Impact Analysis of Track Slip in Sediment on Submarine Tracked Vehicle Steering Performance

• Published in: Journal of physics. Conference series 2019-07, Vol.1267 (1), p.12060
• Main Authors: Hao, Zhang, Yubing, Duan, Xin, Shi, Xiaoli, Hu, Jianjun, Su, Jinxia, Yao, Hui, Liu
• Format: Article
• Language: English
• Subjects: Angular velocity; Empirical analysis; Impact analysis; Model testing; Ocean floor; Physics; Sediments; Shear rate; Slip; Steady state; Steering; Submarine cables; Tracked vehicles; Velocity
• ISSN: 1742-6588; 1742-6596
• DOI: 10.1088/1742-6596/1267/1/012060

In combination with the requirements of the Tracked Vehicle-Cable Salvage project, which is aiming at the characteristics of the submarine crawler slip, the impact of the slip rate on the tangential drive to steering radius and steering angular velocity of the submarine crawler chassis. it is analyzed from the theoretical and experimental levels. Simplify the force model of the working submersible during steady-state steering, and it can obtain the steady-state steering body dynamics equation; in order to solve the arbitrary shear rate and shear displacement of the grounding surface in the steering process. According to the steering geometry relationship, it can combined with the empirical experience of seafloor sediments. The model derives the longitudinal driving. lateral resistance and drag torque of the left and right side of the track when it is during steady-state steering; when we analyzes the instantaneous lateral shift of the track shear rate during steady-state steering; it derives the instantaneous rate of the instantaneous steering rate, which based on the geometric relationship of the steering motion The relationship between the offset and the steering radius of the body, the steering angular velocity, and the sliding rate as a function of the steering radius and steering angular velocity of the body; when the steering model test is carried out to verify the influence of the slip rate on the steering radius and the steering angular velocity; The slip rate has an effect on both the steering radius and the steering angular velocity. It was measured steering radius becomes larger, the steering angular velocity becomes smaller, and the theoretical prediction curve is basically consistent with the measured data.