An Experimental Study on Steering Performance of Tracked Vehicle on Deep-sea Cohesive Soft Soil by DOE using Orthogonal Arrays

J. Ocean Eng. Technol. 2006;20(4):37-42.

Choi, Jong-Su;Hong, Sup;Kim, Hyung-Woo;

Ocean Engineering Research Department, Maritime & Ocean Engineering Research Institute, KORDI;Ocean Engineering Research Department, Maritime & Ocean Engineering Research Institute, KORDI;Ocean Engineering Research Department, Maritime & Ocean Engineering

직교배열표 실험계획법에 의한 심해저 점착성 연약지반용 무한궤도차량의 선회성능에 대한 실험 연구

최종수;홍섭;김형우;

한국해양연구원 해양시스템안전연구소 해양시스템기술연구본부;한국해양연구원 해양시스템안전연구소 해양시스템기술연구본부;한국해양연구원 해양시스템안전연구소 해양시스템기술연구본부;

Keywords: Cohesive soil, Tracked vehicle, Steering ratio, Grouser, Turning radius, Driving torque, Orthogonal arrays

핵심용어: 점착성 지반, 무한궤도차량, 조향비, 그라우저, 선회반경, 구동토오크, 직교배열표

Abstract

This paper is concerned with experimental investigation of steering performance of a tracked vehicle on extremely soft soil. A tracked vehicle model with principal dimensions of 0.9 m(L)x0.75 m(B)x0.4 m(H) and weight of 167 kg was constructed with a pair of driving chain links, driven by two AC-servo motors. The tracks were configured with detachable grousers with variable span. A deep seabed was simulated by means of a bentonite-water mixture in a soil bin of 6.0 m(L)x3.7 m(B)x0.7 m(H). The turning radii of vehicle and driving torques of motors were measured with respect to experiment variables: steering ratio, driving speed, grouser chevron angle, grouser span, and grouser height. L8 orthogonal table is adopted for DOE (Design of experiment). The effects of experiment variables on steering performance are evaluated.