Colloquia

Samenvatting

To collect polymetallic nodules at extreme water depths and very soft soil conditions, Allseas developed a collector which drives over the sea bed on tracks. This research focuses on the dynamical model of this tracked collector. The aim is to investigate the oscillatory or walking behaviour observed during a pilot test. This oscillatory behaviour is expressed as a periodic deviation in heading and significant variations in input torque between the tracks. A comprehensive literature review has been conducted on the interaction between the collector and its environment, forming the basis for developing relevant 1D and 2D dynamic models. To validate the model, data from the pilot test is used to compare the model to the measurements. This comparison is used to optimise model parameters and obtain a closer alignment between the model output and the measurements. Finally, a control algorithm is implemented in an attempt to replicate the oscillatory behaviour. The results are subsequently analysed to inform recommendations for refining control strategies and enhancing the dynamic model.