Dynamic Analysis And Structural Optimization Of Submarine Plough

With the energy supply tense, all countries focus their attention on the development ofoffshore oil and gas. As a kind of underwater trenching machineries for the protecting ofpipeline in the seabed, submarine plough is used widely. The issue comes from the project"Research on Trenching Technology and Equipment for Hard Clay" of CNOOC. The goal isto research dynamic characteristics of submarine plough trenching deeply, and to discussstructural analysis and optimization of the key parts. The principal research contents based onthe development of the subject are as follows.The paper introduces the development history and status of submarine plough.According to the principle and workflow of the device, its mechanical system and subsystemsare designed, and three-dimensional models are built with SOLIDWORKS. In order to solvethe existing problem of holding pipe device, a new adaptive, damping and self-lock one isdesigned. Mathematical models about the kinematics of skids, steering system, plough andholding rollers are established with mechanisms analysis and synthesis theory for the latterdynamic analysis.Mathematic model of solid-blade interaction based on Coulomb’s theory of passive earthpressure with the whole equipment’s mechanical model is presented. At the same time, asimplified dynamic equation of submarine plough is built on the basis of Lagrangian method.Related virtual prototyping models based on ADAMS were also established, and itqualitatively verified and validated from the experimental data of land test.Dynamic characteristics of submarine plough are researched deeply, including trenchingperformance, steering performance, and opening and closing properties of plough. Trenchingfocus on the performance in several typical working conditions which consist of general road,trim road, roll road and horizontal impact when going forward in a straight line. Steeringsimulation tests discuss the performance in turning by both ship and steering mechanism. Italso studies the feasibility of operating process based on opening and closing test of theprototype.Structure strengthen of chassis of submarine plough is calculated and simulated on thebasis of the result of dynamic analysis. Mechanism and structural optimization design of thedocking probe as a example are researched with ADAMS and ANSYS.According to the above studies, grips with submarine plough performance are got, thekey parts are analyzed and optimized in structural strengthen. It not only provides an important reference for the control method of the submarine plough, but also offers methodsfor the design of engineering sample.