基于三维离散元管线模型的深海采矿1000m海试系统整体联动动力学研究
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摘要
随着世界人口的不断增长、经济和科学技术的飞速发展,世界各国对矿产资源的需求量与日剧增,以至于陆地资源日渐短缺,人类不得不探寻新的资源基地。而大洋底部却蕴藏着丰富的矿产资源,开发大洋矿产资源已经成为世界各国发展的战略目标。相比其他国家,我国的资源状况更加严峻,深海多金属结核开采技术的研究是一个关系到国家战略的重大课题。
本文作者以中国深海采矿1000m海试系统为研究对象,针对采矿系统扬矿管线工作过程中大位移、小变形的几何非线性特性以及系统联动过程动力学性能实时快速分析的需求,提出多刚体离散元法建立管线空间离散模型,基于多刚体动力学的理论,利用大型商业动力学仿真分析软件ADAMS建立1000m海试整体系统虚拟样机,成功进行了采矿系统整体联动动力学仿真和性能分析,为系统的研制和开采作业提供理论依据和技术参考。研究形成了计算精度与有限元方法相当、计算速度提高近8倍的深海采矿系统整体联动动力学性能分析方法,为深海采矿系统海试和采矿作业过程的动力学性能实时分析和监测开辟了一条可行的途径。
主要研究成果如下:
1.考虑到深海采矿系统长期设置于开敞海面从事作业,承受着来自海洋环境的风、波、流等复杂环境载荷,针对深海采矿系统的特点,以长达千米的水下扬矿管线的环境载荷计算为研究重点,详细研究了深海采矿系统所受海洋环境载荷的处理分析方法。
2.针对采矿系统扬矿管线工作过程中大位移、小变形的几何非线性特性以及系统联动过程动力学性能实时快速分析的需求,采用多刚体离散元方法研究长达千米的扬矿管线系统的建模,形成了基于三维离散元模型的管线系统动力学分析方法,首次实现了扬矿管线系统的三维快速动力学分析。并通过若干典型算例进行了考证,算例证明采用三维离散元模型对管线系统进行计算分析是行之有效的。
3.根据深海采矿系统边界载荷条件和基于离散元的扬矿管线建模方法,以1000m海试为工程研究对象,利用大型商业动力学仿真分析软件ADAMS,成功建立了1000m海试整体系统虚拟样机。并分别开展厂陆上物理模型考题试验和水池物理模型考题试验,验证虚拟样机研究中的建模方法及编制的仿真程序是正确与可信的。
4.利用所建立的1000m海试整体系统虚拟样机,针对可能的采矿作业及过程,成功进行了1000m海试系统整体联动动力学仿真和性能分析,可为系统的研制和开采作业提供理论依据和技术参考。通过与有限元分析方法对比,结果表明计算精度相当的情况下,采用多刚体动力学方法计算速度较有限元方法提高近8倍,改善了计算效率,便于将来向实时计算分析的方向发展,为深海采矿系统动力学性能实时分析和监测开辟了一条可行的途径。
论文的研究同时为求解大位移和非线性的长管线问题探索了一条新途径,文中提出采用多刚体离散元方法处理长管线系统,所得到的模型具有简单性和力学的直观性的特点,所需存储空间小,对于大型结构动力学问题的迭代求解具有实际的意义。
With the unceasing increase of the world's population and the rapid development of economy and science, the demands of mineral resources have increased drastically all over the world, so that the land resources is becoming deficient day after day. Governments in different countries are becoming more aware that the ocean will be a new resource bases as deep seabed contains abundant mineral resource. Compared with the other countries, China's resource shortage is especially serious. Development of deep-ocean resource exploitation technology has becoming a great subject relating to China's National Strategy.
As deep-ocean mining pipe is up to thousands meters long and is of geometrical nonlinear characteristics of large displacement and small deformation, at the same time, faster calculation method is needed for real-time monitor and control of mining system in the future. The multi-rigid-body discrete element method was proposed for the analysis of deep-ocean mining pipe system. Based on multi-body dynamics, the virtual prototype of 1000m ocean pilot mining entire system is built and dynamic analysis of Chinese ocean poly-metallic pilot mining system in 1000 meters water is performed. Some suggestions for the actual operation of deep-ocean mining system are given. On the other hand, the study in this paper also suggests that by discrete element method the computation speed can be improved to a certain extent. This implies that discrete element method is useful in developing faster calculation method, which is needed for real-time monitor and control of mining system in the future.
The main research achievement includes:
1. It is well known that deep-ocean mining system works in the fluky ocean environment and is under the action of complex ocean environment including wind, wave, and current and ice. According to the characteristics of the deep-ocean mining system, environment forces acting on the deep-ocean mining system are discussed in detail in this paper,especially for the environment forces of long mining pipe.
2. Considering the long pipe system's geometrical nonlinear characteristics of large displacement and small deformation and the need of developing faster calculation method for real-time monitor and control of mining system in the future, modeling techniques for long mining pipe is discussed in this paper and a three-dimensional discrete element method is proposed for the dynamic analysis of long mining pipe. Three-dimensional fast dynamic analysis of long minging pipe is first realized. Then several typical examples respectively representing static analysis and dynamic analysis are selected to verify the correctness and feasibility of discrete element method using for long pipe.
3. Based on boundary conditions and modeling techniques for long mining pipe discussed above, the virtual prototype of Chinese 1000m ocean poly-metallic pilot mining system is built in ADAMS for dynamic analysis. Physical model test on the land and physical model test in the pool are performed respectively to verify the modeling method and simulation program.
4. Dynamic analysis of Chinese ocean poly-metallic pilot mining system in 1000 meters water is studied successfully, which can provide theoretical explanation and technical reference for the design and operation of mining system. Compared with the finite element method results studied by colleague in the same research group, the results based on multi-body dynamics are in good agreement with those from the finite element method results. At the same time, simulation results show that, compared with finite element method, the computation speed of the present discrete element method is increased by about 8 times under the equivalent precision. This implies that the discrete element method is useful in developing faster calculation methods,which will be needed for real-time monitor and control of mining systems in the future.
It is concluded that the three-dimensional discrete element method proposed in this paper provides a new path for dynamic analysis of long pipe, which is of geometrical nonlinear characteristics of large displacement and small deformation. The model is simple and explicit, thereby the needed memory space is saved and the calculation time is reduced, which has greatly actual meaning for large structure dynamic analysis.
本文作者以中国深海采矿1000m海试系统为研究对象,针对采矿系统扬矿管线工作过程中大位移、小变形的几何非线性特性以及系统联动过程动力学性能实时快速分析的需求,提出多刚体离散元法建立管线空间离散模型,基于多刚体动力学的理论,利用大型商业动力学仿真分析软件ADAMS建立1000m海试整体系统虚拟样机,成功进行了采矿系统整体联动动力学仿真和性能分析,为系统的研制和开采作业提供理论依据和技术参考。研究形成了计算精度与有限元方法相当、计算速度提高近8倍的深海采矿系统整体联动动力学性能分析方法,为深海采矿系统海试和采矿作业过程的动力学性能实时分析和监测开辟了一条可行的途径。
主要研究成果如下:
1.考虑到深海采矿系统长期设置于开敞海面从事作业,承受着来自海洋环境的风、波、流等复杂环境载荷,针对深海采矿系统的特点,以长达千米的水下扬矿管线的环境载荷计算为研究重点,详细研究了深海采矿系统所受海洋环境载荷的处理分析方法。
2.针对采矿系统扬矿管线工作过程中大位移、小变形的几何非线性特性以及系统联动过程动力学性能实时快速分析的需求,采用多刚体离散元方法研究长达千米的扬矿管线系统的建模,形成了基于三维离散元模型的管线系统动力学分析方法,首次实现了扬矿管线系统的三维快速动力学分析。并通过若干典型算例进行了考证,算例证明采用三维离散元模型对管线系统进行计算分析是行之有效的。
3.根据深海采矿系统边界载荷条件和基于离散元的扬矿管线建模方法,以1000m海试为工程研究对象,利用大型商业动力学仿真分析软件ADAMS,成功建立了1000m海试整体系统虚拟样机。并分别开展厂陆上物理模型考题试验和水池物理模型考题试验,验证虚拟样机研究中的建模方法及编制的仿真程序是正确与可信的。
4.利用所建立的1000m海试整体系统虚拟样机,针对可能的采矿作业及过程,成功进行了1000m海试系统整体联动动力学仿真和性能分析,可为系统的研制和开采作业提供理论依据和技术参考。通过与有限元分析方法对比,结果表明计算精度相当的情况下,采用多刚体动力学方法计算速度较有限元方法提高近8倍,改善了计算效率,便于将来向实时计算分析的方向发展,为深海采矿系统动力学性能实时分析和监测开辟了一条可行的途径。
论文的研究同时为求解大位移和非线性的长管线问题探索了一条新途径,文中提出采用多刚体离散元方法处理长管线系统,所得到的模型具有简单性和力学的直观性的特点,所需存储空间小,对于大型结构动力学问题的迭代求解具有实际的意义。
With the unceasing increase of the world's population and the rapid development of economy and science, the demands of mineral resources have increased drastically all over the world, so that the land resources is becoming deficient day after day. Governments in different countries are becoming more aware that the ocean will be a new resource bases as deep seabed contains abundant mineral resource. Compared with the other countries, China's resource shortage is especially serious. Development of deep-ocean resource exploitation technology has becoming a great subject relating to China's National Strategy.
As deep-ocean mining pipe is up to thousands meters long and is of geometrical nonlinear characteristics of large displacement and small deformation, at the same time, faster calculation method is needed for real-time monitor and control of mining system in the future. The multi-rigid-body discrete element method was proposed for the analysis of deep-ocean mining pipe system. Based on multi-body dynamics, the virtual prototype of 1000m ocean pilot mining entire system is built and dynamic analysis of Chinese ocean poly-metallic pilot mining system in 1000 meters water is performed. Some suggestions for the actual operation of deep-ocean mining system are given. On the other hand, the study in this paper also suggests that by discrete element method the computation speed can be improved to a certain extent. This implies that discrete element method is useful in developing faster calculation method, which is needed for real-time monitor and control of mining system in the future.
The main research achievement includes:
1. It is well known that deep-ocean mining system works in the fluky ocean environment and is under the action of complex ocean environment including wind, wave, and current and ice. According to the characteristics of the deep-ocean mining system, environment forces acting on the deep-ocean mining system are discussed in detail in this paper,especially for the environment forces of long mining pipe.
2. Considering the long pipe system's geometrical nonlinear characteristics of large displacement and small deformation and the need of developing faster calculation method for real-time monitor and control of mining system in the future, modeling techniques for long mining pipe is discussed in this paper and a three-dimensional discrete element method is proposed for the dynamic analysis of long mining pipe. Three-dimensional fast dynamic analysis of long minging pipe is first realized. Then several typical examples respectively representing static analysis and dynamic analysis are selected to verify the correctness and feasibility of discrete element method using for long pipe.
3. Based on boundary conditions and modeling techniques for long mining pipe discussed above, the virtual prototype of Chinese 1000m ocean poly-metallic pilot mining system is built in ADAMS for dynamic analysis. Physical model test on the land and physical model test in the pool are performed respectively to verify the modeling method and simulation program.
4. Dynamic analysis of Chinese ocean poly-metallic pilot mining system in 1000 meters water is studied successfully, which can provide theoretical explanation and technical reference for the design and operation of mining system. Compared with the finite element method results studied by colleague in the same research group, the results based on multi-body dynamics are in good agreement with those from the finite element method results. At the same time, simulation results show that, compared with finite element method, the computation speed of the present discrete element method is increased by about 8 times under the equivalent precision. This implies that the discrete element method is useful in developing faster calculation methods,which will be needed for real-time monitor and control of mining systems in the future.
It is concluded that the three-dimensional discrete element method proposed in this paper provides a new path for dynamic analysis of long pipe, which is of geometrical nonlinear characteristics of large displacement and small deformation. The model is simple and explicit, thereby the needed memory space is saved and the calculation time is reduced, which has greatly actual meaning for large structure dynamic analysis.
引文
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