양관관이 연결된 자항식 집광기의 동력학 해석

Abstract

This paper concerns about dynamic analysis of self-propelled miner coupled with lifting pipe system. The lifting pipe system consists of vertical steel pipe, intermediate buffer station and flexible pipe. 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 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 soft cohesive soil is applied to self-propelled miner. The hydrodynamic forces and moments are included in the dynamic models of vehicle and lifting pipe system. Hinged and fixed constraints are used to define the connections between subsystems (vertical steel pipe, buffer, flexible pipe, 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 vehicle and lifting pipe system. To solve equations of motion of the coupled dynamic model, an incremental-iterative formulation is employed. Newmark numerical integrator is used for time-domain integration. The dynamic responses of vehicle coupled with lifting pipe system are investigated.