Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Dynamic Analysis of Underwater Tracked Vehicle on Extremely Soft Soil by Using Euler Parameters

오일러 매개변수를 이용한 해저연약지반 무한궤도 차량의 동적거동 해석

  • Kim, Hyung-Woo (Maritime and Ocean Engineering Research Institute, KORDI) ;
  • Hong, Sup (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) ;
  • 최종수 (한국해양연구원 해양시스템안전연구소) ;
  • 여태경 (한국해양연구원 해양시스템안전연구소)
  • Published : 2006.12.30
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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.

Keywords

References

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