Parameter study of chain trenching machines of Underwater Construction Robots via analytical model
Analytical model by considering the kinematics, dynamics, and energetics of the trenching machine is adopted and proposed to design an underwater chain trenching machine at UCRC-KIOST. In this paper, parameter study and sensitivity analysis is conducted to show how the variations of operational and geometric parameters, as well as cutting tools and material condition affect the forces, moment, weight, and power components. The study sheds some important insights about how the trenching machine behaves and thus the information from this study can be used to design a trenching machine for the required working condition. The parameter study shows that minimum weight requirement for self-propelled vehicle is increased during operation at steep bar angle, and to keep the traction of the vehicle getting worst, it is recommended to cut the trench at low bar angle and make sure the cutting tool is still sharp. The results also show that traverse speed, cutting depth, uniaxial compressive strength, and trench width are the most sensitive parameters affecting the power and angular speed. On the other hand, weight of the vehicle, nose radius, bar length, and pivot point location does not affect the total chain power at all.
Mechanics of Cutting and Boring. Part 3. Kinematics of Continuous Belt Machines
This report, which is one of a series on the mechanics of cutting and boring in rock, deals with the kinematics of machines which utilize a continuous belt as the cutting unit (e.g. coal saws, shale saws, digger-chain trenchers). The disucssion and analysis cover the geometry and motion of various components of the cutting system, including such topics as chipping depth, production and conveyance of cuttings, tool trajectories, tool speeds, tool angles, and arrangement of cutting tools on the belt. Worked examples are included to illustrate the application of various equations to practical problems.
Simulation and control of hybrid renewable energy system connected to the grid
This paper presents a control and simulation of hybrid renewable energy system connected to the grid. The studied system includes a photovoltaic panel, synchronous permanent magnet generator based wind turbine, and a battery for storage energy. The PV array and wind systems are connected to the common DC bus by a boost converter. The battery is connected by a bi-directional DC/DC converter, and then integrated into the AC utility grid via a common DC/AC inverter. In order to extract the maximum energy, a simulation study has been carried out according to the meteorological conditions (wind speed and variable solar irradiance) while maintaining power quality at a satisfactory level. In order to capture the maximum power, a MPPT algorithm is applied for both wind turbine and photovoltaic panel. The modeling and simulation of the whole system has been performed under Matlab/Simulink environment. The obtained results show that the current and the voltage of grid side are sinusoidal and alternative forms, and the power injected to the grid is around the power produced by the hybrid system.