山地单轨电动遥控运输机设计与试验

针对汽油机为动力的单轨运输机及时停止控制和执行结构复杂，需要额外增加电控系统的问题，结合直流电机作为驱动力易于控制、结构紧凑、无污染的特点，设计一种适合在山地运行的单轨电动遥控运输机。通过对运输机和拖车组成的运输整机进行最大爬坡角度的受力分析，获得满足运输机爬坡需要的最小牵引力；设计和制作运输机驱动机构、传动装置等关键部件，并对直流无刷电动机、蓄电池、限速和失电制动电机等进行选型，设计制作以蓄电池为动力、无刷直流电动机驱动的山地单轨电动遥控运输机。所设计制作的运输机可以搭载250 kg负载，设计额定行驶速度为0.6 m/s，使用时根据实际运行需要，速度可在0~0.6 m/s之间调节，设计制作的运输机技术指标达到了设计要求。在运输机自身功率消耗条件下：水平和下坡运行时，速度对整机功率消耗影响较大，装载质量对功率消耗影响很小；上坡运行时，速度和装载质量对整机功率消耗影响都较大。根据不同工况对电机进行调速，可实现高效运行的同时解决满载大角度爬坡时蓄电池输出电流过大的问题。

Design and test of mountain monorail electric remote control transporter

In order to solve the problem that gasoline engine powered monorail transport needs to add an additional electronic control system due to its complex structure of timely stop control and execution, a monorail electric remote control transport suitable for mountain operation is designed based on the characteristics of easy control, compact structure and no pollution of DC motor as driving force. Through the force analysis of the maximum climbing angle of the whole transport machine composed of transport aircraft and trailer, the minimum traction force to meet the needs of transport aircraft climbing is obtained. The driving mechanism, transmission device and other key components of the transport machine are designed and manufactured. The brushless DC motor, storage battery, speed limiting and power loss braking motor are selected. The mountain monorail electric remote control transport machine driven by brushless DC motor and battery is designed and manufactured. The designed transporter can carry 250 kg load, and the designed rated speed is 06 m/s. The speed can be adjusted between 0 and 0.6 m/s according to the actual operation needs. The technical indexes of the designed transporter meet the design requirements. Under the condition of the transporters own power consumption: when running horizontally and downhill, the speed has a great impact on the power consumption of the whole machine, and the loading quality has little impact on the power consumption. When running uphill, the speed and loading quality have a great impact on the power consumption of the whole machine. Adjusting the speed of the motor according to different working conditions can realize efficient operation and solve the problem of excessive battery output current when climbing with full load and large angle.