Dynamic Analysis of the Complete Integrated Deep-Ocean Mining Pilot System Based on Single-Body Tracked Miner and Discrete Element Model of Pipe

摘要

The dynamic analysis of the complete integrated deep-ocean miningrnpilot system is carried out in this paper taking into account therninteractions between each subsystem and ocean environment. The selfpropelledrnseafloor tracked miner is modeled as a single-body vehiclernwith 6 degrees of freedom which allows real-time simulation and canrnbe applied for the dynamic simulation analysis of the completernintegrated mining system. The interaction model between the trackedrnminer and soft cohesive seafloor soil is built based on the theory ofrnterramechanics and considering the principal dimensions of the trackedrnminer and the mechanical characteristics of seabed soil. The pipernsubsystem including the lift pipe, pumps, the buffer and the flexiblernhose are built as 3-D discrete element models which are divided intornrigid elements linked by flexible connectors with 6-DOF stiffnessrncoefficients. External forces such as the hydrodynamic force ofrnseawater, the buoyancy forces acting at discrete locations on thernflexible hose, and other forces are considered. The virtual prototypes ofrneach subsystem are modeled and connected to form the completernintegrated mining system and the interaction models between miningrnsystem and environment are developed, then the dynamic simulationrnanalysis of the complete integrated deep-ocean mining pilot system isrnperformed and discussed.