Predicting the sinkage of a moving tracked mining vehicle using a new rheological formulation for soft deep-sea sediment

Feng XU; Qiuhua RAO; Wenbo MA

doi:10.1007/s00343-018-6344-1

Your Location：

Home >

Browse articles >

Predicting the sinkage of a moving tracked mining vehicle using a new rheological formulation for soft deep-sea sediment

Geology | Updated：2023-05-19

- Predicting the sinkage of a moving tracked mining vehicle using a new rheological formulation for soft deep-sea sediment
- Chinese Journal of Oceanology and Limnology Vol. 36, Issue 2, Pages: 230-237(2018)
- Affiliations：
  
  1.School of Civil Engineering, Central South University, Changsha 410075, China
  2.College of Civil Engineering and Mechanics, XiangTan University, Xiangtan 411105, China
- Author bio：
  
  RAO Qiuhua, raoqh@csu.edu.cn
- Funds：
- DOI：10.1007/s00343-018-6344-1
  CLC：
- Received：28 December 2016，
  
  Accepted：07 January 2017，
  
  Online First：10 February 2017，
  
  Published：2018-03
- Accepted：
Scan QR Code
Feng XU, Qiuhua RAO, Wenbo MA. Predicting the sinkage of a moving tracked mining vehicle using a new rheological formulation for soft deep-sea sediment[J]. Chinese Journal of Oceanology and Limnology, 2018, 36(2): 230-237.
DOI：

Feng XU, Qiuhua RAO, Wenbo MA. Predicting the sinkage of a moving tracked mining vehicle using a new rheological formulation for soft deep-sea sediment[J]. Chinese Journal of Oceanology and Limnology, 2018, 36(2): 230-237. DOI： 10.1007/s00343-018-6344-1.

摘要

Abstract

The sinkage of a moving tracked mining vehicle is greatly affected by the combined compression-shear rheological properties of soft deep-sea sediments. For test purposes

the best sediment simulant is prepared based on soft deep-sea sediment from a C-C poly-metallic nodule mining area in the Pacific Ocean. Compressive creep tests and shear creep tests are combined to obtain compressive and shear rheological parameters to establish a combined compressive-shear rheological constitutive model and a compression-sinkage rheological constitutive model. The combined compression-shear rheological sinkage of the tracked mining vehicle at different speeds is calculated using the RecurDyn software with a selfprogrammed subroutine to implement the combined compression-shear rheological constitutive model. The model results are compared with shear rheological sinkage and ordinary sinkage (without consideration of rheological properties). These results show that the combined compression-shear rheological constitutive model must be taken into account when calculating the sinkage of a tracked mining vehicle. The combined compression-shear rheological sinkage decrease with vehicle speed and is the largest among the three types of sinkage. The developed subroutine in the RecurDyn software can be used to study the performance and structural optimization of moving tracked mining vehicles.

关键词

Keywords

references

Bekker M G. 1969. Introduction to Terrain-vehicle Systems.University of Michigan Press, Michigan, USA.

Caccia M, Indiveri G, Veruggio G. 2000. Modeling and identification of open frame variable configuration unmanned underwater vehicles. IEEE Journal of Oceanic Engineering, 25(2):227-240.

Chen F, Gui W H, Wang S P, Shen D Y, Han X Y. 2004. Modeling and simulation of a deep seabed tracked vehicle. Robot , 26 (6): 510-514. (in Chinese with English abstract) http://en.cnki.com.cn/Article_en/CJFDTotal-JQRR200406006.htm

Chen G Q, Yi L, Chen S L, Huang H J, Liu Y X, Xu Y H, Cao J R. 2013. Partitioning of grain-size components of estuarine sediments and implications for sediment transport in southwestern Laizhou bay, China. Chinese Journal of Oceanology and Limnology, 31(4):895-906.

Dai Y. 2010. The Modeling Research and Simulation Analysis on the Single-rigid-body of Tracked Miner Moving on the Seafloor. Central South University, Changsha, China. (in Chinese)

Gigler J K, Ward S M. 1993. A simulation model for the prediction of the ground pressure distribution under tracked vehicles. Journal of Terramechanics, 30(6):461-469.

Han Q J. 2014. Slip and Path Tracking Control of the Deep Sea Tracked Miner. Central South University, Changsha, China. (in Chinese with English abstract)

Janosi Z, Hanamoto B. 1961. The analytical determination of drawbar pull as a function of slip for tracked vehicles in deformable soils. In : Proceedings of the ISTVS 1st International Conference on Mechanics of Soil-Vehicle System. Edizioni Minerva Tecnica, Turin, Italy. p. 707-736.

Letherwood M D, Gunter D D. 2001. Ground vehicle modeling and simulation of military vehicles using high performance computing. Parallel Computing, 27(1-2):109-140.

Li L, Li S L. 2010. Simulation and mechanical characteristics of terra-mechanics of the surface soil on deep-sea bed. Engineering Mechanics, 27 (11): 213-220. (in Chinese with English abstract) http://en.cnki.com.cn/Article_en/CJFDTotal-GCLX201011033.htm

Lin Z H, Li X L, Cronan D S, Hodkinson R A. 1991.Compositional variations in manganese nodules collected from the North Penrhyn Basin. Chinese Journal of Oceanology and Limnology, 9(4):347-357.

Lv D, He J S, Liu S J. 2004. Current study status of exploiting technology to deep-ocean resource. Mining & Processing Equipment , (9): 6-9. (in Chinese)

Ma W B, Rao Q H, Li P, Guo S C, Feng K. 2014a. Shear creep parameters of simulative soil for deep-sea sediment.Journal of Central South University, 21(12):4 682-4 689.

Ma W B, Rao Q H, Wu H Y, Guo S C, Li P. 2014b. Macroscopic properties and micro structure analyses of deep-sea sediment. Rock and Soil Mechanics , 35 (6): 1 641-1 646. (in Chinese with English abstract) http://en.cnki.com.cn/Article_en/CJFDTotal-YTLX201406020.htm

Ma W B, Rao Q H, Xu F, Feng K. 2016. Impact compressive creep characteristics of simulative soil for deep-sea sediment. Marine Georesources & Geotechnology, 34(4):356-364.

Pan J Z. 1986. The general rheological model of paddy soils in south china. Journal of Terramechanics, 23(2):59-68.

Rao Q H, Wang Z, Liu S J, Fang M. 2009. Interaction of fluidsolid coupled flexible hose and mining machine in deepocean mining system. In : Proceedings of the Eighth ISOPE Ocean Mining Symposium. International Society of Offshore and Polar Engineers, Chennai, India. p. 263-269.

Schiffman R L. 1961. Analysis of the displacements of the ground surface due to a moving vehicle. In : Proceedings of the First International Conference on Mechanics of Soil Vehicle Systems. Turin, Italy. p. 45-62.

Schulte E, Handschuh R, Schwarz W. 2003. Transferability of soil mechanical parameters to traction potential calculation of a tracked vehicle. In : Proceedings of the 5th ISOPE Ocean Mining Symposium. International Society of Offshore and Polar Engineers, Tsukuba, Japan. p. 123-131.

Shen J, Yu Q. 1989. Pressure-sinkage-time equation for wet soil. Transactions of the Chinese Society for Agricultural Machinery , 20 (4): 15-19. (in Chinese with English abstract) http://en.cnki.com.cn/Article_en/CJFDTOTAL-NYJX198904002.htm

Wong J Y. 2001. Theory of Ground Vehicle. 3 rd ed. John Wiley & Sons, New York, USA.

Views

Downloads

CSCD

Alert me when the article has been cited

Submit

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

Address：Editorial Office of JOL, 88 Haijun Rd. Qingdao, 266000, China
Tel：+86-532-82898754 Email：jol@qdio.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 京ICP备09064830号-19 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰