深海采矿工程升沉补偿系统的研究

The research background of the project is the mining of the deep-ocean manganese nodules, and the research object is the heaving compensation of the mining system's mining pipeline. The main research tasks are the detecting of heave motion signal, the design of the active heave compensation and its model test. First using the zero-waveheight theory, this project put forward and developed a submarine body which can stay at a constant water depth below the zero-waveheight surface. The submarine body is used for the static reference frame to measure the heave signal of the mining ship. The heave signal measured by it is used to realize the active automatic heave compensation. The project puts forward a kind of active heave compensation system by use of electro-hydraulic proportional technology, intelligent control technology, and computer control technology. A intensive study and simulation research are also made. According to the similarity principle, the project developed successfully the heave compensation model experiment system and the synchronous motion model experiment system of multi- actuators. Using the method of combining of theoretic analysis, computer simulation and model experiment, the project studied the effect of the change of load, structure parameter and work condition to the dynamic and static characteristic of the compensation system. and brought forward a kind of intelligent control strategy which is of better robustness and self-adaptation. The result of model experiment shows that the compensation precision of the active heave compensation put forward by the project reached and even exceeded the expected precision demand. The theory and engineering realization method of the deep ocean mining was founded in this project. The project can serve directly our country's important strategy of exploiting the ocean minerals in 21st century.

本项目研究深海采矿工程升沉补偿新技术，以无静止参考坐标自动检测技术提供控制信号，用电液伺服技术研制自动补偿模拟试验系统，为设计深海升沉补偿系统提供依据和技术储备，具有首创性，填补该类空白，解决深海集矿装置稳定性、承受重载及响应速度快等难题，将为21世纪我国开发海洋矿产资源的重大战略服务，并产生重要技术意义和创造巨大经济效益。