Deep-sea mining vehicles (DSMVs) are highly prone to sinking and slippage when traveling on extremely soft seafloor sediments. In addition, DSMVs can be vulnerable to dangerous situations such as overturning due to the non-homogeneous characteristic of the seafloor sediments, the heavy loads carried by DSMVs, and the complex and varied topography of the seafloor. When the terrain is uneven, four-tracked DSMVs can show excellent traveling abilities and safety performances compared with conventional dual-tracked vehicles, thus having a broad range of applications. Consequently, modeling and simulation of a four-tracked DSMV are essential for the study of DSMV traveling performance. To enhance adaptability to uneven terrain, the tracks are designed to be rotatable. First, a multi-body dynamics model is built in the Recurdyn software based on the actual structural properties of a specially designed four-tracked DSMV prototype. Then, the model’s forces are modified to reflect the actual circumstances of seafloor travel. Applying a more accurate shear model, a user subroutine is written to modify the track–soil force. Moreover, internal resistance and water resistance are considered and applied to the model in the form of external loads. Then, based on the multi-pass effect, the track–soil force to the rear track is modified. Moreover, considering the relationship between soil forces and velocity, a velocity coefficient is summarized and added to the resistance estimation equation. Consequently, a more realistic dynamic model of the mining vehicle has been developed. On this basis, simulations of straight-line travel on flat ground are performed. In addition, to investigate the effects of rotatable tracks, a straight-line travel simulation with tracks fixed is also performed. By analyzing the simulation results, the motion features and dynamic characteristics of a four-tracked DSMV with rotatable tracks when traveling in a straight line on flat ground can be studied.

The seafloor soil is characterized by high water content, strong compressibility, and low shear strength. Deep-sea mining vehicles (DSMV) are prone to sinking when walking on the surface of the soil, which will cause significant reduction in traction performance. Therefore, it is necessary to study the sinkage performance. The track is usually considered the travelling mechanism of the DSMV, and the track plate is an important part of the movement system. The study of the interaction between the track plate and the soil is of great significance to the study of the DSMV’s sinkage performance. In this study, firstly, based on the in situ seafloor soil samples of 1000 m in a region of the South China Sea collected by a box sampler, the physical and mechanical parameters of soil were measured by indoor geotechnical instruments. Secondly, an elastoplastic soil numerical model similar to that of in situ soil was established. Based on coupled Eulerian-Lagrangian (CEL) method, a numerical model of the interaction between the track plate and soil was established. Considering the dynamic process, the structure of the track plate and the physical and mechanical properties of the soil, the numerical simulation were carried out under different conditions, such as different dynamic loading, the plate structural parameters and the soil physical and mechanical properties. It is found that the plate-sinkage curve were significantly influenced by these factors. The findings are as follows, firstly, with the increase in the pressure loading rate, the soil sinkage decreasing at the same pressure. On the other hand, with the increase in velocity, soil flow was accelerated, and the nonlinear relationship between resistance and velocity became more obvious; the L/B ratio of different track plates affects the variation law of the curve, and the maximum sinkage gradually decreases as the ratio of L/B increases; with the increase in the grouser height, the maximum sinkage gradually decreases, and the pressure-sinkage curve changes obviously with the grouser type; and different soil physical and mechanical properties affect the variation of pressure-sinkage curve. Innovatively, the heterogeneous soil stress distribution mode was obtained through the fitting function and Python secondary development. This study can provide a reference for studying the sinkage performance of the DSMV.

The discharge of sediment plumes, which occurs mainly in the two depth zones, has a critical impact on assessing the deep-sea environment. Therefore, it is necessary to establish the corresponding physical oceanography for the evolution of these sediment plumes. For a more accurate evolution estimation of the plumes, the model in this research is concerned with the dynamic interaction between the deep-sea mining vehicle (DSMV) and the sediment plumes on small scales (t ≤ 2 s), contributing to a focus on the vital physical mechanics of controlling the extent of these plumes. The sediment concentration and particle trajectories of the plume emissions were determined using the Lagrangian discrete phase model (DPM). The results show that (1) the wake structure of the DSMV wraps the plume vortex discharged from the rear of the vehicle and inhibits the lateral diffusion of the plume, (2) the length of the entire wake (Lw) increases exponentially as the relative discharge velocity of the plume (U*) increases, where U* is defined as the dimensionless difference between the traveling velocity of the DSMV and the discharge velocity of the plume, and (3) at the same traveling speed of the DSMV and U* less than 0.75, the dispersion of the sediment particles in the early discharge stage of the plume does not vary with the plume discharge rate. This will be beneficial for the more accurate monitoring of ecological changes in deep-sea mining activities and provide theoretical guidance for the green design of DSMVs.

The vortex-induced vibration (VIV) dynamics of commercial-scale deep-sea mining risers with complex component arrangements (pumps, buffer stations, buoyancy modules) remain insufficiently explored, especially for 6000 m systems with nonlinear tension. This study investigates VIV control strategy by adjusting tension for a nonlinear riser system using the Iwan-Blevins wake oscillator model integrated with Morison equation-based analysis. An analytical model incorporating four typical current profiles was established to quantify the dynamic response under different flow velocities, internal flow density, and structural parameters. Increased buffer station mass effectively suppressed drift distance (over 35% reduction under specific conditions) by regulating axial tension. Dynamic comparisons demonstrated distinct VIV energy distribution patterns under different current conditions. Spectral analysis revealed that the vibration follows Strouhal vortex shedding lock-in principles. Spatial modal differentiation was observed due to nonlinear variations in velocity profiles, pipe diameters, and axial tension, accompanied by multi-frequency resonance, coexistence of standing and traveling waves, and broadband resonance with amplitude surges under critical velocities (1.75 m/s in Current-B). This study proposes to control the VIV amplitude by adjusting internal flow density and buffer mass, which is proved effective for reducing vibrations in upper (0–2000 m) risers. It validates vibration amplitude and frequency control through current velocity, buffer mass and slurry density regulation in a nonlinear riser system.

The seabed soil of the polymetallic nodule mining area is relatively thin, soft, and fluid, which will produce large deformation under external disturbance. Its undrained shear strength is related to strain-rate and strain-softening effect. It is an important engineering safety problem for the deep-sea mining vehicle (DSMV) to travel in the soft seabed, and its sinkage is a vital index affecting the traction performance. It is necessary to study the sinkage performance of the DSMV under the characteristics of large soil deformation, but there are only few existing studies. This study established a numerical model of seabed soft soil with Tresca constitutive considering strain-rate and strain-softening effects. First, a numerical simulation study was carried out on the interaction between the DSMV track plate and the seabed soil, and the influence of track plate structures on the pressure–sinkage characteristic was obtained. Then, a simplified three-dimensional model of the “PIONEER-I” DSMV was established. Under the condition of wet weight and initial vertical velocity, the influence of different initial bottoming velocities, weight, and soil parameters on the sinkage of the DSMV was obtained. An empirical prediction model of the DSMV sinkage was established based on the energy method and numerical calculation results.