深海采矿转场工况平台—水下系统耦合动力响应特性研究

针对水深6.0 km深海采矿装备，研究其转场工况平台—水下系统耦合动力响应特性。建立深海采矿平台—输浆管—中继站一体化耦合动力模型，其中采用有限元方法离散输浆管，采用势流理论计算平台水动力，基于Kalman滤波对动力定位系统进行参数整定，优化动力定位系统推力。考虑动力定位系统，计算水动力和采矿平台—输浆管—中继站的频域响应和平台—水下系统耦合时域运动响应，计算得到了平台时域运动响应、水下系统动力响应及动力定位系统推力响应。结果表明：建立的一体化耦合动力分析模型是可行的，可以有效预报平台及水下系统响应；转场0°浪向动力定位系统可以有效控制平台运动；中继站运动较小，输浆管轴力较大，建议将输浆管的浮力材料移动到流速较小的水下范围，可降低拖曳力，有利于输浆管的强度性能。

Study on coupled dynamic response characteristics of platform-underwater system in deep sea mining transitions

This study focuses on investigating the coupled dynamic response characteristics of a platform and underwater system operating at a depth of 6. 0 km for deep-sea mining equipment. A comprehensive integrated model is developed, considering the coupling dynamics of the deep-sea mining platform, slurry pipe, and relay station. The slurry pipe is discretized using the finite element method, while the hydrodynamic force acting on the platform is calculated using potential flow theory. The parameters of the dynamic positioning system are optimized through Kalman filtering to enhance the thrust of the system. The frequency domain response of the hydrodynamic effects on the platform, as well as the coupling between the mining platform, slurry pipe, and relay station, is analyzed. Additionally, the time domain motion response of the platform and the coupled system, including the dynamic response of the underwater system and the thrust response of the dynamic positioning system, is examined. The results demonstrate the feasibility of the integrated coupling dynamic analysis model and its ability to accurately predict the response of the platform and underwater system. The dynamic positioning system effectively controls the platform''s motion in wave direction of 0°, with minimal movement observed in the relay station and significant axial force in the slurry pipe. It is recommended to relocate the floating material of the slurry pipe to an underwater area with low flow velocity to reduce drag force and improve the strength performance of the slurry conveying pipe.