Dynamic modelling and motion control research on deep seabed miner
Dynamic modelling and motion control research on deep seabed miner
复制标题
深海海底采矿机动态建模与运动控制研究
DOI：
10.1080/1064119x.2019.1706675
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发表时间：
2020-01
影响因子：
2.2
通讯作者：
Huang Zhonghua
中科院分区：
文献类型：
--
作者：
Dai Yu;Li Xuyang;Yin Wanwu;Pang Liping;Xie Ya;Huang Zhonghua
通过多体动力学（MBD）模型和运动控制系统模型的协同仿真，获得了某型海底采矿机的通行性和运动性能。为建立海底沉积物力学模型，采用离散元法（DEM）进行数值模拟和室内物理实验，得到了海底沉积物的比剪切应力-位移（S-D）和压力-沉降（P-S）关系。此外，采用计算流体力学（CFD）方法研究了矿机在直线运动和圆周运动条件下的水动力载荷。在RecurDyn/Track仿真程序和MATLAB/Simulink仿真程序中分别建立了矿机的MBD模型和运动控制系统模型。然后，引入模糊自适应PID控制来提高运动精度，并讨论了协同仿真结果。该研究可为海底采煤机的优化设计、运行控制和性能预测提供理论依据和技术参考。
Abstract In this paper, the trafficability and motion performances of a seabed miner were obtained by the collaborative simulation between a multi-body dynamic (MBD) model and a motion control system model. For the development of the seabed sediment mechanical model, a numerical simulation by the discrete element method (DEM) and a laboratory physical experiment were performed to obtain the specific shear stress-displacement (S-D) and pressure-sinkage (P-S) relationship of the seabed sediment. Besides, the computational fluid dynamics (CFD) method was adopted to investigate the hydrodynamic loads acting on the miner under the linear motion and circular motion conditions. Moreover, the MBD model and motion control system model of the miner were respectively established in the simulation programs RecurDyn/Track and MATLAB/Simulink. Then, A fuzzy adaptive PID control was introduced to improve the motion accuracy, and the collaborative simulation results were discussed. This research can provide a theoretical basis and technical reference for the optimization design, operation control and performance prediction of the seabed miner.
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