摘要
针对深海富钴结壳复杂地形下采矿车平稳行驶的问题,提出了一种深海采矿车四履带全驱行驶机构方案和自适应地形的控制方法,建立了四履带行驶力学模型。基于Recurdyn软件构建多体动力学仿真模型,分析了四履带行驶机构的直线行驶、爬坡、越障和转向等特性,开展了行驶机构的实验室试验与海上试验验证。结果表明,试验结果与理论计算值接近,计算误差在10%以内;自适应控制方法有效地提升了行驶机构的行驶效果,降低了直线行驶的偏移量,在行驶速度为0.051 m/s时,采用车身调平控制可提升行驶平稳性2~3倍,而在行驶速度为0.198 m/s时,控制效果较差;整体上随着行驶速度的增加,自适应控制效果不断减弱。研究结果可为深海复杂地形下的行驶技术及装备的研发提供参考。
Aiming at the problem of stable driving of mining rehicle in the complex terrain of submarine cobalt-rich crusts,a scheme of four-track all-wheel drive travel mechanism for deep-sea mining vehicles and a terrain-adaptive control method were proposed,and a mechanical model of four-track travel was established.A multi-body dynamics simulation model was built based on Recurdyn software.The characteristics of the four-track travel mechanism,such as straight-line travel,climbing,obstacle-crossing and steering,were analyzed,and laboratory tests and marine tests for the travel mechanism were caried out for verification.The results show that the test results are close to the theoretical calculation values,with the calculation error within 1o%.The adaptive control method effectively improves the travel effect of the travel mechanism and reduces the deviation of straight-line travel.When the travel speed is 0.051 m/s,the adoption of vehicle body leveling control can improve the travel stability by 2 to 3 times.However,when the travel speed is 0.198 m/s,the control effect is relatively poor.On the whole,as the travel speed increases,the effect of the adaptive control weakens continuously.The research results can provide references for the research and development of travel technologies and equipment in deep-sea complex terrains.
作者
江敏
刘伟
陈秉正
艾杨
吴鸿云
陆新江
JIANG Min;LIU Wei;CHEN Bingzheng;AI Yang;WU Hongyun;LU Xinjiang(Changsha Institute of Mining Research Co.,Ltd.,Changsha,Hunan 410012,China;Central South University,Changsha,Hunan 410083,China;National Engineering Research Center for Metal Mining,Changsha,Hunan 410012,China;Tianjin University,Tianjin 300072,China)
出处
《矿业研究与开发》
北大核心
2025年第10期33-42,共10页
Mining Research and Development
基金
国家重点研发计划项目(2022YFC2806802)。
关键词
深海采矿车
富钴结壳
四履带全驱行驶机构
行驶性能
海上试验
Deep-sea mining vehicle
Cobalt-rich crust
Four-track all-wheel drive travel mechanism
Travel performance
Marine test
