基于轮毂电机驱动的山地林果茶园轮式运输车设计与试验

针对南方丘陵山地林果茶园复杂的地形地貌特点，在集中式电机驱动运输车基础上，开发了以轮毂电机驱动的山地林果茶园运输车；该运输车以36 V铅酸蓄电池为能源，采用双后轮独立驱动方式并具备电子差速转向系统。运输车最大爬坡度、续驶里程试验、差速及制动性能等关键指标性能试验结果显示：运输车满载最大爬坡度为15°，最小转弯半径为2 395 mm，空载和满载状态下以常用车速 20 km/h 行驶时平均里程分别可达 66.97和46.33 km；满载时运输车分别以初速度25、20、15、10 km/h行驶时的紧急制动距离分别为5.83、4.11、2.68、1.57 m，试验值与理论值的最大相对误差为8.2%；运输车还具备良好的差速转向性能。

Design and test of a wheeled transporter driven by hub motor for hilly orchard and tea garden

In view of the complex topographic features of the southern hilly orchard and tea garden,a wheeled transporter driven by hub motor for hilly orchard and tea garden was designed on the basis of a centralized motor-driven transport vehicle. The transporter uses 36 V lead-acid batteries as its energy source,adopts dual rear-wheel independent drive and has an electronic differential steering system. The performance of key indicators of the transporter including the maximum gradeability,the driving range,the differential speed and the braking was investigated. The results showed that the maximum climbing degree of the transporter was 15° with full load. The minimum radius of turning was 2 395 mm. The average mileage of the transporter at the normal speed of 20 km/h under no-load and full-load conditions reached 66.97 km and 46.33 km. The emergent braking distance of the transporter at an initial speed of 25 km/h,20 km/h,15 km/h,and 10 km/h under full-load condition was 5.83 m,4.11 m,2.68 m,1.57 m. The maximum relative error between the experimental value and the theoretical value was 8.2%. The differential steering performance of transporter was good as well.