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1.
深海采矿船是未来人类获取深海矿产资源的重要装备,研究其水动力特性具有重要意义。月池和输运管是影响深海采矿船水动力特性的重要因素。以世界上第一艘超深水采矿船“鹦鹉螺新纪元”号为研究对象,基于三维势流理论,分析月池尺寸、输运管长度及内径对采矿船水运动特性的影响。结果表明：月池开口会使采矿船垂荡、纵荡和纵摇运动出现共振峰,峰值随着开口尺寸的增加而增大,其中垂荡运动峰值可增加将近2倍;输运管的存在会明显改变采矿船横摇运动固有周期,增大垂荡运动峰值,降低横摇运动峰值,对横荡和纵荡运动的影响亦较大,当输运管长度为 5 000 m,内径为0.480 5 m时,横荡和纵荡响应峰值能够达到无输运管时的3倍以上。通过探究月池开孔和输运管不同参数对采矿船运动的影响,为深海采矿船月池和输运管设计提供一定的借鉴和参考。 相似文献
2.
深海采矿作业中,由于海底软泥稀软,采矿机器人极易打滑,以及海底地形、海流等干扰,采矿机器人容易偏离预定路径。针对采矿机器人的海底作业过程中路径跟踪问题,设计并分析了深海采矿机器人的路径跟踪控制系统。首先提出了艏向控制实现采矿机器人路径跟踪的控制算法,通过采矿机器人与当前目标点相对位置计算采矿机器人的目标艏向角,后基于运动学模型建立模糊比例积分微分(PID)的控制方法控制采矿机器人两侧转速差值进而控制采矿机器人艏向,从而使机器人按目标路径行走;同时为了防止输入过大引起打滑,基于动力学模型数值分析了采矿机器人主动轮角加速度与打滑率之间的关系,采取限制主动轮角加速度方式防止采矿机器人过度打滑;最后通过Matlab/Simulink建立系统模型对系统进行仿真分析。仿真结果表明,该控制算法能够良好地完成采矿机器人的路径跟踪任务。 相似文献
3.
对海底不同作业形式的深海大型爬行机器人进行了分类综述,依据当前深海大型爬行机器人在各方面的应用,将其分为了深海采矿机器人和深海挖沟机器人两大类,并对这两类中的一些性能突出的机器人进行了详细的介绍。重点介绍我国第一代、第二代多金属结核采矿机器人,SMD的3个多金属硫化物开采机器人,中科院深海所的富钴结壳规模采样爬行机器人,喷射式挖沟爬行机器人QT2800和机械式挖沟爬行机器人BT2400。并对深海大型爬行机器人的海底复杂行走技术和导航定位技术进行了阐述。行走技术方面,重点介绍Nexans公司的带有铰接式行走腿系统的Spider Dredger,中南大学的铰接履带式采矿机器人和北京矿冶研究总院的复合轮式机器人。导航定位方面,介绍了当前一些在用的深海导航定位技术。最后,对未来深海大型爬行机器人的发展趋势进行了展望。 相似文献
4.
文章旨在确定深海多金属结核的物理特性,并分析其对采输过程的影响,以指导工程应用。总结了深海多金属结核开采的最新研究进展,通过对数据进行统计整理、回归分析,确定了结核形成机理及主要成分、在海底的分布特性、结核形态及构造、结核尺寸与重量关系、含水量、密度、孔隙特性及结核强度等关键物理特性。研究表明：结核形状多样,质松多孔隙,含水率高,近似均匀分布在海床上或浅泥层中。颗粒质量和尺寸联合概率分布具有长右尾特性,需使用更广义的联合概率密度函数copula才能准确建模。结核抗拉强度随结核直径增大按对数函数递减。此外,深海高压环境下结核的开采需更多能耗,且结核表现出更高的延性。结合固液两相流分析和颗粒沉降理论,分析了结核形状、尺寸、密度等主要参数对水力举升过程的影响,确定了颗粒破碎的主要方式和规律,总结了不同粒径级配输运造成堵塞的可能原因。 相似文献
5.
深海采矿扬矿泵导叶区域粗颗粒通过特性试验研究 总被引：1，自引：0，他引：1
在深海采矿系统中,海底矿石必须经过扬矿泵才能提升到海面船上,但矿石粒径较粗,容易在泵体中形成堵塞,尤其是在扬矿泵导叶区域,因此,研究粗粒在导叶中的运动特性对于保障系统安全工作具有重要意义。针对深海矿物粒径较大的特点,设计并制作了具有宽流道的扬矿泵流道模型,安装于管道输送试验系统。利用高速摄像机对扬矿泵导叶内粗颗粒运动特性进行了记录,并对其运动轨迹、碰撞情况以及颗粒速度等信息进行了分析。结果表明:颗粒在通过导叶区域时,运动轨迹与水流流向基本一致;颗粒与导叶发生碰撞位置主要集中于导叶背面入口处、导叶压力面中部和导叶背面出口处;颗粒粒径越小,跟随性越好,碰撞次数越少。试验结果可为扬矿电泵设计提供参考。 相似文献
6.
海底底质的物理力学参数不同于陆地土壤,其极低的抗剪强度和承压强度对深海采矿车的行走性能提出高要求。分析基于车辆地面力学理论,开展了底质土力学特性试验研究,建立了深海底质力学模型。根据深海重载作业采矿车样机结构参数,在大型动力学仿真软件Recurdyn中建立了仿真模型。通过直线行走多体动力学仿真与直线行走海试试验的对比,验证了仿真模型的准确性。在此基础上开展了采矿车样机在深海软底质上的多种行走工况动力学仿真,分析与评价其行走性能。结果表明,采矿车样机可以顺利完成转弯、爬坡、越障等基本功能。该研究成果可为深海采矿车海底行走性能评估提供理论参考,为深海采矿车和软底质的相互作用力学研究提供借鉴。 相似文献
7.
深海油气田水下生产系统装备之间的精准连接是国际公认的技术难题,对接一般通过深海连接器完成。弹性夹头是水下连接器的重要组成部分,其性能关系到海洋油气生产系统的安全性和可靠性。弹性夹头的主要作用是在水下机器人的辅助下连接和锁紧连接器的固定端和移动端。采用ABAQUS软件的显式动力学分析模块计算夹头夹紧心轴这一过程中的应力、反作用力状态。三维模型仿真结果表明,锁紧过程中弹性夹头的最大应力不超过430 MPa,小于所选取的材料屈服强度480 MPa。采用正交试验和方差分析的方法研究夹头的长度、夹头与心轴的间隙等几个关键尺寸从而分析影响夹头应力和连接所需推力的最显著因素。对夹头的结构进行优化设计,同时也为夹头心轴结构的设计提供了理论依据。最后,通过试验研究对样机进行测试,测试结果表明,夹紧动作所需的最大推力在700 N以下。 相似文献
8.
《African Journal of Marine Science》2013,35(2):187-196
The fatty acid composition of the blubber of five dusky dolphins Lagenorhynchus obscurus and five Cape fur seals Arctocephalus pusillus pusillus from the northern Benguela ecosystem (South-East Atlantic) and their main prey was determined. Differences in fatty acid composition of the inner and outer blubber layer of the dolphins were substantial, with higher relative amounts of monoenic fatty acids with 14, 16 and 18 carbons in the outer layer and higher relative amounts of saturated, long-chain monounsaturated and polyunsaturated fatty acids in the inner layer. This stratification is similar to the general pattern that has been observed in a variety of marine mammals, but the degree of stratification is the highest yet observed, with the long-chained (n3) fatty acids being more than 20 times more abundant in the inner than in the outer layer. On the other hand, the seals’ blubber consisted of only one uniform layer, densely supported by connective tissue. The whole-body fatty acid composition of the prey was species specific. The dolphins and seals had significantly different fatty acid composition of their blubber. In both species, the blubber fatty acid composition was different from the composition of the prey, indicating that a phylogenetic component is involved in the determination of the fatty acid composition of the blubber. 相似文献
9.
A hydraulic power unit(HPU) is the driving "heart" of deep-sea working equipment.It is critical to predict its dynamic performances in deep-water before being immerged in the seawater,while the experimental tests by simulating deep-sea environment have many disadvantages,such as expensive cost,long test cycles,and difficult to achieve low-temperature simulation,which is only used as a supplementary means for confirmatory experiment.This paper proposes a novel theoretical approach based on the linear varying parameters(LVP) modeling to foresee the dynamic performances of the driving unit.Firstly,based on the varying environment features,dynamic expressions of the compressibility and viscosity of hydraulic oil are derived to reveal the fluid performances changing.Secondly,models of hydraulic system and electrical system are accomplished respectively through studying the control process and energy transfer,and then LVP models of the pressure and flow rate control is obtained through the electro-hydraulic models integration.Thirdly,dynamic characteristics of HPU are obtained by the model simulating within bounded closed sets of varying parameters.Finally,the developed HPU is tested in a deep-sea imitating hull,and the experimental results are well consistent with the theoretical analysis outcomes,which clearly declare that the LVP modeling is a rational way to foresee dynamic performances of HPU.The research approach and model analysis results can be applied to the predictions of working properties and product designs for other deep-sea hydraulic pump. 相似文献
10.
为研究深海能源土在负压开采过程中含气储层的力学特性,基于含气土赋存理论,提出一种能够控制含气量及气泡大小的制样方法,通过GDS标准应力路径三轴试验系统,开展深海能源土含气储层的固结排水试验研究,分析深海能源土在不同黏土含量及不同含气量下的力学响应规律。研究结果表明：围压变化对深海能源土含气储层的抗剪强度峰值大小影响显著,围压越大抗剪强度峰值越高;黏土含量是决定应力应变曲线变化趋势的关键影响因素,黏土含量越高试样抗剪强度越低,试样抵抗应变软化效应的能力越强;含气土比饱和土体承载能力更低,且承载能力随含气量的增大呈衰减趋势;黏土含量和含气量是深海能源土含气储层抗剪强度指标的重要影响因素,黏土含量、含气量越高,土体自身的总抗剪强度值越低。 相似文献
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12.
深海悬垂取水管的设计趋向于大直径、高内流流速,内流对取水管振动特性的影响不可忽略,分析内部流动引起的管道动态失稳行为以及评估失稳临界流速具有重要工程意义。基于小尺度模型试验,研究内流对深海悬垂取水管道振动特性的影响规律,结果表明：随着内流流速增加,取水管模型会发生动态失稳行为,表现为一种间歇性的近周期运动,该运动主要由管道一阶弯曲模态引起的不稳定性诱导。管道材料、顶端连接方式及底部配重块均影响其动态稳定性,顶端固定连接时质量比小的管道更易发生动态失稳;顶端变为铰接时,质量比大的管道失稳临界流速变小,质量比小的管道失稳临界流速变大。相比顶端边界条件,底部配重块对管道失稳临界流速影响不显著但可以减小其振动幅值。 相似文献
13.
《Marine Policy》2017
Robust environmental management of deep-sea mining projects must be integrated into the planning and execution of mining operations, and developed concurrently. It should follow a framework indicating the environmental management-related activities necessary at each project phase, and their interrelationships. An environmental management framework with this purpose is presented in this paper; it facilitates the development of environmental information and decision-making throughout the phases of a mining project. It is based environmental management frameworks used in allied industries, but adjusted for unique characteristics of deep-sea mining. It defines the gathering and synthesis of information and its use in decision-making, and employs a conceptual model as a growing repository of claim-specific information. The environmental management activities at each phase have been designed to enable the implementation of the precautionary approach in decision making, while facilitating review of adaptive management measures to improve environmental management as the quantity and quality of data increases and technologies are honed. This framework will ensure fairness and uniformity in the application of environmental standards, assist the regulator in its requirements to protect the environment, and benefit contractors and financiers by reducing uncertainty in the process. 相似文献
14.
深海采矿作为新领域资源重点开发项目,国外已开展部分试验研究,国内现阶段仅停留在重点设备部件级功能验证,还未开展过系统整体联动,距离海洋油气等正在进行的规模化商业开采还有很大距离。本文以深海采矿系统整体联动模型为基础,与海洋油气工程作业平台技术模型进行对比,对整体联动风险点进行深度分析,并根据重点风险部件开展其悬挂模式、力学模型研究,探讨深海采矿系统整体联动时应急撤离的策略。研究总结了深海采矿系统整体联动的特点,提出了管道摇摆幅度超出设计范围、平台升沉行程超出伸缩冲程范围等两大关键风险点、提升硬管受力分析方法和对应的应急撤离方案,对深海采矿工程总体设计和工程实施具有指导意义和参考价值。 相似文献
15.
目前深海采矿潜在的生态环境影响引起来了广泛关注,文章针对工业化深海金属矿产资源开采潜在的环境影响监测评估需要,系统地总结了深海铁锰多金属结核、铁锰富钴结壳以多金属硫化物等主要深海资源的基本产状,分析了“物质迁移-羽流产生-声光电磁噪声-耗氧-有毒物质释放”等主流采矿工艺潜在的环境影响因素,基于深海采矿生态环境影响评估调查研究的技术需求,从实施深海采矿环境监测实验工程、建立深海重大装备系统、发展原位监测传感器等方面提出了深海采矿环境监测技术体系建设构架,以期为我国深海采矿生态环境监测保护技术发展提供借鉴。 相似文献
16.
AbstractDue to the low shear strength of deep-sea sediment, crawled mineral collector is easily slips in the deep-sea mining process, therefore, high-traction bionic grouser is needed to be studied to improve the working efficiency. Based on the rate-dependent characteristics of deep-sea sediment, a rate-dependent extended Drucker-Prager material constitutive model is used to define the deep-sea sediment. The Arbitrary Lagrange-Euler finite element (LEA-FE) was used to simulate the cutting process of different bionic grousers at different speeds. By comparing the simulation of different grousers, it was found that the maximum traction of grouser is related to the grouser parameters (distance L from the top to the curvature change point and curvature radius R). By analyzing the traction characteristics of different bionic grousers, the binary quadratic regression equation between maximum traction and bionic grouser parameters was established and the best bionic grouser parameters were obtained by the optimization algorithm. Based on the rate-dependent properties of deep-sea sediment, the traction characteristics at different speeds were analyzed and the relationship between maximum traction and speeds was established, the best bionic grouser walking speed was obtained, which can provide the theoretical basis for the crawled mineral collector. 相似文献
17.
根据1980年代以来水下地形数据和遥感影像资料, 综合运用遥感与地理信息系统(geographic information system, GIS)、数值模拟等技术手段, 分析了钦州湾近期高强度人类活动影响下的滩槽平面变化和冲淤演变特征, 从动力地貌角度对演变原因进行了探讨。研究表明, 内湾茅尾海近期整体淤积, 2m等深线以浅的高滩淤积强度显著大于其他水域, 局部槽道由于人工采砂和潮流动力增强而出现冲刷。外湾整体以淤积为主, 但强度小于内湾, 滩和槽的冲淤特征差异显著, 西航道、中水道和边滩淤积, 中滩和东航道冲刷。高强度人类活动前后钦州湾涨、落潮量分别减少约4.59%和4.04%, 潮流动力减弱, 导致茅尾海不断淤积; 外湾中部岸线向海大幅推进, 使得中滩涨落潮流流势集中, 潮流速普遍增加0.1~0.2m·s -1, 是中滩大范围冲刷的主要原因; 东航道浚深后, 中槽涨落潮流向东航道产生归槽, 导致潮流动力减弱, 中槽萎缩。水平Kelvin数变化表明, 人类活动对外湾东航道和中水道的影响最大, 东航道稳定性增强, 中水道持续萎缩; 西航道受到影响较小, 稳定性基本保持不变。 相似文献
18.
利用Fluent软件模拟雷诺数为200时不同间距比G/D和直径比d/D情况下的圆柱绕流现象。根据模拟结果分析G/D和d/D对圆柱体的涡脱落形态,大、小柱体的升力,阻力系数和St数的影响,结果表明涡脱落形态随着G/D和d/D的变化呈现不同的形式,在G/D小于临界间距比时呈现单一涡脱落形态,在G/D大于临界间距比时,呈现双旋涡脱落形态;临界间距比随着d/D增大而增大。在临界间距比附近大、小柱体的升力和阻力系数值及St数变化较大,大、小柱体的St数具有相同的变化规律,St随着d/D的增大而减小。 相似文献
19.
The mining of deep-sea manganese nodules has been a topic of interest since J.L. Mero undertook his preliminary studies in the 1960s to evaluate the prospects for mining deep-sea nodules. Despite the great deal of investment in deep-sea mining over more than 40 years, there has still been no successful attempt to mine the deep-sea nodules on a commercial scale. One of the major problems is that the nodules cannot be brought to the surface with the necessary amounts of recoverable nickel, cobalt and zinc to warrant the initial high investment necessary for this operation. It therefore appears that in the short term, deep-sea manganese and Co-rich Mn crusts will not be mined on a commercial scale in the foreseeable future. Nonetheless, investigations of deep-sea mineral deposits by a number of nations will continue and enable us to understand the deep-sea environment in increasing detail, which is necessary in view of the great extent of the deep oceans which cover an area of about 66% of the Earth's surface. 相似文献
20.
深海微生物培养模拟平台温度控制技术研究 总被引：3，自引：0，他引：3
针对深海微生物培养系统对温度条件的苛刻要求,在分析系统构成及建模的基础上,介绍了一种对系统的两级滞后环节采用了PI控制和双Smith预估反馈的方法,通过内环和外环Smith预估控制,精确的消除了温度控制系统中滞后延迟环节的影响,提高了PI控制强度,减少了超调,提高了系统动态响应和稳态精度。在系统Matlab仿真和实际实验中得到了良好的效果,满足系统的精度要求。 相似文献