Turning traction force of tracked mining vehicle based on rheological property of deep-sea sediment

Xu, Feng; Rao, Qiuhua; Ma, Wenbo

doi:10.1016/s1003-6326(18)64761-2

Cited by 12 publications

(5 citation statements)

References 9 publications

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“…The compressive force as well as the shear force play a role in this phenomenon. Xu et al [62] deduced a rheological model that combined compression and shear, utilizing the internal time theory. Its parameters were obtained through compression-shear-coupled experiments, and the measurement of its creep curve was conducted using a custom-built creep meter that combined compression and shear, which was verified by making simulated soil.…”

Section: Track and Sediment Model Constructionmentioning

confidence: 99%

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

Zhang,

Zuo,

Wei

et al. 2024

JMSE

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In response to the anticipated scarcity of terrestrial land resources in the coming years, the acquisition of marine mineral resources is imperative. This paper mainly summarizes the development of underwater collection and transportation equipment of polymetallic nodules in deep-sea mining. Firstly, the collection equipment is reviewed. The deep-sea mining vehicle (DSMV), as the key equipment of the collection equipment, mainly includes the collecting device and the walking device. The micro and macro properties of sediments have a great influence on the collection efficiency of mining vehicles. For the collecting device, the optimization of the jet head structure and the solid–liquid two-phase flow transport of the hose are discussed. The structure of the walking device restricts mining efficiency. The optimization of the geometric structure is studied, and the geometric passability and lightweight design of the walking device are discussed. Secondly, the core of transportation equipment is the lifting device composed of a riser and lifting pump. In order to explore the key factors affecting mineral transport, the lifting device is summarized, and the design optimization of the lifting pump and the factors affecting the stability of the riser are discussed. Then, the relationship between each device is discussed, and the overall coupling of the device is summarized. Finally, the existing problems and future research focus are summarized.

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Section: Track and Sediment Model Constructionmentioning

confidence: 99%

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

Zhang,

Zuo,

Wei

et al. 2024

JMSE

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“…6. The relative displacements, rotations, forces and torques in three-axis coordinate system between two adjacent rigid elements ith and jth in the DEM model, can be expressed as a matrix as in (6), as shown at the bottom of the previous page.…”

Section: Integrated Dynamic Model Of Total System a Riser Modelmentioning

confidence: 99%

“…Li and Zhong [5] established a prototype of a seabed mining vehicle and evaluated its trafficability through dynamic simulations. A formula was derived by Xu et al [6] for calculating the turning traction force in consideration of the pushing resistance and sinkage of the vehicle, and the effects of the turning speed, track pitch and contacting length on the turning traction force were investigated. Umaru et al [7] developed equations and models for tracked vehicles during steering motions, and pointed out that only the hydrodynamic force and traction force would be affected by the driving speed.…”

Section: Introductionmentioning

confidence: 99%

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

Dai

Yin

2019

IEEE Access

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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.

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“…Relevant studies showed that the traction force generated by a track is through the process of terrain/soil shearing, and the tractive performance of the track-laying-vehicles is determined by the interaction between the track and the soil, which strongly depends on the structure of the track, such as the track of shoes and belt, and the soil of moisture content (Gill & Vanden Berg, 1967;Yokoyama et al, 2020). As an essential issue in the terramechanics, the prediction of tractive performance is extensively concerned by researchers (Battiatoetal & Diserens, 2017;Feng et al, 2018;ten Damme et al, 2021;Xu et al, 2022;Sandu et al, 2019). Furthermore, forces generated on different horizontal surfaces in a grouser shoesoil interaction system are always considered a piece of significant information for promoting tractive performance through the method of parameter optimization (Ani et al, 2018;Edwin et al, 2018;Shin et al, 2020;Li et al, 2021;Zhou et al, 2021).…”

Section: Introductionmentioning

confidence: 99%

Numerical Prediction of Tractive Performance of Track-Soil Interaction System Through Different Grouser Heights

Jun,

Peng,

Cao

et al. 2024

Eng. Agríc.

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This study aims to investigate the influence of moisture contents and grouser heights on traction force exerted on different surfaces in the track-soil interaction system. A sandy loam was employed for acquiring the soil parameters, such as kc, kφ, n, C, Ca, δ, φ, and γ. These parameters were obtained through the mean of the bevameter technique. Moisture contents of the sandy loam were changed from low to high levels, which could be listed as 1.4%, 8.0%, 14.7%, and 22.2% at last. The direct shear and penetration tests were performed for each soil condition of the moisture content, respectively. The model of the single-grouser-shoe (track model) had a length of 9 cm, a width of 15 cm, and varied grouser heights from 0 to 15 cm with a 0.5 cm interval. Based on the calculation result, in general, the shearing force produced by the bottom surface always performs better than either the shear force on the grouser-tip surface or two lateral surfaces. Simultaneously, prediction results also show that the shearing forces were significantly influenced by the level of moisture content in the soil.

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Turning traction force of tracked mining vehicle based on rheological property of deep-sea sediment

Cited by 12 publications

References 9 publications

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

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

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

Numerical Prediction of Tractive Performance of Track-Soil Interaction System Through Different Grouser Heights

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