Journal of the Korean Geotechnical Society (한국지반공학회논문집)

Korean Geotechnical Society (한국지반공학회)
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Evaluation of Tractive Performance of an Underwater Tracked Vehicle Based on Soil-track Interaction Theory

궤도-지반 상호작용 이론을 활용한 해저궤도차량의 구동성능 평가

  • Baek, Sung-Ha (Dept. of Civil & Environmental Engrg., Seoul National Univ.) ;
  • Shin, Gyu-Beom (Dept. of Civil & Environmental Engrg., Seoul National Univ.) ;
  • Kwon, Osoon (Coastal Disaster Prevention Research Center, Korea Institute of Ocean Science and Technology) ;
  • Chung, Choong-Ki (Dept. of Civil & Environmental Engrg., Seoul National Univ.)
  • 백성하 (서울대학교 건설환경공학부) ;
  • 신규범 (서울대학교 건설환경공학부) ;
  • 권오순 (한국해양과학기술원) ;
  • 정충기 (서울대학교 건설환경공학부)
  • Received : 2017.12.07
  • Accepted : 2018.01.05
  • Published : 2018.02.28
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Abstract

Underwater tracked vehicle is employed to perform underwater heavy works on saturated seafloor. When an underwater tracked vehicle travels on the seafloor, shearing action and ground settlement take place on the soil-track interface, which develops the soil thrust and soil resistance, respectively, and they restrict the tractive performance of an underwater tracked vehicle. Thus, unlike the paved road, underwater tracked vehicle performance does not solely rely on its engine thrust, but also on the soil-track interaction. This paper aimed at evaluating the tractive performance of an underwater tracked vehicle with respect to ground conditions (soil type, and relative density or consistency) and vehicle conditions (weight of vehicle, and geometry of track system), based on the soil-track interaction theory. The results showed that sandy ground and silty sandy ground generally provide sufficient tractions for an underwater tracked vehicle whereas tractive performance is very much restricted on clayey ground, especially for a heavy-weighted underwater tracked vehicle. Thus, it is concluded that an underwater tracked vehicle needs additional equipment to enhance the tractive performance on the clayey ground.

해저궤도차량은 큰 중량을 가지고 포화된 해저지반 위를 구동하며 작업을 수행한다. 해저궤도차량 구동 시 궤도-지반 접지면에서는 지반의 전단 및 침하현상이 발생되며, 이로 인해 각각 지반추력 및 지반저항력이 발현되어 구동성능을 제한한다. 즉, 일반적인 포장도로 주행차량과 달리, 해저궤도차량의 구동성능은 엔진성능뿐 아니라 주행하는 지반과 차량의 상호작용에 의해 결정되는 것이다. 본 연구에서는 궤도-지반 상호작용 이론을 바탕으로 해저궤도차량에 적용될 수 있는 다양한 지반특성(흙 종류, 상대밀도 혹은 경질도) 및 차량특성(차량중량 및 궤도시스템 제원)에 따른 구동성능 평가를 수행하였다. 그 결과, 해저궤도차량이 모래지반 및 실트질 모래지반에서 운용되는 경우에는 비교적 수월하게 구동성능을 확보할 수 있지만, 점성토 지반에서는 구동성능 확보에 어려움이 있을 것으로 나타났다. 특히, 점성토 지반에서 운용되는 해저궤도차량의 중량이 큰 경우 전반적인 구동성능 및 등판능력이 매우 떨어지는 것으로 평가되어, 구동성능을 확보하기 위한 추가적인 보안방안이 필요할 것으로 판단된다.

Keywords

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