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Nomenclature 7
제1장 서론 29
1.1. 연구 배경 및 필요성 29
1.2. 연구 동향 31
1.2.1. 풀림 동역학(unwinding dynamics) 31
1.2.2. 절대 절점 좌표계(absolute nodal coordinates system) 36
1.3. 연구 목적 및 내용 39
제2장 굽힘 강성을 고려한 광 케이블 풀림 거동 해석 42
2.1. 개방계 해밀턴 원리 42
2.2. 과도 상태 풀림 운동 방정식과 경계 조건의 결정 45
2.3. 장력 방정식의 유도 52
2.4. 과도 상태 풀림 운동 방정식의 수치 해법 54
2.5. 광 케이블의 굽힘 강성 효과 61
2.6. 광 케이블의 풀림 거동 해석 66
2.6.1. 유선 유도 광 케이블 66
2.6.2. 광 케이블의 풀림 조건과 가이드 아일렛의 장력 선정 67
2.6.3. 광 케이블의 풀림 거동 해석 72
2.6.4. 광 케이블 풀림 거동 해석 결과의 실험적 검증 88
2.6.5. 증가된 풀림 속도에서 광 케이블의 풀림 거동 예측 90
제3장 전단핀에 작용하는 동적 하중 예측 92
3.1. 강체 요소를 활용한 탄성 호스의 질량 분배 93
3.2. 기구학적 구속 조건 99
3.2.1. 구 조인트 100
3.2.2. 수직 구속 조건 101
3.3. 구동 구속 조건 103
3.4. 탄성 호스의 풀림 과정에서 작용하는 외력 105
3.4.1. 중력과 부력 그리고 접촉력 106
3.4.2. 법선 및 접선 방향 유체 저항력 108
3.5. 전단핀의 동적 하중 및 탄성 호스의 풀림 특성 109
3.5.1. 최대 25kn의 풀림 속도에서 동적 하중과 풀림 특성 110
3.5.2. 최대 15kn의 풀림 속도에서 동적 하중과 풀림 특성 118
3.5.3. 최대 5kn의 풀림 속도에서 동적 하중과 풀림 특성 124
제4장 모함의 회피 기동에 의한 탄성 호스의 동적 거동 해석 128
4.1. 절대 절점 좌표계를 활용한 탄성 호스의 모델링 130
4.1.1. 탄성 호스의 질량 행렬 133
4.1.2. 탄성 호스의 종 강성 행렬 134
4.1.3. 탄성 호스의 횡 강성 행렬 145
4.1.4. 탄성 호스에 작용하는 외력 149
4.2. 탄성 호스의 무차원 모델링 151
4.2.1. 탄성 호스의 무차원 질량 행렬 155
4.2.2. 탄성 호스의 무차원 종 강성 행렬 156
4.2.3. 탄성 호스의 무차원 횡 강성 행렬 167
4.2.4. 탄성 호스에 작용하는 무차원 외력 171
4.3. 차원 및 무차원 운동 방정식 해석 시간 172
4.4. 직진 회피 기동에 의한 탄성 호스의 동적 거동 183
4.4.1. 직진 회피 기동에서 해의 수렴을 위한 요소 수의 선정 183
4.4.2. 직진 회피 기동 시점을 고려한 탄성 호스의 동적 거동 185
4.4.3. 직진 회피 기동 속도를 고려한 탄성 호스의 동적 거동 189
4.4.4. 탄성 호스의 동적 거동 192
4.4.5. 직진 회피 기동에서 탄성 호스의 감김 속도 발생 효과 197
4.5. 선회 회피 기동에 의한 탄성 호스의 동적 거동 204
4.5.1. 선회 회피 기동에서 해의 수렴을 위한 요소 수의 선정 204
4.5.2. 선회 회피 기동 시점을 고려한 탄성 호스의 동적 거동 206
4.5.3. 선회 회피 기동 속도를 고려한 탄성 호스의 동적 거동 209
4.5.4. 탄성 호스의 선회 거동 212
4.5.5. 선회 회피 기동에서 탄성 호스의 감김 속도 발생 효과 217
4.6. 정상 상태에서 탄성 호스 끝 단의 높이 변화 223
제5장 결론 226
참고문헌 229
부록 239
부록 A. 가상 모멘텀 수송 정리 239
부록 B. 운동 에너지 변분 항의 부분 적분 241
부록 C. 포텐셜 에너지 변분 항의 부분 적분 244
부록 D. 공간 곡선의 기하학 245
부록 E. 뉴막 암시적 적분 250
부록 F. 광 케이블 풀림 거동 해석을 위한 행렬 구성 253
부록 G. 원형 실린더의 항력 계수 결정 255
부록 H. 강체 모델링을 위한 벡터 정의 257
부록 I. 브라이언트 각 260
부록 J. 기구학적 구속 조건 262
부록 K. 탄성 호스의 동적 거동 해석 시간 265
부록 L. 무차원 운동 방정식의 수치적 검증 267
Abstract 277
Table 2.1. Properties of a fiber-optic cable 66
Table 2.2. Analysis conditions for unwinding fiber-optic cable 70
Table 3.1. Tensile force on shear pin of connection part versus time in experiment and simulation at the maximum velocity of 25kn 111
Table 3.2. Tensile force on shear pin of connection part versus time in experiment and simulation at the maximum velocity of 15kn 118
Table 4.1. Properties of 304 stainless steel used for flexible hose 129
Table 4.2. Characteristics for four types of longitudinal stiffness matrices 144
Table 4.3. Combination of longitudinal and transverse stiffness matrices 148
Table 4.4. Condition for straight-line and turning evasive maneuvering 173
Table 4.5. Computer performance for analysis; CPU, Memory capacity and software 173
Table 4.6. Relationship between the number of elements and non-dimensional time variable TND(이미지참조) 173
Table 4.7. Ratio of analysis time for dimensional equation of motion to non-dimensional equation of motion at turning radius of ∞m and propulsion velocity of 25kn(이미지참조) 177
Table 4.8. Ratio of analysis time for dimensional equation of motion to non-dimensional equation of motion at turning radius of 25m and propulsion velocity of 25kn 178
Table 4.9. Analysis conditions for comparison dimensional equation of motion with non-dimensional equation of motion 180
Table 4.10. Relationship between the non-dimensional coefficient v and the winding velocity V 197
Table 4.11. Height of end point by propulsion velocity in steady state for straight-line and turning evasive maneuvering 225
Table E.1. Some of the most commonly used modified Newmark methods 252
Table K.1. Dimension and non-dimension analysis time for the straight-line evasive maneuvering at turning radius of ∞m and propulsion velocity of 25kn(이미지참조) 265
Table K.2. Dimension and non-dimension analysis time for the turning evasive maneuvering at turning radius of 25m and propulsion velocity of 25kn 266
Table L.1. Properties and data of cantilever beam 270
Table L.2. Non-dimensional parameter TND by the number of elements(이미지참조) 270
Table L.3. Analysis time by the number of elements between dimensional and non-dimensional equation of motion using cantilever beam 270
Table L.4. Mean value of deflection by the number of elements between dimensional and non-dimensional equation of motion 270
Table L.5. Data for analysis of simple pendulum attached with revolute joint between dimensional and non-dimensional equation of motion 272
Table L.6. Analysis time by the number of elements between dimensional and non-dimensional equation of motion using simple pendulum 275
Figure 1.1. Domestic destroyer and submarine 30
Figure 1.2. Antisubmarine warfare system 30
Figure 1.3. Unwinding motion withdrawn from a spool package 35
Figure 1.4. Application of ANCF for chain, drape and flexible hose 38
Figure 2.1. Schematic diagram for Hamilton's principle for a system with changing mass 44
Figure 2.2. Components of velocity at an arbitrary point 51
Figure 2.3. Determination of traction boundary conditions at guide-eyelet and lift-off points 58
Figure 2.4. Inner and outer spool packages 62
Figure 2.5. Effect of flexural rigidity with respect to geometric constraint 62
Figure 2.6. Unwinding motion of a cable in 3D and polar view with or without flexural rigidity 64
Figure 2.7. Unwinding motion of a cable in z-r coordinates with or without flexural rigidity and geometric constraint at lift-off point 65
Figure 2.8. Fiber-optic cable wound in outer spool package 66
Figure 2.9. Inner spool package including fiber-optic cable 69
Figure 2.10. Experiment setup for filming the motion of fiber-optic cable and for taking initial tensile force 69
Figure 2.11. Dimensions of inner spool package and control volume 70
Figure 2.12. Two different unwinding points on inner spool package 71
Figure 2.13. Tension at guide-eyelet point with respect to three different velocities; 5kn, 10kn and 15kn 71
Figure 2.14. Unwinding motion of a fiber-optic cable in 3D and polar view for Case I (a) 76
Figure 2.15. Acceleration versus time at center node in Cartesian coordinates for Case I (a) 76
Figure 2.16. Simulation results for a fiber-optic cable in inner spool package for Case I (a) 77
Figure 2.17. Drag coefficients at quarter, half and three-quarter nodes for Case I (a) 77
Figure 2.18. Unwinding motion of a fiber-optic cable in 3D and polar view for Case I (b) 78
Figure 2.19. Acceleration versus time at center node in Cartesian coordinates for Case I (b) 78
Figure 2.20. Simulation results for a fiber-optic cable in inner spool package for Case I (b) 79
Figure 2.21. Drag coefficients at quarter. half and three-quarter nodes for Case I (b) 79
Figure 2.22. Unwinding motion of a fiber-optic cable in 3D and polar view for Case II (a) 80
Figure 2.23. Acceleration versus time at center node in Cartesian coordinates for Case II (a) 80
Figure 2.24. Simulation results for a fiber-optic cable in inner spool package for Case II (a) 81
Figure 2.25. Drag coefficients at quarter, half and three-quarter nodes for Case II (a) 81
Figure 2.26. Unwinding motion of a fiber-optic cable in 3D and polar view for Case II (b) 82
Figure 2.27. Acceleration versus time at center node in Cartesian coordinates for Case II (b) 82
Figure 2.28. Simulation results for a fiber-optic cable in inner spool package for Case II (b) 83
Figure 2.29. Drag coefficients at quarter, half and three-quarter nodes for Case II (b) 83
Figure 2.30. Unwinding motion of a fiber-optic cable in 3D and polar view for Case III (a) 84
Figure 2.31. Acceleration versus time at center node in Cartesian coordinates for Case III (a) 84
Figure 2.32. Simulation results for a fiber-optic cable in inner spool package for Case III (a) 85
Figure 2.33. Drag coefficients at quarter, half and three-quarter nodes for Case III (a) 85
Figure 2.34. Unwinding motion of a fiber-optic cable in 3D and polar view for Case III (b) 86
Figure 2.35. Acceleration versus time at center node in Cartesian coordinates for Case III (b) 86
Figure 2.36. Simulation results for a fiber-optic cable in inner spool package for Case III (b) 87
Figure 2.37. Drag coefficients at quarter, half and three-quarter nodes for Case III (b) 87
Figure 2.38. Captured image and comparison of unwinding motion data in simulation and experiment for fiber-optic cable 89
Figure 2.39. Unwinding motion of a fiber-optic cable at 25kn unwinding velocity at lift-off points (a) and (b) 91
Figure 3.1. A conceptual diagram; connection of mother ship, flexible hose, telecommunication line and torpedo 92
Figure 3.2. Shear pin and hinge of connection part that connects underwater vehicle with flexible hose 93
Figure 3.3. Rigid body coordinate system 98
Figure 3.4. Spherical joint 102
Figure 3.5. Perpendicular constraint condition 102
Figure 3.6. Driving constraint condition 104
Figure 3.7. Initial position for predicting dynamic load acting on shear pin of connection part 105
Figure 3.8. Contact between flexible hose and a spool package for keeping the position of flexible hose 107
Figure 3.9. Experiment for acquiring dynamic load acting on shear pin of connection part 109
Figure 3.10. Tensile force on shear pin in experiment and simulation at the maximum velocity of 25kn 112
Figure 3.11. Comparison driving constraint with imposed motion of underwater vehicle at the maximum velocity of 25kn 115
Figure 3.12. Reaction forces on shear pin of connection part at the maximum velocity of 25kn 115
Figure 3.13. Angular velocity on shear pin and hinge of connection part at the maximum velocity of 25kn 116
Figure 3.14. Center node position of flexible hose versus time at the maximum velocity of 25kn 116
Figure 3.15. Motion of flexible hose versus time at the maximum velocity of 25kn in x-z projection view 117
Figure 3.16. Tensile force on shear pin in experiment and simulation at the maximum velocity of 15kn 119
Figure 3.17. Comparison driving constraint with imposed motion of underwater vehicle at the maximum velocity of 15kn 121
Figure 3.18. Reaction forces on shear pin of connection part at the maximum velocity of 15kn 121
Figure 3.19. Angular velocity on shear pin and hinge of connection part at the maximum velocity of 15kn 122
Figure 3.20. Center node position of flexible hose versus time at the maximum velocity of 15kn 122
Figure 3.21. Motion of flexible hose versus time at the maximum velocity of 15kn in x-z projection view 123
Figure 3.22. Tensile force on shear pin of connection part in simulation at the maximum velocity of 5kn 125
Figure 3.23. Reaction forces on shear pin of connection part at the maximum velocity of 5kn 125
Figure 3.24. Angular velocity on shear pin and hinge of connection part at the maximum velocity of 5kn 126
Figure 3.25. Center node position of flexible hose versus time at the maximum velocity of 5kn 126
Figure 3.26. Motion of flexible hose versus time at the maximum velocity of 5kn in x-z projection view 127
Figure 4.1. 304 stainless steel used for flexible hose 129
Figure 4.2. Absolute nodal coordinate system 132
Figure 4.3. Velocity vector normal to the flexible hose 150
Figure 4.4. Transformation of concentrated force into distributed force in absolute nodal coordinate system 150
Figure 4.5. Dimension and non-dimension analysis time for the straight-line evasive maneuvering at turning radius of ∞m and propulsion velocity of 25kn(이미지참조) 177
Figure 4.6. Dimension and non-dimension analysis time for the turning evasive maneuvering at turning radius of 25m and propulsion velocity of 25kn 178
Figure 4.7. End node position at turning radius of ∞m and propulsion velocity of 25kn(이미지참조) 181
Figure 4.8. End node acceleration versus time at turning radius of ∞m and propulsion velocity of 25kn(이미지참조) 181
Figure 4.9. End node position at turning radius of 25m and propulsion velocity of 25kn 182
Figure 4.10. End node acceleration versus time at turning radius of 25m and propulsion velocity of 25kn 182
Figure 4.11. End node position at turning radius of ∞m and propulsion velocity of 25kn by the number of elements(이미지참조) 184
Figure 4.12. Center and end node position of flexible hose versus time for straight-line evasive maneuvering at propulsion velocity of 5kn 187
Figure 4.13. Center and end node position of flexible hose versus time for straight-line evasive maneuvering at propulsion velocity of 15kn 188
Figure 4.14. Center and end node position of flexible hose versus time for straight-line evasive maneuvering at propulsion velocity of 25kn 188
Figure 4.15. Center and end node position of flexible hose versus time by propulsion velocity at time of straight-line evasive maneuvering of 40sec 190
Figure 4.16. Center and end node position of flexible hose versus time by propulsion velocity at time of straight-line evasive maneuvering of 80sec 191
Figure 4.17. Center and end node position of flexible hose versus time by propulsion velocity at time of straight-line evasive maneuvering of 120sec 191
Figure 4.18. Motion of flexible hose at the propulsion velocity of 5kn and at time of straight-line evasive maneuvering of 40sec 192
Figure 4.19. Motion of flexible hose at the propulsion velocity of 5kn and at time of straight-line evasive maneuvering of 80sec 193
Figure 4.20. Motion of flexible hose at the propulsion velocity of 5kn and at time of straight-line evasive maneuvering of 120sec 193
Figure 4.21. Motion of flexible hose at the propulsion velocity of 15kn and at time of straight-line evasive maneuvering of 40sec 194
Figure 4.22. Motion of flexible hose at the propulsion velocity of 15kn and at time of straight-line evasive maneuvering of 80sec 194
Figure 4.23. Motion of flexible hose at the propulsion velocity of 15kn and at time of straight-line evasive maneuvering of 120sec 195
Figure 4.24. Motion of flexible hose at the propulsion velocity of 25kn and at time of straight-line evasive maneuvering of 40sec 195
Figure 4.25. Motion of flexible hose at the propulsion velocity of 25kn and at time of straight-line evasive maneuvering of 80sec 196
Figure 4.26. Motion of flexible hose at the propulsion velocity of 25kn and at time of straight-line evasive maneuvering of 120sec 196
Figure 4.27. Center and end node position of flexible hose versus time by non-dimensional coefficient v at propulsion velocity of 5kn and time of straight-line evasive maneuvering of 40sec 199
Figure 4.28. Center and end node position of flexible hose versus time by non-dimensional coefficient v at propulsion velocity of 5kn and time of straight-line evasive maneuvering of 80sec 200
Figure 4.29. Center and end node position of flexible hose versus time by non-dimensional coefficient v at propulsion velocity of 5kn and time of straight-line evasive maneuvering of 120sec 200
Figure 4.30. Center and end node position of flexible hose versus time by non-dimensional coefficient v at propulsion velocity of 15kn and time of straight-line evasive maneuvering of 40sec 201
Figure 4.31. Center and end node position of flexible hose versus time by non-dimensional coefficient v at propulsion velocity of 15kn and time of straight-line evasive maneuvering of 80sec 201
Figure 4.32. Center and end node position of flexible hose versus time by non-dimensional coefficient v at propulsion velocity of 15kn and time of straight-line evasive maneuvering of 120sec 202
Figure 4.33. Center and end node position of flexible hose versus time by non-dimensional coefficient v at propulsion velocity of 25kn and time of straight-line evasive maneuvering of 40sec 202
Figure 4.34. Center and end node position of flexible hose versus time by non-dimensional coefficient v at propulsion velocity of 25kn and time of straight-line evasive maneuvering of 80sec 203
Figure 4.35. Center and end node position of flexible hose versus time by non-dimensional coefficient v at propulsion velocity of 25kn and time of straight-line evasive maneuvering of 120sec 203
Figure 4.36. End node position at turning radius of 25m and propulsion velocity of 25kn by the number of elements 205
Figure 4.37. End node position of flexible hose versus time by time of turning evasive maneuvering at propulsion velocity of 5kn 207
Figure 4.38. End node position of flexible hose versus time by time of turning evasive maneuvering at propulsion velocity of 15kn 208
Figure 4.39. End node position of flexible hose versus time by time of turning evasive maneuvering at propulsion velocity of 25kn 208
Figure 4.40. End node position of flexible hose by propulsion velocity at time of turning evasive maneuvering of 40sec 210
Figure 4.41. End node position of flexible hose by propulsion velocity at time of turning evasive maneuvering of 80sec 211
Figure 4.42. End node position of flexible hose by propulsion velocity at time of turning evasive maneuvering of 120sec 211
Figure 4.43. Motion of flexible hose at the propulsion velocity of 5kn and at time of turning evasive maneuvering of 40sec 212
Figure 4.44. Motion of flexible hose at the propulsion velocity of 5kn and at time of turning evasive maneuvering of 80sec 213
Figure 4.45. Motion of flexible hose at the propulsion velocity of 5kn and at time of turning evasive maneuvering of 120sec 213
Figure 4.46. Motion of flexible hose at the propulsion velocity of 15kn and at time of turning evasive maneuvering of 40sec 214
Figure 4.47. Motion of flexible hose at the propulsion velocity of 15kn and at time of turning evasive maneuvering of 80sec 214
Figure 4.48. Motion of flexible hose at the propulsion velocity of 15kn and at time of turning evasive maneuvering of 120sec 215
Figure 4.49. Motion of flexible hose at the propulsion velocity of 25kn and at time of turning evasive maneuvering of 40sec 215
Figure 4.50. Motion of flexible hose at the propulsion velocity of 25kn and at time of turning evasive maneuvering of 80sec 216
Figure 4.51. Motion of flexible hose at the propulsion velocity of 25kn and at time of turning evasive maneuvering of 120sec 216
Figure 4.52. End node position of flexible hose by non-dimensional coefficient v at propulsion velocity of 5kn and time of turning evasive maneuvering of 40sec 218
Figure 4.53. End node position of flexible hose by non-dimensional coefficient V at propulsion velocity of 5kn and time of turning evasive maneuvering of 80sec 219
Figure 4.54. End node position of flexible hose by non-dimensional coefficient V at propulsion velocity of 5kn and time of turning evasive maneuvering of 120sec 219
Figure 4.55. End node position of flexible hose by non-dimensional coefficient v at propulsion velocity of 15kn and time of turning evasive maneuvering of 40sec 220
Figure 4.56. End node position of flexible hose by non-dimensional coefficient v at propulsion velocity of 15kn and time of turning evasive maneuvering of 80sec 220
Figure 4.57. End node position of flexible hose by non-dimensional coefficient v at propulsion velocity of 15kn and time of turning evasive maneuvering of 120sec 221
Figure 4.58. End node position of flexible hose by non-dimensional coefficient v at propulsion velocity of 25kn and time of turning evasive maneuvering of 40sec 221
Figure 4.59. End node position of flexible hose by non-dimensional coefficient v at propulsion velocity of 25kn and time of turning evasive maneuvering of 80sec 222
Figure 4.60. End node position of flexible hose by non-dimensional coefficient v at propulsion velocity of 25kn and time of turning evasive maneuvering of 120sec 222
Figure 4.61. Height of end point in steady state by propulsion velocity for straight-line and turning evasive maneuvering 225
Figure D.1. Geometry of space curve 245
Figure G.1. Drag coefficient of circular cylinder with respect to Reynolds number 256
Figure G.2. Drag coefficient of circular cylinder with respect to Reynolds number by Choo et al.'s experiment 256
Figure L.1. Cantilever beam 268
Figure L.2. Comparison of analysis time between dimensional and non-dimensional equation of motion 268
Figure L.3. Exact solution and mean value of deflection by 20 elements in dimensional and non-dimensional equation of motion 269
Figure L.4. Exact solution and locking phenomenon by the number of elements 269
Figure L.5. Simple pendulum attached with revolute joint 272
Figure L.6. Iteration number in Newton-Raphson method in each time step in dimensional and non-dimensional equation of motion 272
Figure L.7. End node position of simple pendulum using rigid body model, dimensional and non-dimensional equation of motion 273
Figure L.8. End node acceleration of simple pendulum using rigid body model, dimensional and non-dimensional equation of motion 273
Figure L.9. Simple pendulum attached with spherical joint 275
Figure L.10. Comparison of analysis time between dimensional and non-dimensional equation of motion 275
Figure L.11. End node position of simple pendulum attached with spherical joint in dimensional and non-dimensional equation of motion 276
Figure L.12. End node acceleration and reaction force of simple pendulum attached with spherical joint in dimensional and non-dimensional equation of motion 276
초록보기 더보기
The objective of this study was to analyze the unwinding motion of a fiber-optic cable by considering the effect of flexural rigidity, to predict dynamic load at connection part that plays a role to connect flexible hose with underwater vehicle while an underwater vehicle was launched from a mother ship, and to predict the dynamic motion of flexible hose by evasive maneuvering of a mother ship.
An unwinding system for describing the motion of the fiber-optic cable was defined in the orthogonal coordinate system because of the merit that the independence of each basis enables the simple derivation of scalar equations. Hamilton's principle for an open system was employed to represent the phenomenon that the mass of cable changes continuously in the control volume by the unwinding velocity and initial tensile force at a guide-eyelet point. The 4th order transient-state unwinding equation of motion was able to derive from using Hamilton's principle. To numerically solve the transient-state unwinding equation of motion, Newmark implicit integration was utilized with the central finite-difference approximation for spatial variables. The unwinding velocity and initial tensile force that are dominant factors in forming the balloon shape were retained from the lab-based experiment in water. The fiber-optic cable did not have the unwinding problem at selected unwinding velocities 5kn, 10kn and 15kn and the simulation result was verified with experiment result. Therefore, it was able to infer that there was no unwinding problem at increased velocity of 25kn.
Dynamic load on shear pin of connection part that connects the underwater vehicle with flexible hose is essential to control the initialpose of underwater vehicle. Thus, it was important to predict the dynamic load on shear pin of connection part. The total mass of flexible hose had been distributed by using rigid body modeling. Gravity, buoyancy, contact force, normal and tangential fluid resistance were considered as the external force working in flexible hose. Tensile forces at the maximum unwinding velocities of 25kn and 15kn were verified with experiment result. From the examined result, the angular velocity on shear pin and hinge, the dynamic load on shear pin, and the motion that is formed in the process of unwinding of flexible hose were predicted.
It was important to analyze and predict the motion of underwater flexible hose because the motion of flexible hose connected with the mother ship was continually changed by the evasive maneuvering. In this study, the flexible hose was formulated with flexible body by using absolute nodal coordinate formulation. Four kinds of longitudinal stiffness matrices were derived based upon strain assumptions and two kinds of transverse stiffness matrices were developed by curvature assumptions. The dimensional equation of motion was converted into the non-dimensional equation of motion to enhance the efficiency of analysis time. Considering straight-line and turning evasive maneuvering, the motion of flexible hose was analyzed by time of evasive maneuvering, propulsion velocity, and winding velocity. Therefore, it was possible to predict the height of end point of flexible hose by propulsion velocity for straight-line and turning evasive maneuvering.
The followings are the originalities of this study:
1) The analysis of unwinding motion of fiber-optic cable by considering the effect of flexural rigidity
2) Verification the unwinding motion of fiber-optic cable with lab-based experiment and prediction of the unwinding motion in increased unwinding velocity
3) Prediction of dynamic load acting on shear pin of connection part and verification the result with lab-based experiment
4) Modeling the flexible hose by using absolute nodal coordinate formulation and shorten of analysis time through the use of non-dimensional equation of motion
5) Prediction of dynamic motion of flexible hose by straight-line and turning evasive maneuvering and winding velocity
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