Abstract: Deep-sea mining is the advanced deepwater and ultra-deepwater mining technology with high difficulty. In previous studies, the analysis of the coupling of the dynamic positioning process with the riser and equipment was insufficient. The hydrodynamic performance of the mining vessel is analyzed by the potential flow theory, and the dynamic modeling of the riser and the relay cabin is established by the lumped mass method and Morison equations. The PID controller with Kalman filtering is employed to model the ship dynamic positioning system and simulate the thrust allocation unit, fully considering the influence of the dynamic positioning on the coupled motion system. The time-domain coupling numerical analysis of the deep-sea mining system during the dynamic positioning of the mining vessel is carried out to obtain the movement of the mining vessel and relay cabin under specified sea state, the riser tension and the propeller thrust. The influence of the dynamic positioning system is the also analyzed. The simulation can provide reference for the design and analysis of the deep-sea mining.

Key words: deep-sea mining, dynamic positioning, time domain coupling, numerical simulation, riser

摘要： 深海采矿是一种高科技且高难度的深水、超深水采矿技术,以往的研究成果中对采矿船动力定位过程与立管及设备耦合分析尚不充分。该文采用势流理论分析采矿船水动力性能,采用集中质量法与Morison方程对立管与中继舱进行动力学建模。船舶动力定位系统采用PID控制器结合Kalman滤波进行建模,同时模拟了推力分配单元,充分计及动力定位对耦合运动系统的影响,完成采矿船动力定位过程中的深海采矿系统时域耦合数值分析;计算获得指定海况下的采矿船、中继舱的运动状态,立管的张力以及推进器推力等信息;分析了动态模拟中动力定位的影响。仿真过程对于深海采矿设计分析具有参考价值。

关键词: 深海采矿, 动力定位, 时域耦合, 数值模拟, 立管