The subsidence by mining car traveling on deep-sea soft bottom based on Burger's creep model
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摘要:
在陆地矿产资源日渐枯竭的今天，深海矿产资源已成为全球各个国家争相开采与利用的焦点，深海采矿车是实现深海矿产资源开采的重要装备。海底稀软底质是一种承载力与抗剪强度极低的特殊底质，在采矿作业中，深海稀软底质的物理力学特性直接影响采矿车行走的稳定性。文章选取Burger’s接触模型作为深海稀软底质的本构模型，对某海域海底稀软原状土开展室内三轴试验，通过PFC3D颗粒流数值模拟实验对比实际三轴试验，对稀软底质的Burger’s蠕变模型进行参数标定，同时依据标定结果改变相应参数，针对5种不同底质条件的工况，建立海底采矿车的数字仿真模型，模拟各工况下采矿车在不同行驶速度时的下陷深度。结果显示，下陷深度会随行驶速度呈非线性变化，在一定范围内随着行驶速度的增大而减少并逐渐趋于稳定。同时结果还表明，该区域海底稀软底质具有更高的黏粒含量（38.1%～48.4%）、含水率（ 88.13%～137.79%）和压缩性（压缩系数：1.86～3.73 MPa−1，压缩模量：1.26 ～2.13 MPa），具有更低的密度（1.3 ～1.5 g/cm3）和强度特性（贯入阻力：0.19 ～1.32 N，黏聚力：3.7～6.9 kPa，内摩擦角：2.4°～3.9°），即承载力较低，蠕变性能较强。本研究在宏观上做了一般的探讨，为类似参数的稀软底质下海底采矿车的运行安全控制提供了较好借鉴与依据。
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关键词:
- 海底采矿车 /
- 海底稀软底质 /
- Burger’s蠕变模型 /
- PFC3D颗粒流
Abstract:With the depletion of terrestrial mineral resources, the deep-sea mineral resources have become the focus of exploitation and utilization in all countries of the world. A deep-sea mining car is an important equipment for deep-sea mineral resources mining, and a soft marine sediment is a special substrate with very low bearing capacity and shear strength. In mining operations, the physical and mechanical properties of soft marine sediment directly affect the stability of mining vehicles. The Burger's contact model was selected as the constitutive model of deep-sea soft sediment, and a laboratory triaxial test was carried out on seafloor soft undisturbed soil in a certain area. By comparing the actual triaxial test with PFC3D particle flow numerical simulation experiment, parameters of the Burger's creep model of soft sediment were calibrated. Meanwhile, the corresponding parameters were modified according to the calibration results, the digital simulation model of the seabed mining vehicle was established under five working conditions with different soil beds, and the subsidence depth of the mining car under different driving speeds under each working condition was simulated. The results show that the subsidence depth changes nonlinearly with the driving speed, and the subsidence depth decreases with the increasing of the speed in a certain range and gradually tends to be stable. In addition, the soft sediment in the creep area features higher clay content (38.1%～48.4%), water content (88.13%～137.79%), and compressibility (compression coefficient: 1.86～3.73 MPa−1, compression modulus: 1.26～2.13 MPa), and lower density (1.3～1.5 g/cm3) and strength (penetration resistance: 0.19～1.32 N, cohesion: 3.7～6.9 kPa, internal friction angle: 2.4°～3.9°), indicating that the bearing capacity is low and the creep performance is strong. This study provided a reference on a macro level and a theoretical basis for safe operation of seabed mining vehicle on soft bottom with similar parameters.
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图 3 不同围压条件下的应力-应变曲线
Figure 3. Stress-strain curves under different confining pressures
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图 5 室内试验与数值模拟对比结果
Figure 5. Results of comparison between laboratory test and numerical simulation
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图 11 各工况下不同车速下的下陷曲线
a:工况1, b: 工况2, c: 工况3, e: 工况4, d: 工况5。
Figure 11. Subsidence curves at different vehicle speeds
a: Condition 1, b: Condition 2, c: Condition 3, d: Condition 4, e: Condition 5.
表 1 Burger’s蠕变模型参数
Table 1 The parameters of Burger’s creep model
作用方向 Maxwell体 Kelvin体 滑动摩擦系数
f弹性系数Em/MPa 黏性系数ηm/(MP·s) 弹性系数Ek/MPa 黏性系数ηk/(MP·s) 法向 bur_knm bur_cnm bur_knk bur_cnk bur_fric 切向 bur_ksm bur_csm bur_ksk bur_csk 
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表 2 Burger’s蠕变模型参数对瞬时强度特性的影响
Table 2 The effect of Burger’s creep model parameters on instantaneous strength characteristics
瞬时强度特性 Maxwell体 Kelvin体 滑动摩擦系数f 弹性系数Em 黏性系数ηm 弹性系数Ek 黏性系数ηk 弹性模量 正相关 不相关 不相关 不相关 正相关 泊松比 正相关 不相关 不相关 不相关 负相关 单轴抗压强度 正相关 不相关 不相关 不相关 正相关
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表 3 Burger’s蠕变模型参数对蠕变特性的影响
Table 3 The effect of Burger’s creep model parameters on creep characteristics
瞬时强度特性 Maxwell体 Kelvin体 滑动摩擦
系数f弹性系数
Em黏性系数
ηm弹性系数
Ek黏性系数
ηk瞬时应变量 负相关 不相关 不相关 不相关 负相关 起始应变量 不相关 不相关 不相关 不相关 不相关 起始应变率 不相关 负相关 不相关 负相关 不相关 稳定应变量 负相关 负相关 负相关 不相关 不相关 稳定应变率 不相关 不相关 不相关 不相关 不相关 瞬时恢复量 负相关 不相关 不相关 不相关 不相关 弹性后效回复率 不相关 不相关 负相关 负相关 不相关 残余应变量 不相关 负相关 不相关 不相关 不相关
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表 4 研究海域海底底质物理力学性质范围
Table 4 Physical and mechanical properties of seabed sediments in the study area
物理性质 结果范围 力学性质 结果范围 天然含水率/％ 88.13～137.79 粘聚力
/kPa3.7～6.9 天然密度/（g/cm3） 1.3～1.5 内摩擦角
/（°）2.4～3.9 孔隙比 2.46～3.85 压缩系数/MPa−1 1.86～3.73 液性指数 0.96～1.97 压缩模量/MPa 1.26～2.13 塑性指数 37.2～57.8 贯入阻力
/N0.19～1.32
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表 5 三轴试验方案
Table 5 Triaxial test scheme
试验次数 试样尺寸
（直径/mm×高度/mm）剪切类型 围压
/kPa加载速率
/
（mm/min）1 38×76 固结排水 100 0.008 2 38×76 固结排水 150 0.008 3 38×76 固结排水 200 0.008
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表 6 模型微观力学参数
Table 6 Micromechanical parameters of the model
参数类型 Maxwell体 Kelvin体 滑动摩擦
系数
f弹性系数
Em/MPa黏性系数
ηm/(MP·s)弹性系数
Ek/MPa黏性系数
ηk/MP·s参数取值 0.2 10 1.5 0.03 0.1
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表 7 不同工况下的模型微观力学参数
Table 7 The micromechanical parameters of the model under different working conditions
工况 Maxwell体 Kelvin体 滑动摩擦
系数f弹性系数
Em/MPa黏性系数
ηm/(MP·s)弹性系数
Ek/MPa黏性系数
ηk/(MP·s)1 0.2 10 1.5 0.03 0.1 2 0.1 10 1.5 0.03 0.1 3 0.3 10 1.5 0.03 0.1 4 0.2 5 1.5 0.03 0.1 5 0.2 15 1.5 0.03 0.1
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表 8 不同工况下采矿车各行驶速度的下陷数据
Table 8 Subsidence data of a mining car at different driving speeds under different working conditions
参数 工况 行驶速度 0 0.5/(m/s) 1.0/(m/s) 1.5/(m/s) 2.0/(m/s) 稳定
时间
/s1 9.5 7.4 6.8 5.8 3.5 2 9.6 7.8 6.5 6.1 3.8 3 9.5 8.0 6.3 5.6 3.2 4 9.7 8.9 7.9 7.0 6.3 5 8.2 6.3 5.6 4.9 2.6 稳定
下陷量/m1 0.331 0.183 0.162 0.132 0.114 2 0.372 0.226 0.184 0.165 0.130 3 0.281 0.163 0.137 0.116 0.091 4 0.335 0.186 0.163 0.130 0.115 5 0.331 0.179 0.159 0.129 0.109
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