自行式模块运输车多车协同作业运输技术变革与发展

doi:10.3981/j.issn.2097-0781.2025.02.010

前瞻科技 ›› 2025, Vol. 4 ›› Issue (2): 130-143.DOI: 10.3981/j.issn.2097-0781.2025.02.010

自行式模块运输车多车协同作业运输技术变革与发展

贺宜¹(), 吴超仲¹, 余荣杰²^,³^,^†(), 王力波⁴, 黄晋⁵, 孙晓强⁶

1.武汉理工大学智能交通系统研究中心，武汉 430063
2.国家自然科学基金委员会工程与材料科学部，北京 100085
3.同济大学交通运输工程学院，上海 200092
4.湖北三江航天万山特种车辆有限公司，武汉 430035
5.清华大学车辆与运载学院，北京 100084
6.江苏大学汽车工程研究院，镇江 212013

收稿日期:2024-12-20 修回日期:2025-04-10 出版日期:2025-06-20 发布日期:2025-06-26
通讯作者: †
作者简介:贺宜，研究员，博士研究生导师。国家优秀青年科学基金获得者。主要从事重载车辆运行安全控制研究。电子信箱：heyi@whut.edu.cn。
余荣杰，同济大学交通学院教授，博士研究生导师。主要从事驾驶行为建模、道路交通安全风险预警与防控、自动驾驶汽车测评等研究。电子信箱：yurongjie@tongji.edu.cn。
基金资助:
国家自然科学基金(52322217)

Transformation and Development of Multi-vehicle Cooperative Operation and Transportation Technology Using Self-propelled Modular Transporters

HE Yi¹(), WU Chaozhong¹, YU Rongjie²^,³^,^†(), WANG Libo⁴, HUANG Jin⁵, SUN Xiaoqiang⁶

1. Intelligent Transportation System Research Center, Wuhan University of Technology, Wuhan 430063, China
2. Department of Engineering and Materials Science, National Natural Science Foundation of China, Beijing 100085, China
3. School of Transportation, Tongji University, Shanghai 200092, China
4. Hubei Sanjiang Space Wanshan Special Vehicle Co., Ltd., Wuhan 430035, China
5. School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China
6. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China

Received:2024-12-20 Revised:2025-04-10 Online:2025-06-20 Published:2025-06-26
Contact: †

摘要/Abstract

摘要：

千吨/万吨级场地极限运输能力体现了国家的综合科技和国防实力。自行式模块运输车（Self-propelled Modular Transporter, SPMT）多车协同作业运输技术是完成重大工程极限运输任务的重要手段。当前SPMT面临依赖人工作业、控制精度低、协同效率差等技术瓶颈，阻碍了重大工程作业运输效率及精度。文章基于国内外SPMT多车协同作业运输技术的发展历程及特点，总结了其发展现状、现存问题和技术挑战，并提出如下发展建议：通过有组织科研范式，打造新一代万吨级极限运输大国重器；攻克分布式电驱动运载技术，推动SPMT向绿色化智能化转型；构建虚实融合测试体系，突破集群控制理论和核心技术验证；加强科技创新顶层设计，打造政产学研用深度融合创新生态。

关键词: 重载车辆, 重载/超大件运输, 多车系统, 协同控制, 政策建议

Abstract:

The extreme transportation capacity of thousand-ton or ten-thousand-ton-level sites reflects a country’s comprehensive scientific, technological, and national defense strength. The multi-vehicle collaborative transportation technology of self-propelled modular transporters (SPMT) is a key tool for completing large-scale engineering extreme transportation tasks. Currently, SPMTs face technical bottlenecks such as reliance on manual operation, low control accuracy, and poor collaborative efficiency, which hinder the efficiency and precision of major engineering transportation projects. This paper summarizes the development history, characteristics, current status, existing problems, and technical challenges of multi-vehicle collaborative transportation technology for SPMTs, based on both domestic and international progress. It proposes the following development suggestions: ① Develop a new generation of ten-thousand-ton-level extreme transportation capabilities through organized scientific research paradigms, positioning it as a national heavy-duty transportation tool. ② Overcome the challenges of distributed electric drive transportation technology and promote the green and intelligent transformation of SPMTs. ③ Build a virtual-real integrated testing system to break through the theoretical and core technological verification of swarm control. ④ Strengthen the top-level design of technological innovation to create a deep integration ecosystem involving government, industry, academia, and applications.

Key words: heavy-duty vehicles, heavy/oversized cargo transportation, multi-vehicle systems, collaborative control, policy recommendations

贺宜, 吴超仲, 余荣杰, 王力波, 黄晋, 孙晓强. 自行式模块运输车多车协同作业运输技术变革与发展[J]. 前瞻科技, 2025, 4(2): 130-143.

HE Yi, WU Chaozhong, YU Rongjie, WANG Libo, HUANG Jin, SUN Xiaoqiang. Transformation and Development of Multi-vehicle Cooperative Operation and Transportation Technology Using Self-propelled Modular Transporters[J]. Science and Technology Foresight, 2025, 4(2): 130-143.

图/表 23

图1 化工罐体运输

Fig. 1 Transportation of chemical tanks

图2 核电支撑环运输

Fig. 2 Transportation of nuclear power support rings

图3 风机叶片运输

Fig. 3 Transportation of wind turbine blades

图4 2 500 t港珠澳大桥整浇梁运输

Fig. 4 Transportation of the 2 500 t monolithic beam for HZM bridge

图5 2 000 t风电升压站导管架运输

Fig. 5 Transportation of the 2 000 t wind power substation jacket

表1 不同发展阶段SPMT的技术参数对比

Table 1 Parameter comparison for SPMTs at different stages

发展阶段	单轴载重/t	载重峰值/t （运输公司）	控制模式	控制精度		两模块组合时长/min
发展阶段	单轴载重/t	载重峰值/t （运输公司）	控制模式	角度/（°）	距离/m	两模块组合时长/min
人工遥控驾驶	10~20	—	人工遥控	±30	±0.5	30~40
单车智能控制	20~40	15 000 （Demag）	电子液压控制	±5	±0.1	10~15
多车协同控制	40~80	23 000 （Scheuerle）	智能控制	±1	±0.05	2~5

图6 早期SPMT运载车辆

Fig. 6 Early SPMT carrier vehicle

图7 美国“奋进号”航天器运输

Fig. 7 Transportation of the US space shuttle “Endeavour”

图8 航母船艏运输

Fig. 8 Transportation of aircraft carrier’s bow

图9 石油钻井平台运输

Fig. 9 Transportation of oil drilling platform

图10 电驱动SPMT运输罐体

Fig. 10 Transportation of plant equipment using electric-drive SPMT

图11 电驱动SPMT运输机舱

Fig. 11 Transportation of nacelle using electric-drive SPMT

图13 有动力SPMT

Fig. 13 SPMT with power

图12 无动力平板拖车

Fig. 12 Flatbed trailer without power

图14 港珠澳大桥节段运输

Fig. 14 Transportation of HZM bridge section

图15 化工船运输

Fig. 15 Transportation of chemical tanker

图16 SPMT与轨道车协同完成12 000 t海底沉管运输

Fig. 16 Transportation of the 12 000 t undersea tunnel segment using SPMT and railcar

图17 三元桥整体换梁

Fig. 17 Transportation of Sanyuan Bridge

图18 古建筑整体搬迁

Fig. 18 Relocation of a dynasty ancient building

图19 长征十二号运载火箭运输

Fig. 19 Transportation of Long March 12 launch vehicle

表2 国内外SPMT性能参数对比

Table 2 Parameter comparison for SPMT from different countries

产品	WSZYZB3 湖北三江航天万山特种车辆有限公司	MSPE 70T 科梅托股份公司（Cometto S.p.A.）	PKEZ 舍尔勒车辆制造有限公司（Scheuerle Fahrzeugfabrik GmbH）	PST/SL-E 45 高尔多霍夫股份公司（Goldhofer Aktiengesellschaft）
最大轴载/t	60	70	60	45
最大重量/t	360	420	360	270
平台宽度/mm	2 430	2 430	2 430	3 000
平台高度/mm	1 500±350	1 500±350	1 500±350	1 300±300
满载速度/(km‧h^-1)	0~5	0~5	0~5	0~5
纵向爬坡能力（坡度）/%	6	6	6	6
横向爬坡能力（坡度）/%	4	4	4	4
单轴线驱动力/kN	160	160	160	120

图20 前后运输模块不同步造成事故

Fig. 20 Crash caused by asynchronization between front and rear vehicles

图21 车货重心不稳造成事故

Fig. 21 Crash caused by unstable center of gravity of vehicle and cargo

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自行式模块运输车多车协同作业运输技术变革与发展

Transformation and Development of Multi-vehicle Cooperative Operation and Transportation Technology Using Self-propelled Modular Transporters

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