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以我国深海采矿海试系统设计方案为工程背景,构建基于海底履带式集矿机单刚体模型、扬矿管线多体离散元模型与水面采矿船运动学模型组合的深海采矿整体系统三维动力学模型.提出一种新的由纵向直线联动、转向联动与横向直线联动相结合的整体联动作业模式,实现该新型作业模式的动力学仿真分析,获得联动过程中各主要子系统运动轨迹、子系统间相互作用力、扬矿硬管偏角等关键动力学特性结果.仿真结果表明:在该新型联动作业模式下各子系统均能保持在允许范围内稳定运动,证明了提出的整体联动作业模式的合理性与可行性.
Based on the design scheme of deep sea mining sea trial system in China, this paper constructs a three-dimensional dynamic model of deep-sea mining system based on single rigid body model of subsea crawler-type concentrator, multi-body discrete element model of mining pipeline and kinematic model of surface mining vessel This paper proposes a new overall linkage operation mode which combines vertical linear linkage, directional linkage and horizontal linear linkage to realize the dynamic simulation analysis of the new operation mode, obtain the motion trajectories of all the major subsystems in the linkage process, The interaction force and the dip angle of lifting pipe rigid pipe.The simulation results show that under the new linkage operation mode, all subsystems can keep stable movement within the allowable range, which proves that the proposed overall linkage operation mode Reasonableness and feasibility.