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  • ISSN：0577-6686
机械工程学报

机械工程学报 ›› 2017, Vol. 53 ›› Issue (4): 155-160.doi: 10.3901/JME.2017.04.155

• 交叉与前沿 • 上一篇    下一篇

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基于多体动力学模型集成的深海采矿系统联动仿真*

戴瑜1，2，3, 张健1, 张滔1, 刘少军1，3   

  1. 1. 中南大学机电工程学院 长沙 410083；
    2. 上海交通大学海洋工程国家重点实验室 上海 200240；
    3. 中南大学深圳研究院 深圳 518000
  • 出版日期:2017-02-20 发布日期:2017-02-20
  • 作者简介:戴瑜(通信作者)，男，1981年出生，博士，副教授。主要研究方向为深海采矿作业系统设计与控制。E-mail：daiyu_6@aliyun.comE-mail：liushaojun@csu.edu.cn
  • 基金资助:
    * 国家高技术研究发展计划(863计划，2012AA091201)、国家自然科学基金(51105386)、上海交通大学海洋工程国家重点实验室开放课题(1515)和深圳市科技创新计划基础研究(JCYJ20130401160614378)资助项目; 20160213收到初稿，20160805收到修改稿;

Motion Simulation of the Deep Ocean Mining System Based on Its Integrated Multi-body Dynamic Model

DAI Yu1，2，3, ZHANG Jian1, ZHANG Tao1, LIU Shaojun1，3   

  1. 1. School of Mechanical and Electrical Engineering， Central South University， Changsha 410083；
    2. State Key Laboratory of Ocean Engineering， Shanghai Jiao Tong University， Shanghai 200240；
    3. Shenzhen Research Institute， Central South University， Shenzhen 518000
  • Online:2017-02-20 Published:2017-02-20

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摘要：

采用多体动力学建模仿真程序RecurDyn/Track构建海底履带式集矿机多体动力学模型，实现了海底底质特殊力学模型在集矿机多体动力学模型中的二次开发与集成。开展小型履带式试验样车行走性能测试，与相应二次开发多体动力学模型仿真结果相比较，进一步验证二次开发建模方法的计算准确性。基于多体离散元法，应用RecurDyn ProcessNet平台进行二次开发，采用C#语言编写建立超长采矿管线多体离散元动力学模型的自动参数化建模计算程序。集成海底履带式集矿机多体动力学模型与采矿管线系统多体离散元动力学模型，实现了深海采矿整体系统的多体动力学模型集成构建与联动仿真，获得并分析联动过程各子系统空间运动状态变化、子系统间相互作用力变化等动力学特性，为实际深海采矿系统的整体集成设计、性能预测及作业操控提供了参考。

关键词: 采矿管线, 多体动力学模型, 二次开发, 海底履带式集矿机, 试验验证, 深海采矿系统

Abstract:

A multi-body dynamic model of the seafloor tracked miner is established by the multi-body dynamic modeling and simulation program RecurDyn/Track, meanwhile the secondary development and integration of the seafloor sediment special mechanical model into the miner’s multi-body dynamic model is achieved. Motion tests of a small scale tracked test vehicle are performed and compared with the simulations of its corresponding secondary multi-body dynamic model to validate the computational correctness of the modeling method. Based on the multi-body discrete element method, and use the platform RecurDyn ProcessNet for secondary development, au automatic parametrical modeling program for establishing a multi-body discrete element dynamic model of the extremely long mining pipeline is compiled by C# language. Integrating the multi-body dynamic model of the seafloor tracked miner and the multi-body discrete element dynamic model of the mining pipeline, an integrated multi-body dynamic model of the total deep ocean mining system is established and its motion simulation is achieved. The spatial motion condition change of each subsystem and interaction forces between subsystems are obtained and analyzed, which can provide references for the total design, performance prediction and operation control of the practical deep ocean mining system.

Key words: mining pipeline, multi-body dynamic model, seafloor tracked miner, secondary development, test validation, deep ocean mining system

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