深海采矿整体系统动力学建模及联动开采作业过程快速仿真分析.pdf

48 9 2012 5 JOURNAL OF MECHANICAL ENGINEERING Vol.48 No.9 May 2012 DOI10.3901/JME.2012.09.079 * 1, 2 1, 2 1. 410083 2. 410012 1 000 m TD8571 Establishment of the Dynamic Model of the Total Deep Ocean Mining System and Fast Simulation of Its Integrated Operation Process DAI Yu1, 2 LIU Shaojun1, 2 1. College of Mechanical and Electrical Engineering, Central South University, Changsha 410083; 2. The State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology, Changsha Research Institute of Mining and Metallurgy, Changsha 410012 AbstractTaking the deep ocean poly-metallic nodule mining in the international seabed area and the technical scheme of China’s 1 000 m ocean mining system as the engineering background, and according to the requirement of the simulation research of the total system’s integrated operation process, a single-rigid-body fast dynamic simulation model of the seafloor tracked miner is proposed and developed. Considering the integrated motion and constraint relations of the total deep ocean mining system, the single-rigid-body model of the miner is integrated with the discrete element model of the pipeline to the fast dynamic simulation model of the total deep ocean mining system. Two new operation modes for the total mining system are proposed, which are defined as the longitudinal reciprocating motion and lateral reciprocating motion. Through analysis, design and simulation control, the fast dynamic simulation analysis of the two operation modes can be realized. The integrated motion characteristics of the two new operation modes of the total mining system are discussed with the miner moving along different paths, while the mining ship towing the pipeline system to follow the miner’s motion. The simulation results show that the motion states of all the subsystems are stable during the operations, which indicate that the two newly proposed collecting paths for the miner are feasible, and the two integrated operation modes named the longitudinal reciprocating motion and lateral reciprocating motion are reasonable. The dynamic simulation analysis of the integrated operation process of the total mining system can lay a basis for control researches of the total system, and further provide theoretical analysis and technical reference for the future deep ocean sea trial mining and commercial mining. Key wordsDeep ocean mining Integrated motion Fast dynamic simulation model Single-rigid-body model of the miner Discrete element model of the pipe Longitudinal reciprocating operation Lateral reciprocating operation * DYXM-115-04-02-01 51105386 2011QNZT05820110630 20120313 48 9 80 0 21 21 HONG [1-2] 3D [3] [4] TRACSIM RISA_EP13 SCHULTE [5] SCHULTE [6-7] 500 m BRINK [8-9] LI [10] ADAMS/ATV 11 LI [11] 1 1 2 6 3 6 1 ldb 2012 5 81 l1b1 h1 1 2 m n [2] 2 3 OXYZ Oxyz Oxtytzt d i Δxi ΔAidΔxi xixi Oxtytzt Otxt [12] xi Flongi Flati Fni [13] 3 2 1 1 m1/t 32 dg/m 0.2 m2/t 11.7 rs/m 0.28 m a m b m h 9.25.23.0 ms/kg ri/m 50 0.2 l/m 6 mi/kg 50 d/m 1.7 rw/m 0.1 A/m2 21 mw/kg 10 b/m 3.5 rr/m 0.1 lg/m 1.7 mr/kg 10 hg/m 0.13 mt/kg 15 4 2 4 48 9 82 2 m/t 11.7 l/m 6 d/m 1.7 b1/m 3.5 1 m l 2 m b 1 m h 3.0 2.6 0.9 x Ixx/104kgm2 52.4 y Iyy/104kgm2 5.6 z Izz/104kgm2 5.9 14 0.39 m m 14 n 1 ΔAi0.39 m1.7 m n c niii k FkzA b φ ⎡⎤⎛⎞ ∆∆ ⎢⎥⎜⎟ ⎝⎠⎣⎦ 1 Fni kc kφΔzin xi sgnsgntan 1 11 exp 1/ 1exp1 ii iiii i longx xxixxr x r FjAjcpK jK K ω τφ∆ ⎧⎫⎡⎤ ⎪⎪ −−⎢⎥ ⎨⎬ −− ⎢⎥⎪⎪ ⎣⎦⎩⎭ 1exp/ i xi jKA ω −−∆ 2 i x j xi i x τ xi i x p xi Kr Kω sgnsgntan 1 11 exp 1/ 1exp1 iiiii i latyyiyxr y r FjAjcpK jK K ω τφ∆ ⎧⎫⎡⎤ ⎪⎪ −−⎢⎥ ⎨⎬ −− ⎢⎥⎪⎪ ⎣⎦⎩⎭ 1exp/ i yi jKA ω −−∆ 3 i y j xi i y τ xi [14] 2 sgn2tanarccot π 1 11 exp 1/ 1exp1 i i i x ixi rx r p hh Fjx hc bb KjK K ω φ ⎧⎫ ⎡⎤⎪⎪⎛⎞ ∆∆ ⎨⎬⎜⎟ ⎢⎥ ⎝⎠⎪⎪⎣⎦ ⎩⎭ ⎧⎫⎡⎤ ⎪⎪ −−⎢⎥ ⎨⎬ −− ⎢⎥ ⎪⎪ ⎣⎦⎩⎭ 1exp/ i xi jKA ω −−∆ 4 Δxic h b ROWLAND[15] 5 1 1/ 1.26 2 1 c c n n n F bW nb pd k nk b φ ⎛⎞ ⎜⎟ ⎜⎟ ⎝⎠⎛⎞ ⎜⎟ ⎝⎠ 5 W n b p d 2 0.670.5 bc FbczKzKγρ 6 ρ KcKγ KcNc–tanφ cos2φKγ2Nγ/tanφ1cos2φNc Nγ φ5 Nc7.32Nγ0.51 2 0.670.5 i bic FxczKzKγγ ∆ 7 [1] 2012 5 83 1 2 hdwmwmwm FCA vvvvρ −−−− mwmwm CVvvρ− 8 CdρwAm vmvw CmVm m v m v 3 3 Vm/m3 20 Am/m2 10 pw/kgm–3 1037 vm/ms–1 0.15 Cd 2.0 Cm 0.4 5 5 12 lo12 1 12 ii N longngii i cchxin mxFFFF FFFR ∆ ∆− ∑ 1212 1 iiii N latlatbbhy i myFFFFF ∑ 12 12 1 12 2 2 ii N zlonglongii i cc B IFFFF B FF φ ∆ ∆− −− ∑ 1212 1 iiii N ilatlatbb i xxFFFF − ∑ 9 m Iz z N 12 x FlongiFlati ΔFi Fc1Fc2 FhxFhy Fbi Rin x y φ 3 ADAMS [11] 1 000 m 6 vs 6 ADAMS 1 000 m 4 4.1 7 OXYZOXY OZ OXZ 48 9 84 L 7 OX 8 XL OX 8 4.2 239.1 m 0 4 2.5 m 8 s 0.772 m/s 0.15 m/s 5 kPa 100 0.5 m/s 0.5 m/s 1.2 x y ADAMS z 4 x y xy 9 9 10 x yz 10 x 8 700 Ny 0z 18 200 N x –1 0009 000 N y –5 0005 000 N z 17 500 N 2012 5 85 10 x 011 500 N y –5 0000 N z 17 500 N 11 11 xy –0.50.5 m/s z 4.3 y x x 11 y 0z 4 0.5 m/s 0.5 m/s 1.2 12 13 x yz 13 x 8 000 Ny 0z 17 900 N x 011 250 N y–4 0004 000 48 9 86 N z 17 500 N 12 14 14 xyz xy –0.40.4 m/s z 5 1 13 2 3 2012 5 87 14 [1] HONG SKIM H WCHOI J S. 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