Research On The Mechanical Of Running Behavior For Tracked Vehicle Collector In The Soft Sediment And Simulation Test

Abstract:The complexity of deep seabed mining vehicle and the particularity of operating environment determine that it must carry outy every kind of simulation test in multiple stages and to varying degrees before actual exploitation and verify the simulation results so as to gather experience and offer reference for actual engineering application. Theorectical means including the simulation virtual technology and artificial intelligence technology have unique advantages on solving problems above and are expected to offer a new way to solve them.Therefore, supported by the State Counsil’s Ocean Special Project on International Seabed Region Research&Development during the Eleventh Five-Year Period(No. DYXM-115-04-02-01) and Project of Provincial Natural Science Fund of Hunan (No.11JJ3059), the research on a simulation testing system of tracked mining vehicles walking on soft sediments was carried out in the dissertation. Its main innovation points are listed as follows:(1) A whole testing program including the "pressure-sinkage" characteristics of interaction between the track of tracked mining vehicle and soft seabed sediments, optimum slip, walking dynamic performance, obstacle pattern recognition and walking system control, which offers necessary precondition and technological base for solving the problem of atracked mining vehicle walking on soft seabed sediments during its deep-sea mining operation, was proposed.(2) A simulation testing program which reflects the actual state of interaction between the track and sediments as well as is convenient to operate was designed and relationship curves for pressure-sinkage characteristics of interaction between the track of tracked mining vehicle and soft seabed sediments and related parameters that lay the foundation for calculation of the bearing capacity of deep-sea sediments were obtained after the testing investigation on pressure-sinkage characteristics of interaction between the simulating track plate and sediments was carried out according to the actual state of seabed surface layer in China’s ocean poly-metallic mining contract area.(3) After combined with shear characteristics testing results of interaction between simulating sediments and tracked plates, a mathematical model demonstrating the shear stress-shear displacement relationship of seabed sediments and corresponding parameters were obtained and the coupling principle of traction which is offered by sediments for the mining vehicle operated on the seabed as well as the slip was revealed, consequently, vital reference could be supplied to the performance analysis of the mining vehicle working and walking on soft seabed sediments.(4) A simulation model of the simulation testing system of tracked mining vehicles walking on soft seabed sediments was set up after established virtual organizations of tracked mining vehicles walking on soft seabed sediments being combined with typical virtual submarine topography and dynamic performance simulation of tracked mining vehicles walking on soft seabed sediments in a crow line, veeringly as well as when grade climbing respectively was researched and the testing results verified the validity and rationality of the simulation ones well.(5) The obstacle was probed with vehicle-mounted ultrasound waves and then accurate position of each deep-sea obstacle was determined according to noise-removal echo signal of ultrasound as well as complex deep-sea ocean currents environment was simulated directed towards complex deep-sea environment of obstacle with potential flow theory and then application research on chaos particle swarm optimization in the obstacle avoidance control of complex deep-sea environment was done. Besides, obstacle avoidance control of tracked mining vehicles working in the deep sea based on the chaos particle swarm optimization, which is in favor of lower distance cost as well as easy to realize, was obtained.(6) A control system of tracked mining vehicles’ semi-active suspension system as well as steering stem was designed after established fuzzy PID controller and Simulink simulation model being combined. The result of control performance analysis shows that it can not only realize effective control to the vertical amplitude of vehicle body, pitch angle, vertical acceleration of vehicle body as well as the steering trajectory, but also have good stability, rapidity and accuracy.