Journal of Navigation and Port Research (한국항해항만학회지)

Korean Institute of Navigation and Port Research (한국항해항만학회)
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Total Dynamic Analysis of Deep-Seabed Integrated Mining System

심해저 광물자원 채광시스템의 통합거동 해석

  • Kim, Hyung-Woo (Maritime and Ocean Engineering Research Institute, KORDI) ;
  • Hong, Sup (Maritime and Ocean Engineering Research Institute, KORDI) ;
  • Lee, Chang-Ho (Maritime and Ocean Engineering Research Institute, KORDI) ;
  • Choi, Jong-Su (Maritime and Ocean Engineering Research Institute, KORDI) ;
  • Yeu, Tae-Kyeong (Maritime and Ocean Engineering Research Institute, KORDI)
  • 김형우 (한국해양연구원 해양시스템안전연구소) ;
  • 홍섭 (한국해양연구원 해양시스템안전연구소) ;
  • 이창호 (한국해양연구원 해양시스템안전연구소) ;
  • 최종수 (한국해양연구원 해양시스템안전연구소) ;
  • 여태경 (한국해양연구원 해양시스템안전연구소)
  • Received : 2009.02.03
  • Accepted : 2010.04.26
  • Published : 2010.04.30
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Abstract

This paper concerns about total dynamic analysis of integrated mining system. This system consists of vertical steel pipe, intermediate buffer station, flexible pipe and self-propelled miner. The self-propelled miner and buffer are assumed as rigid-body of 6-dof. Discrete models of vertical steel pipe and flexible pipe are adopted, which are obtained by means of lumped-parameter method. The motion of mining vessel is not considered. Instead, the motion of mining vessel is taken into account in form of various boundary conditions (e.g. forced excitation in slow motion and/or fast oscillation and so on). A terramechanics model of extremely cohesive soft soil is applied to the self-propelled miner. Hinged and ball constraints are used to define the connections between sub-systems (vertical steel pipe, buffer, flexible pipe, self-propelled miner). Equations of motion of the coupled model are derived with respect to the each local coordinates system. Four Euler parameters are used to express the orientations of the sub-systems. To solve the equations of motion of the total dynamic model, an incremental-iterative formulation is employed. Newmark-${\beta}$ method is used for time-domain integration. The total dynamic responses of integrated mining system are investigated.

본 논문은 통합채광시스템의 동력학 해석을 다루고 있다. 통합채광시스템은 채광선, 수직양광관, 중간 저장 장소인 버퍼, 유연관, 자항식집광기로 구성되어 있다. 자항식집광기와 버퍼는 6자유도의 강체로 가정하였으며, 수직양광관과 유연관의 동적거동 해석을 위해 집중질량 매개방법을 이용한 이산화 모델을 적용하였다. 채광선에 대한 운동은 포함시키지 않았지만 경계조건을 통하여 채광선의 움직임을 표현하였다. 연약한 해저면을 주행하는 차량에는 연약지반 역학 모델을 적용시켰다. 수직양광관-버퍼, 버퍼-유연관, 유연관-자항식집광기의 연결에는 회전구속과 볼 구속조건을 사용하였다. 연성 동력학 모델의 운동방정식을 유도하기 위해 국부좌표계를 사용하였으며, 4개의 오일러 매개변수를 사용하여 각 시스템의 자세를 표현하였다. 통합 채광시스템의 운동 방정식 해를 구하기 위해서 증분-반복법을 적용하였으며, 시간영역 적분기는 newmark-${\beta}$를 사용하였다. 통합 채광시스템의 동적 거동 해석을 수치해석을 통해 분석하였다.

Keywords

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