水下导向攻泥器钻进过程动力学建模及实验验证  

Dynamic Modeling of Underwater Mud-penetrator and Experimental Verification

作　　者：徐宝林[1] 杨双喜 王俊杰 陈英龙 XU Bao-lin;YANG Shuang-xi;WANG Jun-jie;CHEN Ying-long(Department of Mechanical and Electrical Technology, Jiangmen Polytechnic, Jiangmen, Guangdong 529009;Mechanical Engineering, Dalian Maritime University, Dalian, Liaoning 116000)

机构地区：[1]江门职业技术学院机电技术系,广东江门529009 [2]大连海事大学船舶与海洋工程学院,辽宁大连116000

出　　处：《液压与气动》2022年第7期163-172,共10页Chinese Hydraulics & Pneumatics

摘　　要：水下导向攻泥器是沉船打捞过程中重要的攻千斤洞作业工具,钻孔轨迹和导向精度直接决定了攻打千斤洞的质量。分析了水下导向攻泥器的钻进导向过程,运用土力学原理建立钻头负载力学模型,并提出采用圆孔扩张理论推演土壤的钻进形变力矩;在静力学分析基础上,采用牛顿-欧拉法建立钻头动力学方程,并在MATLAB对钻进过程进行仿真;最后对所建立的钻进动力学模型进行了实验研究。实验与仿真结果对比验证了所提出的水下导向攻泥器钻头数学模型的准确性。As an important tool in the process of salvaging the sunken ship,the drilling trajectory and guiding accuracy of underwater Mud-penetrator determine the quality of the hole.Firstly,analyzing the actual drilling process of the underwater Mud-penetrator,by using the principle of soil mechanics establishing load force model of bit load,and based on the theory of circular hole expansion deriving the expansion deformation moment of soil.Secondly,on the basis of static analysis,the dynamic model of drill is established by using Newton-euler equation and the actual drilling process is analyzed by using MATLAB.Finally,the drilling dynamic model is studied by experiments,and the accuracy of the model is verified by experimental results and simulation.

关 键 词：水下导向攻泥器 钻头 钻杆 圆孔扩张理论 动力学模型 

分 类 号：TH137[机械工程—机械制造及自动化]