海底犁式挖沟机犁体建模及土壤裂解研究
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摘要
海底犁式挖沟机犁体工作面的结构直接影响挖掘效率及牵引力大小,对犁体工作面进行数学建模分析及挖掘机理研究具有重要的理论指导和工程实践价值。利用空间平面及水平直元线法建立犁体主切削面和翻抛曲面方程,根据翻抛土壤能量最小方向得到土迹线方程,基于犁体工作面土壤运动机理建立土壤裂解和翻抛的动力学方程,据此确定了牵引力的理论计算方法。数值仿真计算表明,翻抛曲面曲率影响土壤翻抛的法向力及切向力,牵引速度的变化对土壤翻抛的切向力影响较大;影响主切削面受力的主要因素包括土壤粘聚力和内摩擦角,且随着粘聚力与内摩擦角增加,后者对主切削面受力影响较大。海底犁式挖沟机试验样机的陆地试验结果与理论计算结果基本吻合,例如当沟深为0.8 m时,实测牵引力与理论值的相对误差为3%,试验结果验证了所建立的犁体牵引力的理论计算方法的可行性。该研究可以有效预测海底犁式挖沟机工程样机的牵引力,进而为工程样机的设计及海试等提供理论和技术参考。
As the working surface of the plow body of a submarine plowing trencher directly determines its trenching efficiency and the towing force,mathematical modeling and analysis of the plow working surface and the trenching mechanism have important theoretical significance and practical value.The mathematical equations for the main cutting surface and soil turning-throwing curved surface are established by using plane space method and horizontal contour line design method respectively.The soil flow equation is obtained according to the minimum energy direction of the soil turning-throwing path.The soil cutting and turning-throwing kinetic equation is built based on the soil dynamics mechanism of the plow working surface.Numerical simulation results show that the curvature of the turning-throwing surface influences both the normal force and tangential force,also the towing speed has much influence on the latter one.The force on the main cutting surface is primarily determined by the soil cohesion and internal friction angle.The impact of internal friction angle is found to be more than that of cohesion as both parameters are increased proportionately.The measured towing force for a 0.8 m deep trench is 321.4 kN while the simulated value is 312 kN,which implies that the measured value deviated from the simulated by 3%.Therefore results of the land experimental test of the prototype trencher agrees very closely with that of numerical simulation.It is therefore concluded that this modeling technique can effectively predict the towing force of the plow body of submarine plowing trencher,and provide theoretical and technical references for its further design and sea trial.
As the working surface of the plow body of a submarine plowing trencher directly determines its trenching efficiency and the towing force,mathematical modeling and analysis of the plow working surface and the trenching mechanism have important theoretical significance and practical value.The mathematical equations for the main cutting surface and soil turning-throwing curved surface are established by using plane space method and horizontal contour line design method respectively.The soil flow equation is obtained according to the minimum energy direction of the soil turning-throwing path.The soil cutting and turning-throwing kinetic equation is built based on the soil dynamics mechanism of the plow working surface.Numerical simulation results show that the curvature of the turning-throwing surface influences both the normal force and tangential force,also the towing speed has much influence on the latter one.The force on the main cutting surface is primarily determined by the soil cohesion and internal friction angle.The impact of internal friction angle is found to be more than that of cohesion as both parameters are increased proportionately.The measured towing force for a 0.8 m deep trench is 321.4 kN while the simulated value is 312 kN,which implies that the measured value deviated from the simulated by 3%.Therefore results of the land experimental test of the prototype trencher agrees very closely with that of numerical simulation.It is therefore concluded that this modeling technique can effectively predict the towing force of the plow body of submarine plowing trencher,and provide theoretical and technical references for its further design and sea trial.
引文
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[17]陈仲颐,周景星,王洪瑾.土力学[M].北京:清华大学出版社,1994.CHEN Zhongyi,ZHOU Jingxing,WANG Hongjin.Soil mechanics[M].Beijing:Tsinghua University Press,1994.
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[2]COYNE J C,LEWIS G W.Analysis of plowing forces for finite-width blade in dense,ocean bottom sand[C]//Oceans’99 MTS/IEEE,Riding the Crest into the 21st Century,September 13-16,1999,Seattle,Washington State.USA:IEEE,1999:1-10.
[3]PENG W,BRANSBY M F.Numerical modeling of soil around offshore pipeline plough shares[C]//Frontiers in Offshore Geotechnics II-Proceedings of the 2nd International Symposium on Frontiers in Offshore Geotechnics,November 8-10,2010,Perth,Washington State.USA:ISFOG,2010:877-882.
[4]Vessel&ROV News.SMD Hydrovision unveils AMP500 plough[EB/OL].[2004-07-09].http/:/www.oilpubs.com/oso/article.aspv1=1134.
[5]张国光.世界著名水下开沟机械设计施工公司与机型介绍[J].海洋技术,1996,15(2):55-64.ZHANG Guoguang.Developing company and type of famous submarine trenching machines[J].Ocean Technology,1996,15(2):55-64.
[6]卢瑾奉.滩海海底管道挖沟沉管技术[J].江苏船舶,2004,21(5):12-14.LU Jinfeng.The technology of tidal subsea pipeline trenching and sinking pipe[J].Jiangsu Ship,2004,21(5):12-14.
[7]裴红英,王道炎.一种具有双重功能的海底挖沟机[J].中国造船,2007(48):640-644.PEI Hongying,WANG Daoyan.A kind of particular dual function subsea trenching machine[J].Shipbuilding of China,2007(48):640-644.
[8]迟令宝.海底犁式挖沟机总体结构研究[D].哈尔滨:哈尔滨工程大学,2010.CHI Lingbao.Study on general structures of the submarine plough[D].Harbin:Harbin Engineering University,2010.
[9]李艳洁,徐泳,赵东.微型土壤动力学试验土槽装置的研制[J].机械工程学报,2010,46(15):65-70.LI Yanjie,XU Yong,ZHAO Dong.Development and manufacture of a mini-soil-bin device for soil dynamics experiments[J].Journal of Mechanical Engineering,2010,46(15):65-70.
[10]郭志军,周德义,周志立.几种不同触土曲面耕作部件的力学性能仿真研究[J].机械工程学报,2010,46(15):71-75.GUO Zhijun,ZHOU Deyi,ZHOU Zhili.Simulation research on mechanical performances of several kinds of cultivating components with different soil-engaging surfaces[J].Journal of Mechanical Engineering,2010,46(15):71-75.
[11]中国农业机械化科学研究院.农业机械设计手册[M].北京:中国农业科学技术出版社,2007.Chinese Academy of Agricultural Mechanization Sciences.Agricultural machinery designing handbook[M].Beijing:China Agricultural Science and Technology Press,2007.
[12]陈翠英,陈利刚,王新忠.双翼翻土防漏耕犁的参数设计[J].农业机械学报,2000,31(2):27-29.CHEN Cuiying,CHEN Ligang,WANG Xinzhong.Design of parameters of a two wing turning antimiss plowing plow bottom[J].Transactions of the Chinese Society of Agricultural Machinery,2000,31(2):27-29.
[13]马延玺,叶艳琴.土垡沿犁体曲面运动轨迹的预测[J].农业机械学报,1996(27):1-4.MA Yanxi,YE Yanqin.Prediction of the trajectory of soil motion on the moldboard plow surface[J].Transactions of the Chinese Society of Agricultural Machinery,1996,(27):1-4.
[14]GUO Yuqin,LI Fuzhu,JIANG Hong,et al.Diagonal point by point surface development method based on NURBS surface for blank shape estimation of cover pane[J].Chinese Journal of Mechanical Engineering,2005,18(3):329-332.
[15]李广信.高等土力学[M].北京:清华大学出版社,2004.LI Guangxin.Advanced soil mechanics[M].Beijing:Tsinghua University Press,2004.
[16]LI Yanjie,XU Yong,HUANG Wenbin.Experimental and numerical research on bulldozer working process[J].Chinese Journal of Mechanical Engineering,2007,20(2):41-46.
[17]陈仲颐,周景星,王洪瑾.土力学[M].北京:清华大学出版社,1994.CHEN Zhongyi,ZHOU Jingxing,WANG Hongjin.Soil mechanics[M].Beijing:Tsinghua University Press,1994.
[18]彭明祥.挡土墙被动土压力的库仑统一解[J].岩土工程学报,2008,30(12):1783-1788.PENG Mingxiang.Coulumb’s unified solution of Passive earth pressure on retaining wall[J].Chinese Journal of Geotechnical Engineering,2008,30(12):1783-1788.
[19]马飞,宋志辉.水射流动力特性及破土机理[J].北京科技大学学报,2006,28(5):413-416.MA Fei,SONG Zhihui.Dynamic property and breaking soil mechanism of water jet[J].Journal of University of Science and Technology Beijing,2006,28(5):413-416.
[20]黑龙江省东煤建筑基础工程有限公司.岩土工程勘察报告2010-0501[R].哈尔滨,2010.Heilongjiang East Coal Building Foundation Engineering Co.,Ltd.Geotechnical survey report 2010-0501[R].Harbin,2010.