Stabilization Control of a System of Pipe-String for Mining Manganese nodules

锰结核开采管柱系统的稳定控制

• 批准号: 03452135
• 负责人: TANI Junji
• 金额: $ 3.9万
• 依托单位: Tohoku University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (B)
• 财政年份: 1991
• 资助国家: 日本
• 起止时间: 1991 至 1993
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-03452135/
• 关键词: Manganese Nodules; Pipe-string; Vibration Control; Tendon Mechanism; Vertical Chang of a Supporting Point

It is of great importance for Japan to develop the technology mining mineral resources form deep sea bottoms. For mining these resources, a long pipe-string is needed to connect the fowing ship on the sea surface with the collector or miner on the sea floor. The towing ship may undergo a heaving motino due to the influences of winds, waves, sea currents and so on. This heaving motion of the ship may not only cause the pipe string suspended from the ship to excite vertically and horizontally the pipe string. Hence the stabilization control of the pipe string is an important problem for the technology development.In this stucy, the transverse vibration of a long pipe string was suppressed by means of the longtudinally controlled vibration. The pipe string was modelled by single, double and elastic pendulums, Their supporting points were moved vertically on a linear way by using a timing a belt, two pulleys and a servomotor. On the basic of the Fuzzy and PID control rules, the vibration was suppressed effectielyin the simulation and experiment. This result showed that this method can be supplied to the suppression of transverse vibration of the pipe string.Furthermore, the active vibration control of a cantilever pipe conveying fluid, which is hung vertically was studied. The flow-induced vibration, I.E., flutter of the pipe was controlled by the torque produced by two pairs of tendons attached to the pipe and two servomotors.The vibration control of single and double pendulums was carried out by means of gas jet actuator, too.These results showed that the tendon and gas jet actuators can be also applied to the vibration suppression of the pipe string.

日本开发深海海底矿产资源开采技术具有重要意义。为了开采这些资源，需要长的管柱将海面上的航行船与海底上的收集器或采矿器连接起来。拖船在风、浪、海流等的作用下会产生升沉运动，这种运动不仅会使悬挂在船上的管柱产生垂向和水平向的激振，而且会使管柱产生振动。因此，管柱的稳定控制是该技术发展的一个重要问题，本研究采用纵向控制振动的方法来抑制长管柱的横向振动。管柱由单、双、弹性三种不同的模型组成，通过同步带、两个滑轮和一个滑轮使其支点作直线垂直运动。通过仿真和实验，证明了模糊PID控制策略的有效性。结果表明，该方法可以用于抑制管柱的横向振动。此外，对垂直悬挂的悬臂输流管道的振动主动控制进行了研究。流致振动，即，本文介绍了一种利用两对腱和两个伺服电机产生的力矩来控制管柱颤振的方法，并利用气体射流作动器对单、双腱进行了振动控制，结果表明，腱和气体射流作动器同样可以用于管柱的振动控制。

项目成果

T.Aihara, J.Okada, K.Kuroda, and H.Yamamoto: ""High-Speed Photographing of Quench Propagation Phenomena of Immersion-Cooled Superconducting Coil"" Proc. 47th Meeting on Cryogenic and Superconductivity. 150 (1992)

T.Aihara、J.Okada、K.Kuroda 和 H.Yamamoto：“浸入式冷却超导线圈的淬火传播现象的高速拍摄”Proc。

谷 順二、越後屋 恒: "単振子の支点の鉛直変動による振動制御" 日本機械学会論文集、C編. 59. (1993)

Junji Tani，Hisashi Echigoya：“简单摆支点垂直波动的振动控制”，日本机械工程师学会会议录，C 版 59。（1993 年）。

崔 宏武、谷 順二: "送水管の安定性に及ぼす境界条件の影響" 日本機械学会論文集、C編. 60(予定). (1994)

Hirotake Choi，Junji Tani：“边界条件对水管稳定性的影响”，日本机械工程师学会会议录，C 版（1994 年）。

谷 順二、酢谷 譲: "鉛直片持送水管の振動制御" 日本機械学会論文集、C編. 59. 368-371 (1993)

Junji Tani、Yuzuru Izutani：“垂直悬臂水管的振动控制”日本机械工程师学会会议录，C 版 59. 368-371 (1993)。

K.Aso, K.Kan, H.Doki and M.Mori: "The Shape-Effect of Buffer on the Longitudinal vibration of a Pipe-String in the Deep Sea" Int. J.Offshou and Polar Engineering. Vol.1, No.2. pp.154-160 (1991)

K.Aso、K.Kan、H.Doki 和 M.Mori：“缓冲器对深海管柱纵向振动的形状效应” Int。