Dynamic Analysis of Underwater Tracked Vehicle on Extremely Soft Soil by Using Euler Parameters

J. Ocean Eng. Technol. 2006;20(6):93-100.

Kim, Hyung-Woo;Hong, Sup;Choi, Jong-Su;Yeu, Tae-Kyeong;

Maritime and Ocean Engineering Research Institute, KORDI;Maritime and Ocean Engineering Research Institute, KORDI;Maritime and Ocean Engineering Research Institute, KORDI;Maritime and Ocean Engineering Research Institute, KORDI;

오일러 매개변수를 이용한 해저연약지반 무한궤도 차량의 동적거동 해석

김형우;홍섭;최종수;여태경;

한국해양연구원 해양시스템안전연구소;한국해양연구원 해양시스템안전연구소;한국해양연구원 해양시스템안전연구소;한국해양연구원 해양시스템안전연구소;

Keywords: Dynamic analysis, Tracked vehicle, Extremely soft soil, Euler parameters, Hydrodynamics force

핵심용어: 동적거동 해석, 무한궤도차량, 연약지반, 오일러 매개변수, 유체력

Abstract

This paper is concerned with the dynamic analysis of an underwater tracked vehicle, operating on extremely soft soil of the deep-seafloor. The vehicle is assumed as a rigid-body with 6-dof. The orientation of the vehicle is defined by four Euler parameters. To solve the motion equations of the vehicle, the Newmark numerical integrator is used in the incremental-iterative algorithm. The normalization constraint of Euler parameters is satisfied by using of a sequential updating method. The hydrodynamic force and moment are included in the tracked vehicle's dynamics. The hydrodynamic effects on the performance of tracked vehicles are investigated through numerical simulations.