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

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. INDEX TERMS Deep-sea mining system, nonlinear multi-body dynamic model, trajectory tracking control, collaborative simulation, coordinated motion.

A Review on Underwater Collection and Transportation Equipment of Polymetallic Nodules in Deep-Sea Mining

“…Numerical simulation experiments using RecurDyn V9R1 software were conducted to analyze the dynamic properties of these vehicles in various operational scenarios [82]. In another study by Yu et al [83], a numerical analysis was carried out to investigate the intricate flow patterns during straight movement, steering maneuvers, and climbing actions. This research offers insights that can guide improvements in the design of mining vehicle structures.…”

“…They also conducted a hydraulic analysis and examined the linkage of lifting pipes within the system. Y et al [83] developed a robust and efficient nonlinear multi-body dynamic model as well as a coordinated motion control model for a deep-sea mining system. Building upon this, they successfully conducted a co-simulation of the dynamic and control models, they proposed and simulated the integrated motion model for the entire system.…”

Structural frame analysis of an electrically powered robotic subsea dredging crawler under static loading conditions

“…The results were subsequently utilized for comparative analysis against theoretical approximations, revealing a notable convergence in deflection magnitudes across various aspects. Dai, Yin, and Ma (2019) conducted an in-depth examination of a structural model using computational fluid dynamics to ascertain the static loads exerted by fluid resistance and resistance torque on a deep-sea mining vehicle. The study encompassed an assessment of the crawler's response to five stress levels at varying angles, factoring in the influence of oceanic resistance torque.…”

Research on multi-system integrated and coordinated control of automotive chassis

“…With the full popularity of automobiles in recent years, people are also convenient in their daily travels, but bringing convenience to our lives has also brought us more and more traffic safety accidents, which has also caused a very negative impact on our life safety and social stability [1][2]. To enhance the vehicle's overall safety performance, automobile enterprises should further strengthen the importance of the design of automobile chassis systems, which will also become the mainstream trend of China's automobile design work and production problems in the future [3][4]. Moreover, with the current continuous improvement of China's automobile production process, the automobile-related production technology has also been significantly improved, and the traditional system operation method has been increasingly unable to meet automobile driving safety, so the development of the integrated system is also gradually applied to the automobile chassis system [5][6].…”