公开(公告)号：US11739637B2

公开(公告)日：2023-08-29

申请号：US17781812

申请日：2021-04-16

Applicant: SHANDONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Linjing Xiao ,  Yu Wang ,  Yulong Zhang ,  Yanxin Li ,  Qinghui Song ,  Qiang Liu

IPC: E21C50/02 ,  B63B21/56 ,  B63B21/66

CPC classification number: E21C50/02 ,  B63B21/56 ,  B63B21/66

Abstract: A self-propelled towing simulator for a hydraulic lift system carries a gyro pose control system and a six-degree-of-freedom (DOF) platform to control the overall pose of the simulator, so that the simulator simulates six-DOF motion states including swaying, surging, yawing, rolling, pitching and heaving generated by a mining vessel under the combined action of waves and flows and required by the experimental working conditions; interventions in the pose of the simulator may be positive or negative, so that the simulator may be applied to the uncontrollable natural water bodies so as to approximate to the working conditions of the experimental requirements. The simulator may carry out experiments in open natural water bodies by use of its own autonomous sailing capability under remote wireless control and may acquire parameters such as dynamic characteristics and spatial configuration and the like of a deep-sea mining hydraulic lift subsystem in real time.