单泵与储料罐组合的深海采矿软管输送系统研究
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摘要
由于陆地资源日益枯竭,当今世界各国都在加紧对深海矿产资源开采技术进行研究,为“海洋经济时代”的到来做技术储备,我国也非常重视深海采矿技术的研究。锰结核和钴结壳是重要的海洋矿产资源,赋存于1500～6000m的海底,深海采矿系统必须将从海底采集的矿石输送到海面采矿船上,因此,矿石输送技术是深海采矿的关键技术。在这一领域,普遍公认采用水力输送的矿石输送系统具有工业应用前景,其中采用软管输送的采矿系统为最佳方案。本文是针对软管输送系统进行研究,主要内容如下:
根据深海采矿软管输送系统特点,发明了一种由储料罐与高压水泵组合而成的新的矿石输送设备,应用于深海采矿;借鉴水泵理论、管道输送原理、两相流理论和储料罐输送特点,建立该设备的设计理论,并针对能将矿石从5000m海底直接输送到海面的输送系统和1000m钴结壳采矿中试输送系统进行参数分析。
针对输送软管两端在采矿船和采矿车的牵引下运动,同时受到浮力、重力、海浪、海流、海水阻力、海水压力和管内流体等复杂载荷耦合作用的情况,运用海浪和海流理论、流体力学和Morsion阻力方程,建立输送软管在复杂运动和复杂外载耦合作用下的分析理论,对输送系统的运动和外部载荷进行了分析。
运用虚功原理、牛顿-拉斐逊方法,建立输送管道的有限元法几何非线性静态分析理论;根据输送管道上作过程大变形特点,推导出弹性材料管单元的切线刚度矩阵和输送系统整体刚度矩阵;对1000m钴结壳采矿中试输送系统,当采矿车和采矿船采用不同运动模式,管道在不同外载耦合作用下,进行几何非线性静态分析,同时对采矿车和采矿船的运动速度和运行模式、采矿车的工作范围、输送管道两端的受力情况、管道的空间形状、管道下段浮体加栽火小和浮力分布等参数进行了研究。
从橡胶管道结构分析出发,对输送管道的性能进行了理论分析。对5000m深海采矿输送系统,当采矿车和采矿船在不同运动状态,管道在不同外载耦合作用下的情况,进行几何非线性静态分析,同时对采矿车和采矿船的运动速度和运行模式、采矿车的工作范围、输送管道两端的受力情况、管道的空间形状、管道下段浮体加载大小和浮力分布等参数进行了研究。
根据达朗培尔(D'Alembert)虚功原理,建立了输送系统动力学分析理论。通过模态分析,确定了1000m钴结壳中试输送系统和5000m深海采矿输送系统的振动频率特性。针对输送系统在海浪循环力作用下和上端随海浪循环运动两种情况,分别对1000m中试输送系统和5000m深海采矿输送系统上下两端结点反力的谐响应进行了分析。
根据相似理论,建立由储料罐与高压水泵组合的模拟实验设备,针对5000m深海采矿输送系统进行模拟实验分析。建立了输送管道力学模拟实验分析的相似理论,选择了模拟输送管道,在实验装置上,对管道两端的结点反力和管道形状进行了实验分析,通过实验和计算的比较分析,证明了本文采用有限元对输送系统进行计算分析是可信的。
本文运用先进的理论和计算方法以及先进的实验手段,采用理论、计算、实验相互验证的研究方法,研究出一种能将矿石从5000m海底直接输送到海面的输送设备,应用于软管输送系统,由此研究而得到了一种技术先进、理论完善的适用于深海采矿的输送系统技术原型,为1000m钴结壳采矿中试系统提供了技术支持。
Because of the resource scarcity on land, many developed countries are carrying research on deep-sea mining technology for the "ocean economy age". China also attaches great importance to this subject. The manganese nodules and cobalt crust are poly-metallic minerals that lying widely on the seabed about 1500-6000 meters deep. They have to be transported to the ship on the sea level through the deep-sea mining system of which the mineral transporting technology is most important. It is widely recognized that the hydraulic transporting system has great potential for industrial appliance and the system that adopts flexible pipe to transport mineral is the best scheme. This paper is a research on flexible pipe mineral transporting system, and the follow is the main content.Based on the requirements of flexible pipe mineral transporting system, a sort of mineral transporting equipment is invented by combining vessel with high-pressure pump for deep-sea mining. According to Bernoulli's equation, two phases hydrodynamics and principle of pipeline transporting as well as the features of vessel transporting, the designing theory of transporting equipment is established. Parameters of flexible pipe mineral transporting system for carrying minerals from 5000m sea floor to sea level as well as parameters for 1000m crust middle test mining system have been calculated and analysed. Conclusion has been reached accordingly that the combined transporting equipment is a kind of ideal designing for deep-sea mining.In real condition, the transporting pipe is moved under the draft of mining vehicle and ship, meanwhile it is under the action of the complex coupling loads that include gravity and buoyancy of the transporting pipe, the resistance caused by ocean current and pipe moving, and the force of the inner fluid exerted on the pipe. Based on gravity wave theory, the experience calculating formula of ocean current, hydrodynamics and Morsion resistance equation, the theory to analysis the moving and complex coupling loads of the transporting pipe is established. According to the established theory, the movement and the coupling loads of the system have been analysed.Based on D'Alembert principle and Newton-Raphson method, the geometric nonlinear finite element theory has been established to analysis the transporting pipe. According to the large deformation features of the transporting pipe, the tangent stiffness matrix of the pipe element and the stiffness matrix of the transporting pipe have been deduced. The geometric nonlinear static analysis for the transporting system of 1000m crust middle test mining system have been done under the hypothesis that the mining vehicle and ship moving in different modes and the transporting pipe under coupling action of different loads. The research covers the following parameters: the moving speed and mode of the mining vehicle and ship, the mining range of the mining vehicle, the forces on the two ends of the transporting pipe, the shape of the transporting pipe, how large the buoyancy of the buoy should be and how the buoyancy distributes along the transporting pipe etc.Starting with the configuration analysis of the transporting pipe, theoretic research has been done on the transporting pipe . The geometric nonlinear static analysis has been done for the 5000-meter-deep mineral transporting system under the hypothesis that the mining vehicle and ship moving in different modes and the transporting pipe under coupling action of different loads. The research covers the following parameters: the moving speed and mode of the mining vehicle
and ship, the mining range of the mining vehicle, the forces on the two ends of the transporting pipe, the shape of the transporting pipe, how large the buoyancy of the buoy should be and how the buoyancy distributes along the transporting pipe etc.Based on D'Alembert principle, the dynamics analysis theory of mining transporting system has been established. Through modal analysis, the vibration features (natural frequencies) of the transporting system of 1000m middle test crust mining system and the 5000-meter-deep mineral transporting system have been determined. The harmonic response force of the transporting pipe ends has been analysed when the mineral transporting system of 1000m crust middle test mining system and the 5000-meter-deep mining system are under ocean wave force or the up end of the transporting pipe follows the ocean wave movingBased on model theory, the model equipment for the mineral transporting system has been made and through which the analysis on 5000-meter-deep mining transporting system has been done. The model experiment mechanics analysis theory of the transporting pipe has been established, and a model pipe has been selected for analysis. Experimental analysis has been made on the end forces and the shape of transporting pipe. The comparative analysis on experiments and calculating has proved that the application of finite element analysis in the mineral transporting systems is correct and believable.Through the application of advanced theories and calculating methods as well as experiments, this paper made research on the mineral transporting system for lifting minerals from 5000-meter-deep sea floor to sea level through flexible transporting pipe. The research provides an advanced technological prototype for deep-sea mining mineral transporting system and the 1000m crust middle test mining system.
根据深海采矿软管输送系统特点,发明了一种由储料罐与高压水泵组合而成的新的矿石输送设备,应用于深海采矿;借鉴水泵理论、管道输送原理、两相流理论和储料罐输送特点,建立该设备的设计理论,并针对能将矿石从5000m海底直接输送到海面的输送系统和1000m钴结壳采矿中试输送系统进行参数分析。
针对输送软管两端在采矿船和采矿车的牵引下运动,同时受到浮力、重力、海浪、海流、海水阻力、海水压力和管内流体等复杂载荷耦合作用的情况,运用海浪和海流理论、流体力学和Morsion阻力方程,建立输送软管在复杂运动和复杂外载耦合作用下的分析理论,对输送系统的运动和外部载荷进行了分析。
运用虚功原理、牛顿-拉斐逊方法,建立输送管道的有限元法几何非线性静态分析理论;根据输送管道上作过程大变形特点,推导出弹性材料管单元的切线刚度矩阵和输送系统整体刚度矩阵;对1000m钴结壳采矿中试输送系统,当采矿车和采矿船采用不同运动模式,管道在不同外载耦合作用下,进行几何非线性静态分析,同时对采矿车和采矿船的运动速度和运行模式、采矿车的工作范围、输送管道两端的受力情况、管道的空间形状、管道下段浮体加栽火小和浮力分布等参数进行了研究。
从橡胶管道结构分析出发,对输送管道的性能进行了理论分析。对5000m深海采矿输送系统,当采矿车和采矿船在不同运动状态,管道在不同外载耦合作用下的情况,进行几何非线性静态分析,同时对采矿车和采矿船的运动速度和运行模式、采矿车的工作范围、输送管道两端的受力情况、管道的空间形状、管道下段浮体加载大小和浮力分布等参数进行了研究。
根据达朗培尔(D'Alembert)虚功原理,建立了输送系统动力学分析理论。通过模态分析,确定了1000m钴结壳中试输送系统和5000m深海采矿输送系统的振动频率特性。针对输送系统在海浪循环力作用下和上端随海浪循环运动两种情况,分别对1000m中试输送系统和5000m深海采矿输送系统上下两端结点反力的谐响应进行了分析。
根据相似理论,建立由储料罐与高压水泵组合的模拟实验设备,针对5000m深海采矿输送系统进行模拟实验分析。建立了输送管道力学模拟实验分析的相似理论,选择了模拟输送管道,在实验装置上,对管道两端的结点反力和管道形状进行了实验分析,通过实验和计算的比较分析,证明了本文采用有限元对输送系统进行计算分析是可信的。
本文运用先进的理论和计算方法以及先进的实验手段,采用理论、计算、实验相互验证的研究方法,研究出一种能将矿石从5000m海底直接输送到海面的输送设备,应用于软管输送系统,由此研究而得到了一种技术先进、理论完善的适用于深海采矿的输送系统技术原型,为1000m钴结壳采矿中试系统提供了技术支持。
Because of the resource scarcity on land, many developed countries are carrying research on deep-sea mining technology for the "ocean economy age". China also attaches great importance to this subject. The manganese nodules and cobalt crust are poly-metallic minerals that lying widely on the seabed about 1500-6000 meters deep. They have to be transported to the ship on the sea level through the deep-sea mining system of which the mineral transporting technology is most important. It is widely recognized that the hydraulic transporting system has great potential for industrial appliance and the system that adopts flexible pipe to transport mineral is the best scheme. This paper is a research on flexible pipe mineral transporting system, and the follow is the main content.Based on the requirements of flexible pipe mineral transporting system, a sort of mineral transporting equipment is invented by combining vessel with high-pressure pump for deep-sea mining. According to Bernoulli's equation, two phases hydrodynamics and principle of pipeline transporting as well as the features of vessel transporting, the designing theory of transporting equipment is established. Parameters of flexible pipe mineral transporting system for carrying minerals from 5000m sea floor to sea level as well as parameters for 1000m crust middle test mining system have been calculated and analysed. Conclusion has been reached accordingly that the combined transporting equipment is a kind of ideal designing for deep-sea mining.In real condition, the transporting pipe is moved under the draft of mining vehicle and ship, meanwhile it is under the action of the complex coupling loads that include gravity and buoyancy of the transporting pipe, the resistance caused by ocean current and pipe moving, and the force of the inner fluid exerted on the pipe. Based on gravity wave theory, the experience calculating formula of ocean current, hydrodynamics and Morsion resistance equation, the theory to analysis the moving and complex coupling loads of the transporting pipe is established. According to the established theory, the movement and the coupling loads of the system have been analysed.Based on D'Alembert principle and Newton-Raphson method, the geometric nonlinear finite element theory has been established to analysis the transporting pipe. According to the large deformation features of the transporting pipe, the tangent stiffness matrix of the pipe element and the stiffness matrix of the transporting pipe have been deduced. The geometric nonlinear static analysis for the transporting system of 1000m crust middle test mining system have been done under the hypothesis that the mining vehicle and ship moving in different modes and the transporting pipe under coupling action of different loads. The research covers the following parameters: the moving speed and mode of the mining vehicle and ship, the mining range of the mining vehicle, the forces on the two ends of the transporting pipe, the shape of the transporting pipe, how large the buoyancy of the buoy should be and how the buoyancy distributes along the transporting pipe etc.Starting with the configuration analysis of the transporting pipe, theoretic research has been done on the transporting pipe . The geometric nonlinear static analysis has been done for the 5000-meter-deep mineral transporting system under the hypothesis that the mining vehicle and ship moving in different modes and the transporting pipe under coupling action of different loads. The research covers the following parameters: the moving speed and mode of the mining vehicle
and ship, the mining range of the mining vehicle, the forces on the two ends of the transporting pipe, the shape of the transporting pipe, how large the buoyancy of the buoy should be and how the buoyancy distributes along the transporting pipe etc.Based on D'Alembert principle, the dynamics analysis theory of mining transporting system has been established. Through modal analysis, the vibration features (natural frequencies) of the transporting system of 1000m middle test crust mining system and the 5000-meter-deep mineral transporting system have been determined. The harmonic response force of the transporting pipe ends has been analysed when the mineral transporting system of 1000m crust middle test mining system and the 5000-meter-deep mining system are under ocean wave force or the up end of the transporting pipe follows the ocean wave movingBased on model theory, the model equipment for the mineral transporting system has been made and through which the analysis on 5000-meter-deep mining transporting system has been done. The model experiment mechanics analysis theory of the transporting pipe has been established, and a model pipe has been selected for analysis. Experimental analysis has been made on the end forces and the shape of transporting pipe. The comparative analysis on experiments and calculating has proved that the application of finite element analysis in the mineral transporting systems is correct and believable.Through the application of advanced theories and calculating methods as well as experiments, this paper made research on the mineral transporting system for lifting minerals from 5000-meter-deep sea floor to sea level through flexible transporting pipe. The research provides an advanced technological prototype for deep-sea mining mineral transporting system and the 1000m crust middle test mining system.
引文
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