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Research on Heave Compensation Systems and Control Methods for deep-sea Mining

Journal of Marine Science and Engineering 2025年第4期13卷 652-652页

作者： Kang, Yajuan Fang, Hongtao Wang, Changwei Liu, Shaojun School of Mechatronics Engineering and Automation Foshan University Foshan528225 China Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology Foshan University Foshan528000 China National Key Laboratory of Deep Sea Mineral Researches Development and Utilization Technology Changsha410083 China Shenzhen Research Institute Central South University Shenzhen518000 China

The development of heave compensation systems in marine engineering and deep-sea mining applications is analyzed, and their functional requirements and key features are summarized. Based on this analysis, a system is proposed that uses flexible joints to compensate for pitch and roll motion, along with a single-chamber valve-controlled compensation cylinder with a high-pressure accumulator to compensate for heave motion. An active heave compensation system based on this design is studied using a fuzzy PID control method. A dynamic model of the system is then established for this control system. Numerical simulations are carried out to evaluate the control process and performance under different sea conditions. The results show that the proposed heave compensation system offers distinct advantages such as a simple and compact structure, minimal deck space requirements on the mining vessel, and large compensation angles for both pitch and roll. Furthermore, the use of a fuzzy PID control method for heave compensation achieves a relatively good compensation effect, and can be adapted to varying sea conditions. © 2025 by the authors.

关键词： deep sea mining

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Analysis on Shock Wave Speed of Water Hammer of Lifting Pipes for deep-sea Mining

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China Ocean Engineering 2013年第2期27卷 205-214页

作者：周知进阳宁王钊 College of Electromechanical Engineering Hunan University of Science and Technology National Key Laboratory of Deep-Sea Mineral Resources Development and Utilization Changsha Research Institute of Mining and Metallurgy

Water hammer occurs whenever the fluid velocity in vertical lifting pipe systems for deep-sea mining suddenly changes. In this work, the shock wave was proven to play an important role in changing pressures and periods, and mathematical and numerical modeling technology was presented for simulated transient pressure in the abnormal pump operation. As volume concentrations were taken into account of shock wave speed, the experiment results about the pressure-time history, discharge-time history and period for the lifting pipe system showed that： as its concentrations rose up, the maximum transient pressure went down, so did its discharges; when its volume concentrations increased gradually, the period numbers of pressure decay were getting less and less, and the corresponding shock wave speed decreased. These results have highly coincided with simulation results. The conclusions are important to design lifting transporting system to prevent water hammer in order to avoid potentially devastating consequences, such as damage to components and equipment and risks to personnel.

关键词： lifting pipe for transporting coarse particles abnormal pump operation fluid transients water hammer shock wave speed

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Suspension principle of deep-ocean nodule collector

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Journal of Central South University 2014年第3期21卷 920-925页

作者：郑皓刘少军胡琼 School of Mechanical and Electrical Engineering Central South University State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology(Changsha Research Institute of Mining and Metallurgy)

To make sure that the nodule collector can walk on the soft sediments of seafloor effectively, suspension principle of deep-ocean nodule collector is proposed. The supporting and driving mechanisms are separated to avoid collector sinking. The supporting mechanism is a streamlined body with large and smooth supporting area. The grounding pressure is reduced to 0.5- 1 N/cm2 to make sure that the sinkage is limited. The impellers serve as the driving mechanism to supply enough driving power. The position between the supporting mechanism and the driving mechanism can be adjusted according to the operating condition to decrease the walking resistance and to increase driving efficiency. The test results indicate that the collector can walk on the surface of the soft sediments with the limited sinkage. The traction forces were up to 800 kg and the sinkage of the impeller was under the limitation.

关键词： deep-ocean mining suspension principle nodule collector sinking

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Design and implementation of model test installation of heave compensation system of deepsea mining

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Journal of Central South University 2011年第3期18卷 642-649页

作者：胡琼刘少军郑皓 School of Mechanical and Electrical Engineering Central South University State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology Changsha Research Institute of Mining and Metallurgy

In order to validate the simulation model and develop heave compensation control strategy,heave compensation model tests were *** model test installation includes themining ship motion simulator,the heave compensation system,the lifting pipe simulator,the buffer simulator and the water *** tests ofmining ship motion simulator show that it is able to perform under the predetermined attitude path smoothly and can meet the requirements of themining ship *** heave compensation effect is more than 60% under random wave and the goal is set to be 50%.The model test results indicate that this heave compensation system is effective and feasible.

关键词： deepsea mining heave compensation model test installation mining ship motion simulator gimbal

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Experimental investigation of clam water impact on flatted-bottom seafloor mining tool

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Journal of Central South University 2014年第2期21卷 533-539页

作者：胡小舟刘少军 School of Mechanical and Electrical Engineering Central South University State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology (Changsha Research Institute of Mining and Metallurgy)

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 *** experiment system,which consists of drive and actuation system,water pool,model test sections,load cell,and control system,was *** 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 *** experiment results are compared with two-dimensional(2D) CFD simulation methods for flatted-bottom rigid bodies with constant entry *** results indicate that the impact forces mainly depend on water entry *** is concluded that the feasibility and accuracy of simulation methods has been validated.

关键词： water entry water impact constant velocity deployment

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Dynamic Analysis of the seafloor Pilot Miner Based on Single-Body Vehicle Model and Discretized Track-Terrain Interaction Model

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China Ocean Engineering 2010年第1期24卷 145-160页

作者：戴瑜刘少军李力 College of Mechanical and Electrical Engineering Central South University The State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology Changsha Research Institute of Mining and Metallurgy

In order to achieve the complex dynamic analysis of the self-propelled seafloor pilot miner moving on the seafloor of extremely cohesive soft soil and further to make it possible to integrate the miner system with some subsystems to form the complete integrated deep ocean mining pilot system and perform dynamic analysis, a new method for the dynamic modeling and analysis of the miner is proposed and developed in this paper, resulting in a simplified 3D single-body vehicle model with three translational and three rotational degrees of freedom, while the track-terrain interaction model is built by partitioning the track-terrain interface into discrete elements with parameterized force dements built on the theory of terramechanics acting on each discrete dement. To evaluate and verify the correctness and effectiveness of this new modeling and analysis method, typical comparative studies with regard to computational efficiency and solution accuracy are carried out between the traditional modeling method of building the tracked vehicle as a multi-body model and the new modeling method. In full consideration of the particMar structure design of the pilot miner, the special characteristics of the seafioor soil and the hydrodynamic force of near-seafloor currnt, the dynamic simulation analysis of the miner is performed and discussed, which can provide useful guidance and reference for the practical miner system in design and operation. This new method can not only realize the rapid dynamic simulation analysis of the miner but also make possible the integration and rapid dynamic analysis of the complete integrated deep ocean mining pilot system in further researches.

关键词： deep-ocean mining system self-propelled seafloor pilot miner single-body model multi-body model discretized track-terrain interaction model dynamic analysis

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An Integrated Dynamic Model of Ocean Mining System and Fast Simulation of Its Longitudinal Reciprocating Motion

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China Ocean Engineering 2013年第2期27卷 231-244页

作者：戴瑜刘少军 School of Information Science and Engineering Central South University College of Mechanical and Electrical Engineering Central South University State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology Changsha Research Institute of Mining and Metallurgy

An integrated dynamic model of China＇s deep ocean mining system is developed and the fast simulation analysis of its longitudinal reciprocating motion operation processes is achieved. The seafloor tracked miner is built as a three-dimensional single-body model with six-degree-of-freedom. The track-terrain interaction is modeled by partitioning the track-terrain interface into a certain number of mesh elements with three mutually perpendicular forces, including the normal force, the longitudinal shear force and the lateral shear force, acting on the center point of each mesh element. The hydrodynamic force of the miner is considered and applied. By considering the operational safety and collection efficiency, two new mining paths for the miner on the seafloor are proposed, which can be simulated with the established single-body dynamic model of the miner. The pipeline subsystem is built as a three-dimensional multi-body discrete element model, which is divided into rigid elements linked by flexible connectors. The flexible connector without mass is represented by six spring-damper elements. The external hydrodynamic forces of the ocean current from the longitudinal and lateral directions are both considered and modeled based on the Morison formula and applied to the mass center of each corresponding discrete rigid element. The mining ship is simplified and represented by a general kinematic point, whose heave motion induced by the ocean waves and the longitudinal and lateral towing motions are considered and applied. By integrating the single-body dynamic model of the miner and the multi-body discrete element dynamic model of the pipeline, and defining the kinematic equations of the mining ship, the integrated dynamic model of the total deep ocean mining system is formed. The longitudinal reciprocating motion operation modes of the total mining system, which combine the active straight-line and turning motions of the miner and the ship, and the passive towed motions

关键词： deep ocean mining system single-body model track-terrain interaction model discrete element model longitudinal reciprocating motion operation mode dynamic simulation analysis

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Deformation characteristics and constitutive model of seafloor massive sulfides

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Journal of Central South University 2017年第9期24卷 1986-1991页

作者：胡建华刘少军张瑞强胡琼 School of Mechanical and Electrical Engineering Central South UniversityChangsha 410083China State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology Changsha 410012China Shenzhen Research Institute of Central South University Shenzhen 518000China

Deformation characteristics and constitutive model of seafloor massive sulfide(SMS)were selected as the research ***/triaxial compression test were carried out on the mineral samples,and the deformation characteristics of specimens under various conditions were *** to characteristics of the mineral,a new three stages constitutive equation was *** conclusions are as follows:The axial strain,peak strain and maximum strength of seafloor massive sulfide increase with the confining *** elastic modulus of the metal sulfide samples is decreased sharply with the increase of confining *** to characteristics of seafloor massive sulfide,the constitutive equation is divided into three parts,the comparison between theoretical curves and experimental data shows that both of them are in good agreement,which also proves the correctness of the constitutive equation for uniaxial compression.

关键词： seafloor massive sulfide constitutive model failure characteristics damage uniaxial strain triaxial strain

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development of Mining technology and Equipment for seafloor Massive Sulfide Deposits

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Chinese Journal of Mechanical Engineering 2016年第5期29卷 863-870页

作者： LIU Shaojun HU Jianhua ZHANG Ruiqiang DAI Yu YANG Hengling College of Mechanical and Electrical Engineering Central South University Changsha 410083 China Shenzhen Research Institute Central South University Shenzhen 518000 China State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology Changsha 410012 China

seafloor massive sulfide（SMS） deposits which consist of Au, Ag, Cu, and other metal elements, have been a target of commercial mining in recent decades. The demand for established and reliable commercial mining system for SMS deposits is increasing within the marine mining industry. The current status and progress of mining technology and equipment for SMS deposits are introduced. First, the mining technology and other recent developments of SMS deposits are comprehensively explained and analyzed. The seafloor production tools manufactured by Nautilus minerals and similar mining tools from Japan for SMS deposits are compared and discussed in turn. Second, SMS deposit mining technology research being conducted in China is described, and a new SMS deposits mining tool is designed according to the environmental requirement. Finally, some new trends of mining technology of SMS deposits are summarized and analyzed. All of these conclusions and results have reference value and guiding significance for the research of SMS deposit mining in China.

关键词： deep sea mining equipment mining key technology seafloor massive sulfide deposits new technology

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Experimental investigation of particle-induced pressure loss in solid–liquid lifting pipe

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Journal of Central South University 2017年第9期24卷 2114-2120页

作者：宋跃文朱小军孙志强唐达生 School of Energy Science and Engineering Central South University State Key Laboratory of the Exploration and Utilization of Deep-sea Mineral Resources(Changsha Research Institute of Mining and Metallurgy Co.Ltd.)

In order to investigate the characteristics of particle-induced pressure loss in the solid–liquid lifting pipe,a series of experiments were conducted in 200 mm diameter lifting *** manganese nodules with five different mean diameters of10 mm,20 mm,30 mm,40 mm and 50 mm were used,both in isolation and a combination in equal fraction by *** flow velocities in the lifting pipe ranged from 0.12 m/s to 1.61 m/s,and the mass of particles employed was 10 kg for each particle *** regimes,wavy bed,partly fluidization,and fully fluidization,were observed over the flow *** solid–liquid pressure drop data were measured by differential pressure transmitter,and pressure drop caused by the solid particles was calculated and *** results show that the evolutions of the pressure loss due to solid particles are relevant to the solid–liquid flow regimes,and they are distinctly influenced by fluid velocity and particle size.

关键词： lifting pipe pressure loss simulation manganese nodules flow regimes

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