Dynamic modelling and motion control research on deep seabed miner
In this paper, the trafficability and motion performances of a seabed miner were obtained by the collaborative simulation between a multi-body dynamic (MBD) model and a motion control system model. For the development of the seabed sediment mechanical model, a numerical simulation by the discrete element method (DEM) and a laboratory physical experiment were performed to obtain the specific shear stress-displacement (S-D) and pressure-sinkage (P-S) relationship of the seabed sediment. Besides, the computational fluid dynamics (CFD) method was adopted to investigate the hydrodynamic loads acting on the miner under the linear motion and circular motion conditions. Moreover, the MBD model and motion control system model of the miner were respectively established in the simulation programs RecurDyn/Track and MATLAB/Simulink. Then, A fuzzy adaptive PID control was introduced to improve the motion accuracy, and the collaborative simulation results were discussed. This research can provide a theoretical basis and technical reference for the optimization design, operation control and performance prediction of the seabed miner.
Keywords: Deep seabed miner, discrete element method, hydrodynamic loads, path tracking control, collaborative simulation