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To address the problems of high costs and significant risks associated with at-sea tests of a full-scale deep-sea tracked mining vehicle, as well as the difficulty of existing simulation platforms in balancing physical fidelity and computational real-time performance, a co-simulation platform was developed and validated based on Project Chrono and ROS 2. With Chrono as the physics solving core and ROS 2 as the communication framework, the platform integrates a soil contact model and the Morison hydrodynamic model. Validation results demonstrate that the error of the simulated initial sinkage relative to the theoretical value is 2.4%, and the tractive force-slip ratio curve yields a coefficient of determination (R²) of 0.98 when fitted with theoretical values. Under the optimal engineering mesh resolution, the Real-Time Factor（RTF）stabilizes between 1.2 and 1.5, meeting the requirements of hardware-in-the-loop testing. This platform is available foe secondary development and also boasts higher computational efficiency, making it superior to the mainstream commercial softwares such as Adams and RecurDyn. Featuring both engineering-level physical fidelity and open-source extensibility, this platform provides a reliable virtual testing environment for the iteration of control algorithms and prior dynamic analysis of deep-sea mining equipment.

, authors=Junlin LIU¹, Saifeng PENG^{1, 2}, Hao ZHENG^{1, 2}, authorsList=Junlin LIU, Saifeng PENG, Hao ZHENG, authorCompany=null, correspAuthors=null, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1314908074754797931, articleId=1314908074163401065, tenantId=1146029695717560320, journalId=1235980550691926019, language=CN, title=深海采矿车动力学仿真平台的构建与验证, columnId=1314908041376523179, journalTitle=矿冶工程杂志, columnName=深海矿产资源开发关键技术突破与产业链协同发展专题, runingTitle=null, highlight=null, articleAbstract=

针对深海履带式采矿车全尺寸海试成本高、风险大，且现有仿真平台难以兼顾物理保真度与计算实时性的问题，开发并校验了基于Project Chrono与ROS 2的联合仿真平台。平台以Chrono为物理解算核心、ROS 2为通信框架，集成土壤接触模型与莫里森水动力模型。验证结果表明，初始沉陷量的仿真值相对理论值的误差为2.4%，牵引力-滑移率曲线与理论值拟合决定系数R²=0.98；工程最佳网格分辨率下实时因子稳定在1.2~1.5，可满足硬件在环测试需求。相较于Adams、RecurDyn等主流商用软件，本平台支持二次开发的同时具备更高的计算效率。该平台兼具工程级物理保真度与开源可扩展性，为深海采矿装备的控制算法迭代与动力学先验分析提供了可靠的虚拟测试环境。

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刘俊麟（2001—），男，湖北武汉人，硕士研究生，主要研究方向为深海采矿车跟踪控制。E-mail: ljlyr19991125@163.com

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刘俊麟（2001—），男，湖北武汉人，硕士研究生，主要研究方向为深海采矿车跟踪控制。E-mail: ljlyr19991125@163.com

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