Nonlinear Multi-Body Dynamic Modeling and Coordinated Motion Control Simulation of Deep-Sea Mining System

Yu Dai,Feiyue Ma,Wanwu Yin

doi:10.1109/access.2019.2925714

Abstract

In this paper, a nonlinear integrated multi-body dynamic (MBD) model of a deep-sea mining (DSM) system was developed. A particular nonlinear interaction model between the mining vehicle and the seabed sediment was derived. The fluid resistance and the resistance torque acting on the vehicle were obtained by the computational fluid dynamics (CFD) numerical simulations. In addition, a rigid-flexible coupled discrete element method (DEM) was adopted to model an extremely long mining riser efficiently and accurately. Developed by the C# program, a user-defined subprogram was intended to establish the DEM model of the riser. A motion control system model for trajectory tracking of the vehicle was developed in which the fuzzy control algorithm and the fuzzy adaptive PID control algorithm were used to control the speed and speed ratio of the tracks, respectively. Furthermore, the collaborative simulation between the dynamic model and the control model was achieved, and a coordinated motion mode for the total mining system was proposed and simulated. Accordingly, the trajectory tracking accuracy and slip of the vehicle, the spatial state change of the riser, and the interaction forces among subsystems were analyzed. This paper can provide a valuable theoretical basis and technical reference for the integrated design, performance prediction, and operation control of the practical DSM system.

Highlights

With the gradual depletion of land resources available, the exploitation and use of seafloor poly-metallic mineral resources are grabbing more attention from the international community, especially the global mining industry, and commercial exploitation is expected to start in the near future
The fluid resistance and resistance torque acting on the vehicle were obtained and loaded on five stress concentration points on the multi-body dynamic (MBD) model in the form of dynamic forces
It can calculate the trajectory deviation (e), heading deviation (α), and turning angle ( θ); proper speed and speed ratio are obtained by the fuzzy control algorithm and fuzzy adaptive PID control algorithm; the speed of left and right tracks are calculated by formula (14) and input into the dynamic model in RecurDyn

Summary

INTRODUCTION

With the gradual depletion of land resources available, the exploitation and use of seafloor poly-metallic mineral resources are grabbing more attention from the international community, especially the global mining industry, and commercial exploitation is expected to start in the near future. Y. Dai et al.: Nonlinear MBD Modeling and Coordinated Motion Control Simulation of DSM System. Zou et al [12] presented a dynamic modeling method and a motion control strategy for unmanned tracked vehicles on complex terrains based on pose and twist estimates. The coordinated motion control based on a nonlinear dynamic model of the integrated DSM system still has not been achieved; the evaluation and optimization of its operation performance is yet to be finished. The fluid resistance and resistance torque acting on the vehicle were obtained and loaded on five stress concentration points on the MBD model in the form of dynamic forces. Compared to traditional modeling methods for risers, the discrete element method (DEM)

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CONCLUSIONS