유체저항을 고려한 심해저 궤도차량의 선회운동 시뮬레이션

Abstract

Efficient dynamis analysis technique has been introduced while considering a hydraulic drag of undersea tracked vehicle. The hydraulic drag is implemented on the a commercial code of DAFUL which uses an implicit integration method has been used to improve a solving performance for the dynamic analysis. For calculating the hydraulic drag force under turning, 6 d.o.f. drag coefficients defined respect to yaw motion of the vehicle are used and the coefficients can be measured a proposed experiment method. Since the tracked vehicle model has a small mass while containing a steel-to-steel contact problem under the sea, the stable integration method are required to improve a stepsize. DAFUL has a powerful sparse solver which used in field of FEM to solve a large degree of freedom. A pilot collector with four-layout tracked assembly with about 1,500 d.o.f. and 5,000 contact pair is modeled in DAFUL. When the vehicle is turning under a specified condition, driving torques of each motors are compared.een used to improve a solving performance for the dynamic analysis. For calculating the hydraulic drag force under turning, 6 d.o.f. drag coefficients defined respect to yaw motion of the vehicle are used and the coefficients can be measured a proposed experiment method. Since the tracked vehicle model has a small mass while containing a steel-to-steel contact problem under the sea, the stable integration method are required to improve a stepsize. DAFUL has a powerful sparse solver which used in field of FEM to solve a large degree of freedom. A pilot collector with four-layout tracked assembly with about 1,500 d.o.f. and 5,000 contact pair is modeled in DAFUL. When the vehicle is turning under a specified condition, driving torques of each motors are compared.