避障模式下深海采矿系统动力学分析

Dynamic analysis of deep sea mining system in obstacle avoidance mode

为研究避障模式下深海采矿系统中中间仓的运动规律,基于虚拟样机技术建立5 km硬管水力输送系统虚拟样机模型,根据现有的全区域覆盖算法,提出3种可能的避障模式(圆形、矩形、折返避障模式),分析不同避障模式、避障速度、障碍物距离对中间仓运动特性的影响,并进行模拟实验研究。研究结果表明:中间仓的运动主要发生在集矿机前进的方向上;在起始点附近,折返避障模式下,避障结束时中间仓位移的最大值达3.0 m,比圆形和矩形避障模式的高;当避障速度从0.4 m/s增加到1.0 m/s时,中间仓位移平均值的增加幅度小于0.2 m;障碍物距离对中间仓运动特性影响较大,中间仓位移平均值和最大值随障碍物距离的增加而逐渐减少;在进行采集路径规划时,尽量使障碍物距离大于200 m。因此,对集矿机进行避障算法设计时,不仅要考虑算法的可行性,还要考虑整个系统在不同避障模式下动力学特性。

To study the motion characteristics of the buffer in the deep sea mining system in the obstacle avoidance mode,a virtual prototype model of 5 km hard-tube hydraulic conveying system was established based on the virtual prototyping technology.Three possible obstacle avoidance modes(circle,rectangle,reciprocating mode)were proposed according to the existing full-area coverage algorithm.The effects of the type of obstacle,obstacle avoidance speed and obstacles distance on the kinetic characteristic of buffer were analyzed.And the simulation experiment was carried out.The results show that the movement of the buffer mainly occurs in the forward direction of mining machine.The maximum displacement of buffer is up to 3.0 m near the initial point,which is higher than those of circular and rectangular obstacle avoidance modes.When the obstacle avoidance speed increases from 0.4 m/s to 1.0 m/s,the average increment of displacement of buffer is less than 0.2 m.The obstacle distance has a great influence on the motion characteristics of the buffer.The average and maximum values of displacement of buffer decrease with the increases of obstacle distance.When planning the acquisition path,it is recommended to make the distance between obstacle and buffer greater than 200 m.Therefore,when designing the obstacle avoidance algorithm for the mining machine,it is suggested to consider not only the feasibility of the algorithm,but also the dynamics characteristics of the whole system in different obstacle avoidance modes.