항력계수 및 추가질량 계수의 변화에 따른 시험집광기의 동적응답을 분석하였다.

Keywords

References

  1. 김형우, 홍 섭, 최종수, 2004. 점착성 연약지반 주행차량의 동적 거동 연구, Ocean and Polar Research, 26(2): 323-332 https://doi.org/10.4217/OPR.2004.26.2.323
  2. 김형우, 홍 섭, 최종수, 여태경, 2006. 오일러 매개변수를 이용한 해저연악지반 무한궤도 차량의 동적거동 해석, 한국해양공학회지, 20(6): 93-100
  3. 김형우, 홍 섭, 최종수, 여태경, 2007. 연약지반 무한궤도차량의 다물체 동적거동 해석, 한국해양공학회지, 21(1): 69-74
  4. 최종수, 홍 섭, 김형우, 2002. 해저 연약지반 주행성능 실험기법연구(I): 주행실험토조, 한국해양공학회 추계학술대회논문집, pp. 224-228
  5. Baladi, G.Y. and Rohani, B., 1978. A mathematical model of terrain vehicle interaction for predicting the steering performance of track-laying vehicles, the 6th ISTVS conference, pp. 285-332
  6. Brink, A.W. and Chung, J.S., 1981. Automatic Position Control of a 300,000-Ton Ship Ocean Mining System, Proc Offshore Tech Conf, Houston, Paper 4091
  7. Faltinsen, O.M., 1990. Sea Loads on ship and Offshore Structures. Cambridge University Press
  8. Fossen, T.I., 2002. Marine Control Systems, 2nd edition - Chapter 3 Dynamics of Marine Vessels, pp. 49-53
  9. Hong, S. and Choi J.S., 2001. Experimental Study on Grouser Shape Effects on Trafficability of Extremely Soft Seabed, Proc of the 4th Ocean Mining Symposium, Szczecin, Poland, pp. 115-121
  10. Hong, S. and Kim, K., 1999. 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
  11. Hong, S., Kim, H.W. and Choi, J.S., 2002. Transient Dynamic Analysis Tracked Vehicles on Extremely Soft Cohesive Soil, Proc of the 5th ISOPE Pacific/Asia Offshore Mechanics Symposium, pp. 100-107
  12. Kim, H.W., Hong, S. and Choi, J.S., 2003. Comparative Study on Tracked Vehicle Dynamics on Soft Soil : Single-Body Dynamics vs. Multi -Body Dynamics, Proc of The Fifth ISOPE Ocean Mining Symposium, pp. 132-138
  13. Kim, H.W., Hong, S., Choi, J.S. and Yeu, T.K., 2005. Dynamic Analysis of Underwater Tracked Vehicle on Extremely Soft Soil, Proc of The Sixth ISOPE Ocean Mining Symposium, pp. 141-148
  14. RecurDyn-LM, 2006. User's Manual, Ver 6.3, FunctionBay
  15. Wong, J.Y., 1989. Terramechanics and Off-Road Vehicles, Amsterdam, The Netherlands: Elsevier Science Publishers B.V.
  16. Wong, J.Y., 1993. Theory of Ground Vehicles, John Wiley & Sons, New Yor