| 蒋志豪, 吕海宁, 杨建民, 孙鹏飞, 夏茂臻, 毛竞航.基于CEL与SPH对比分析的深海采矿车履带转向特性研究[J].海洋工程,2025,(4):11~23 |
| 基于CEL与SPH对比分析的深海采矿车履带转向特性研究 |
| Research on steering characteristics of tracks of deep-sea mining vehicles based on CEL and SPH comparative analysis |
| 投稿时间：2024-06-24 |
| DOI：10.16483/j.issn.1005-9865.2025.04.002 |
| 中文关键词: 履带式深海采矿车 转向运动 CEL数值方法 SPH数值方法 履带-土体相互作用 |
| 英文关键词:deep-sea mining vehicle steering motion CEL numerical method SPH numerical method track-soil interaction |
| 基金项目:海南省科技计划三亚崖州湾科技城联合项目（520LH015）；上海市战略性新兴产业重大项目“深海矿产资源开发关键技术研究与装备研制”（BH3230001） |
| 作者 | 单位 | | 蒋志豪1,2,3, 吕海宁1,2,3, 杨建民1,2,3, 孙鹏飞1,2,3, 夏茂臻1,2,3, 毛竞航1,2,3 | 1.上海交通大学 船舶海洋与建筑工程学院，上海 200240
2.上海交通大学 海南研究院，海南 三亚 572025
3.上海交通大学 海洋装备研究院，上海 200240 |
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| 中文摘要: |
| 目前，大变形有限元方法被广泛应用于履带式深海采矿车直行过程中的履带-土体相互作用研究，而被应用于转向运动的相关研究并不充分。基于两种适用于大变形分析的数值方法——耦合欧拉-拉格朗日（CEL）方法与光滑粒子流体动力学（SPH）方法进行对比分析，研究履带式深海采矿车在海底土转向运动中的动力学特性。首先基于海底土的物理力学特性建立弹塑性力学表征的土体数值模型，并进行了土力学直剪试验的数值模拟，验证了土体数值模型的准确性。接着采用CEL与SPH方法开展了不同履齿高度、履齿形状和履带长宽比对于履带板转向牵引性能的分析，并对比了两种大变形有限元方法的结果差异。进一步，通过开展不同转向速度、履带俯仰角度以及流体作用对转向牵引性能的影响研究，得到了转向运动中流场、履带以及海底稀软底质的“流-固-土”三相耦合力学响应特性，为研究深海采矿车转向时的土体牵引性能提供了参考，并为深海采矿车海底行进的高效安全设计积累经验。 |
| 英文摘要: |
| The large deformation finite element method is currently widely used in studying the interaction between tracks and soil during the straight-line motion of deep-sea mining vehicles, while relevant research on steering motion remains insufficient. Based on two numerical methods suitable for large deformation analysis—coupled Eulerian-Lagrangian (CEL) and smoothed particle hydrodynamics (SPH)—to investigate the dynamic characteristics of the steering motion of a tracked deep-sea mining vehicle on the seabed. First, a numerical soil model characterized by elastic-plastic mechanics is established based on the physical and mechanical properties of submarine soil. A numerical simulation of the direct shear test is conducted to verify the accuracy of the soil numerical model. Then, CEL and SPH methods are employed to analyze the influence of different grouser heights, grouser shapes, and track length-to-width ratios on the steering traction performance of the track plates, and the results of the two large deformation finite element methods are compared. Furthermore, by studying the effects of different steering speeds, track pitch angles, and fluid action on steering traction performance, the fluid-solid-soil three-phase coupling mechanical response characteristics of the flow, tracks, and deep-sea soil sediment during steering motion are revealed. These findings provide a reference for investigating soil traction performance during steering and accumulate empirical for the safe and efficient design of seabed mobility systems for deep-sea mining vehicles. |
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