| Abstract:The mining ship surge impact will bring about six degrees of freedom of movement, which seriously affect the safety of mining work, deep sea mining system must heave compensation device to compensate for the movement of the hull.In this paper, we comparatively analyze heave compensation system devices of passive, automatic and semi-automatic type, and establish the simulation model of the three systems. We use AMESim simulation software to analyze and calculate, mainly from the perspectives of compensation effect and energy consumption of three different systems. The results show that the compensation effect of the semi-automatic system is close to the automatic compensation effect, with lower energy consumption, which is the main research direction of heavy deep-sea mining industry compensation technology in the future.Based on the previous analysis for the5000m deep-sea poly-metallic mining system of China, a complex hydraulic cylinder-type heave compensation system, which uses the pump control VRLA PID control strategy, is proposed, in order to obtain better compensation effect and energy conservation effect. By comprehensive utilization of mathematical modeling and multi-domain joint simulation modeling method, we established the single-degree-of-freedom AMESim simulation model of the system and three degrees of freedom on ADAMS-AMESim co-simulation model, and analysis the main factors in the working process of the system, such as the system control effect, the response of the system under Random Waves, accumulators, the pipeline and control parameters of a number of factors. Also, we compared the results with current heave compensation system, to determine the feasibility of the compound heave compensation system, and gave an exploratory study on how to improve the system performance.Finally, we carry out a co-simulation test verification on semi-automatic heave compensation system. The modeling and simulation test is based on Heave Compensation Simulation Test Platform of Central South University. The simulation results show that the simulation data are basically consistent with the test data, which verify the correctness and feasibility of the ADAMS-AMESim modeling and simulation methods of the compound heave compensation system. |
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