| Dynamic Analysis of the Seafloor Pilot Miner Based on Single-Body Vehicle Model and Discretized Track-Terrain Interaction Model |
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| 作者姓名： | 戴瑜 刘少军 李力 |
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| 作者单位： | |
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| 摘 要： | In order to achieve the complex dynamic analysis of the self-propelled seafloor pilot miner moving on the seafloor of extremely cohesive soft soil and further to make it possible to integrate the miner system with some subsystems to form the complete integrated deep ocean mining pilot system and perform dynamic analysis,a new method for the dynamic modeling and analysis of the miner is proposed and developed in this paper,resulting in a simplified 3D single-body vehicle model with three translational and three rotational degrees of freedom,while the track-terrain interaction model is built by partitioning the track-terrain interface into discrete elements with parameterized force elements built on the theory of terramechanics acting on each discrete element.To evaluate and verify the correctness and effectiveness of this new modeling and analysis method,typical comparative studies with regard to computational efficiency and solution accuracy are carried out between the traditional modeling method of building the tracked vehicle as a multi-body model and the new modeling method.In full consideration of the particular structure design of the pilot miner,the special characteristics of the seafloor soil and the hydrodynamic force of near-seafloor current,the dynamic simulation analysis of the miner is performed and discussed,which can provide useful guidance and reference for the practical miner system in design and operation.This new method can not only realize the rapid dynamic simulation analysis of the miner but also make possible the integration and rapid dynamic analysis of the complete integrated deep ocean mining pilot system in further researches.
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| 关 键 词： | 相互作用模型 车辆模型 地形 磁道 离散 单体 矿工 海底 |
Dynamic Analysis of the Seafloor Pilot Miner Based on Single-Body Vehicle Model and Discretized Track-Terrain Interaction Model |
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| Institution: | [1]College of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China [2]The State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology, Changsha Research Institute of Mining and Metallurgy, Changsha 410012, China |
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| Abstract: | In order to achieve the complex dynamic analysis of the self-propelled seafloor pilot miner moving on the seafloor of extremely cohesive soft soil and further to make it possible to integrate the miner system with some subsystems to form the complete integrated deep ocean mining pilot system and perform dynamic analysis, a new method for the dynamic modeling and analysis of the miner is proposed and developed in this paper, resulting in a simplified 3D single-body vehicle model with three translational and three rotational degrees of freedom, while the track-terrain interaction model is built by partitioning the track-terrain interface into discrete elements with parameterized force elements built on the theory of ter-ramechanics acting on each discrete element. To evaluate and verify the correctness and effectiveness of this new modeling and analysis method, typical comparative studies with regard to computational efficiency and solution accuracy are carried out between the traditional modeling method of building the backed vehicle as a multi-body model and the new modeling method. In full consideration of the particular structure design of the pilot miner, the special characteristics of the seafloor soil and the hydrodynamic force of near-seafloor current, the dynamic simulation analysis of the miner is performed and discussed, which can provide useful guidance and reference for the practical miner system in design and operation. This new method can not only realize the rapid dynamic simulation analysis of the miner but also make possible the integration and rapid dynamic analysis of the complete integrated deep ocean mining pilot system in further researches. |
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| Keywords: | deep-ocean mining system self-propelled seafloor pilot miner single-body model multi-body model discretized track-terrain interaction model dynamic analysis |
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