Total Dynamic Analysis of Deep-Seabed Integrated Mining System

Kim, Hyung-Woo; Hong, Sup; Lee, Chang-Ho; Choi, Jong-Su; Yeu, Tae Kyeong

Journal of Navigation and Port Research 2010;34(3):195-203.
Published online April 30, 2010.

심해저 광물자원 채광시스템의 통합거동 해석

김형우, 홍섭, 이창호, 최종수, 여태경

Total Dynamic Analysis of Deep-Seabed Integrated Mining System

Hyung-Woo Kim, Sup Hong, Chang-Ho Lee, Jong-Su Choi, Tae Kyeong Yeu

Abstract

This paper concerns about total dynamic analysis of integrated mining system. This system consists of vertical steel pipe, intermediate buffer station, flexible pipe and self-propelled miner. The self-propelled miner and buffer are assumed as rigid-body of 6-dof. Discrete models of vertical steel pipe and flexible pipe are adopted, which are obtained by means of lumped-parameter method. The motion of mining vessel is not considered. Instead, the motion of mining vessel is taken into account in form of various boundary conditions (e.g. forced excitation in slow motion and/or fast oscillation and so on). A terramechanics model of extremely cohesive soft soil is applied to the self-propelled miner. Hinged and ball constraints are used to define the connections between sub-systems (vertical steel pipe, buffer, flexible pipe, self-propelled miner). Equations of motion of the coupled model are derived with respect to the each local coordinates system. Four Euler parameters are used to express the orientations of the sub-systems. To solve the equations of motion of the total dynamic model, an incremental-iterative formulation is employed. Newmark-β method is used for time-domain integration. The total dynamic responses of integrated mining system are investigated.

Key Words: Integrated mining system;Self-propelled miner;Flexible pipe;Total dynamic analysis;Soft soil;Time domain simulation