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Wu H.-Y.,State Key Laboratory of deep sea mineral resources development and utilization technology | Wu H.-Y.,Changsha Institute of Mining Research | Chen Z.,Changsha Institute of Mining Research
Applied Mechanics and Materials | Year: 2013

The shear strength parameter of cobalt-rich crusts can be used to design cobalt-rich crusts mining head. The shearing test of cobalt-rich crusts sample was done with different angle shearing testing apparatus. Firstly, the cobalt-rich crusts sample with the size of 50mm×50mm×50mm cube was clamped in the variable angle plate. Secondly, the sample ware loaded till to be damaged. Lastly, the damaged load were recorded at the degree of 50, 60 and 70 to establish their shearing strength and normal stress empirical formula. According to the testing result, its cohesion and internal friction angle parameters are respectively 0.275MPa and 54.43 degree. Restricted by the number of samples and limited by laboratory testing, in-situ shearing strength test should be carried out to improve the proposed empirical formula. © (2013) Trans Tech Publications, Switzerland.


Li L.,Central South University | Li L.,State Key Laboratory of deep sea mineral resources development and utilization technology | Zou Y.-H.,Central South University
Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) | Year: 2012

The multi-rigid body dynamical model of the seabed mining vehicle was built using ADAMS/ATV software. The moving control model of the seabed mining vehicle, which is composed of the speed inner loop and orientation outer loop together, was built by MATLAB/Simulink software. And the co-simulation model of the seabed mining combined with the dynamical model and the moving control system together was also built using MATLAB/Simulink software. Due to the complicated and unknown factors on the seabed, the self-adaptive fuzzy controller based on theory of the variable universe was designed to correct the orientation error of the seabed mining vehicle. The speed controller based on the theory of PID was designed to keep the given speed of the seabed mining vehicle. The seabed mining vehicle's co-simulation to keep the linear of the moving path was carried out while it went over the barrier just through the right track. The simulation results show that the seabed mining vehicle's moving control model built by the theory variable universe possesses good robustness, fast and stable response characteristics on two aspects of the orientation error and the speed tracking, and the good effect on tracking the moving along the mining path, thereby the moving along the mining path is realized. And a kind of effective method is supplied to control the seabed mining vehicle to move along the mining path in the ocean mining.


Li L.,Central South University | Li L.,State Key Laboratory of deep sea mineral resources development and utilization technology | Wen R.,Central South University | Chen M.,State Key Laboratory of deep sea mineral resources development and utilization technology | Zhang W.,Carrie Heavy Industry Machinery Ltd Company
Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) | Year: 2014

By using ADAMS software based on multi-rigid-body dynamics theory, the multi-rigid-body dynamics model of new tapping vehicle transporting, loading and unloading electrolytic aluminium was built. Its hydraulic and controlling models were established by utilizing AMEsim software. Based on solving the interface technology between ADAMS and AMEsim software, the co-simulation model of the mechanical-electronic-hydraulic combined system for the new tapping vehicle was set up, and the co-simulation of climbing 10% slope was completed. Moreover, based on finite element theory, the finite element models of the carriage and the door frame in the new tapping vehicle were built. And according to the vehicle's dynamics results got from the previous co-simulation, the finite element analysis for the carriage and the door frame were completed by employing ANASYS software. The results of the co-simulation show that the tapping vehicle's kinematics and dynamics results have reflected its actual driving situation. The results of the finite element results show that the strength and stiffness of the carriage and the door frame have satisfied the design requirements.


Hu X.-Z.,Central South University | Hu X.-Z.,State Key Laboratory of deep sea mineral resources development and utilization technology | Liu S.-J.,Central South University | Liu S.-J.,State Key Laboratory of deep sea mineral resources development and utilization technology
Journal of Central South University | Year: 2014

A test rig for constant velocity water entry experiments was developed that drives a flatted-bottom section attached on six degree of freedom(6-DOF) platform to enter the water vertically at near constant velocity. The experiment system, which consists of drive and actuation system, water pool, model test sections, load cell, and control system, was presented. Water entry forces of different velocities were measured during impact process, and for each test case, three runs were performed with the same motion program to check the repeatability of the force readings. The experiment results are compared with two-dimensional (2D) CFD simulation methods for flatted-bottom rigid bodies with constant entry velocity. Experimental results indicate that the impact forces mainly depend on water entry velocities. It is concluded that the feasibility and accuracy of simulation methods has been validated. © 2014 Central South University Press and Springer-Verlag Berlin Heidelberg.


Liu S.,Central South University | Liu S.,State Key Laboratory of deep sea mineral resources development and utilization technology | Li U.,Central South University | Li U.,State Key Laboratory of deep sea mineral resources development and utilization technology
Proceedings - 2010 International Conference on Digital Manufacturing and Automation, ICDMA 2010 | Year: 2010

The Heave compensation system is essential for deep-sea mining to extend the operational weather window and improve the operation safety and efficiency. A novel heave compensation system compositely acted by dynamic vibration absorber combined with accumulator is proposed in the light of 5000m deep-sea poly-metallic mining system of China. The composition and working principles of the heave compensation system is presented, and a corresponding mathematical model of this system is built. The main parameters of the heave compensation system are selected. The mass of dynamic vibration absorber, spring stiffness and damping coefficient are calculated and simulated by MATLAB. The performance of the proposed heave compensation system was simulated and analyzed in time domain. The results show that the satisfactory control effectiveness can be obtained in the overall sea state 4 of China's deep-sea mining field. Therefore, the designed passive heave compensation system compositely by dynamic vibration absorber combined with accumulator is able to isolate the pipeline and its deployment platform from the bending loads induced by the vertical motion of deep-sea mining ship in rough seas with high simplicity and less energy consumption. © 2010 IEEE.

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