中文摘要：

以国际海底区域多金属结核开采及我国深海采矿1000 m海试系统技术方案为工程背景,针对整体系统联动开采作业过程模拟研究的需要,提出并开发海底履带式集矿机单刚体快速动力学仿真模型。根据深海采矿系统整体运动与约束关系,将集矿机单刚体模型与扬矿管三维离散元模型相连接,组成深海采矿整体系统快速动力学仿真模型。提出两种新的整体联动开采作业方式——纵向联动折返式与横向联动折返式。通过分析、设计及仿真控制,实现两种整体联动开采作业方式的快速仿真分析。讨论集矿机按两种新提出的采集路径行走,同时采矿船拖曳扬矿管跟随集矿机运动时,整体系统的纵向与横向联动作业动力学特性。仿真分析结果表明,整体系统联动作业过程中各子系统均能保持在各自的稳定范围内运动,进而证明两种新提出的集矿机采集路径的可行性以及整体系统纵向与横向联动折返式作业方式的合理性。深海采矿系统整体联动开采作业过程动力学分析将为整体联动控制研究奠定基础,并为将来的深海采矿海试以及商业开采过程操控提供重要的理论分析基础与技术参考。

英文摘要：

Taking the deep ocean poly-metallic nodule mining in the international seabed area and the technical scheme of China＇s 1 000 m ocean mining system as the engineering background,and according to the requirement of the simulation research of the total system＇s integrated operation process,a single-rigid-body fast dynamic simulation model of the seafloor tracked miner is proposed and developed.Considering the integrated motion and constraint relations of the total deep ocean mining system,the single-rigid-body model of the miner is integrated with the discrete element model of the pipeline to form the fast dynamic simulation model of the total deep ocean mining system.Two new operation modes for the total mining system are proposed,which are defined as the longitudinal reciprocating motion and lateral reciprocating motion.Through analysis,design and simulation control,the fast dynamic simulation analysis of the two operation modes can be realized.The integrated motion characteristics of the two new operation modes of the total mining system are discussed with the miner moving along different paths,while the mining ship towing the pipeline system to follow the miner＇s motion.The simulation results show that the motion states of all the subsystems are stable during the operations,which indicate that the two newly proposed collecting paths for the miner are feasible,and the two integrated operation modes named the longitudinal reciprocating motion and lateral reciprocating motion are reasonable.The dynamic simulation analysis of the integrated operation process of the total mining system can lay a basis for control researches of the total system,and further provide theoretical analysis and technical reference for the future deep ocean sea trial mining and commercial mining.