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Research on modeling of plough during cable laying operation

机译：电缆敷设过程中犁的建模研究

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For burying cable ploughs need to follow a certain path, big ploughs are towed by surface vessels with powerful propulsion systems, modeling is rather important. Firstly, based on Colomb's passive earth pressure theory, the analysis of effects of pore water, cavitation limit and grain crushing limit are carried out. Secondly, the mathematical model considering the force acting on the plough from the seabed-sediment was derived. It depended on the plough's speed in surge, ocean depth, burial depth and width (shape of the plough share) and various seabed-sediment parameters. Finally, the simulation was implemented in Matlab, the results was reasonable and valid. To conclude, the research results are basically congruent with practice, but because Coulomb's theory of passive earth pressure is little bigger. It can be found that as the ploughing speed increases or the deeper the burial, the greater the decrease in pore water pressure, and hence the greater the friction force and the mathematical model is nonlinear. So, when designing controller of cable laying vessel, the plough model can be used for a feed forward or a prediction. The different type of sediment has different parameter values. For simplicity in this assignment, only the density of the sediment is changed when simulating a change of sediment type.
机译：对于埋入式电缆犁，需要遵循一定的路径，大型犁被具有强大推进系统的水面船只拖曳，建模非常重要。首先，基于库伦的被动土压力理论，对孔隙水，空化极限和颗粒破碎极限的影响进行了分析。其次，推导了考虑作用于海床泥沙作用力的数学模型。它取决于犁头在浪涌中的速度，海洋深度，埋葬深度和宽度（犁的形状）以及各种海底沉积物参数。最后，在Matlab中进行了仿真，结果是合理有效的。总而言之，研究结果与实践基本吻合，但是因为库仑的被动土压力理论稍大一些。可以发现，随着耕作速度的增加或埋藏的越深，孔隙水压力的下降幅度越大，因此摩擦力越大，因此数学模型是非线性的。因此，在设计电缆敷设船的控制器时，犁模型可用于前馈或预测。不同类型的沉积物具有不同的参数值。为了简化此分配，在模拟沉积物类型变化时仅改变沉积物的密度。

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