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The conception of the cable metro use as the passenger transport system is considered. The investment prospects of the cable metro versus other modes of the public transport are proved. The multiengined drive with the mechatronic motion modules that opens up new vistas for the development of the passenger cable transport in the urbanized environment is described.

Introduction. The study results of the passenger ropeways (PRW) applicability in the highly urbanized environment are presented. Issues on the development of mathematical models for designing and simulating work processes of the advanced “Rope Metro” transport system are considered. The proposed transport system differs significantly from the customary PRW. For its successful design, a mathematical model for estimating the operational loading of the key components is developed. Likewise, a mathematical submodel of the passenger cabin of the cable car which will be then integrated into the composite mathematical model of the system is offered by the authors. The work objective is to study the passenger cabin oscillations during its movement along the section of the transport system.Materials and Methods. A new mathematical model describing the oscillations of the passenger cabin and its suspension members is proposed. This model should be integrated into the composite mathematical model of the transport system using part of its output capacity. Numerical simulation of the cabin movement is carried out. The derived equations represent a mathematical model for studying the dynamics of the pendular oscillations of the passenger cabin of the advanced “Rope Metro” transport system. In the paper, the integration of the equations is carried out by the Runge-Kutta method in the program package of the in-home design.Research Results. New mathematical models and software for the numerical simulation are developed. The damping devices’ effect on the maximum oscillation amplitude of the passenger cabin is shown.Discussion and Conclusions. The results obtained can be used under designing and modeling work processes, and optimizing the transport system components. It is proved that the damping device reduces the amplitude of the oscillations which stabilize at lower values (0.3-0.5 degrees) after the transient process end. In the future, it is required to integrate the developed mathematical model into a composite model of the system under investigation to refine the conclusions reached.

In article was formulated and solved the problem of conditional nonlinear technical and economic optimization of the distance between intermediate supports, uniform in height, during the design of the cable metro lines in highly urban-ized city environment. The optimization problem involves a single-criterion objective function that expresses the cost of construction of the cable metro line (total cost of intermediate supports and their foundations, traction and carrying steel cables and technical equipment). The specified objective function subject to minimization by finding the optimal combination of the distance between intermediate supports and tension carrying ropes with accounting constructive, modal, structural and planning constraints in the form of nonlinear inequalities. The optimization algorithm was based on the direct method of optimization type, Hooke-Jeeves, which was modified taking into account the need of varying the height of intermediate supports with a constant step equal to the step of unification. When constructing the objective function were considered three possible forms sagging of carrying ropes, which can be implemented for various values of the efforts of their tension. Analysis was done of the influence of the step unification and minimum size of interme-diate supports on their optimum step, the cost of intermediate supports, the cost of 1 km cable metro line for different values of the angle of the longitudinal slope of the surface relief along the cable metro line. The graph of height of uni-fied supports from the angle of the longitudinal slope of the surface relief has discrete-step type. With the increase of the step unify the discreteness increases: the width of the range of angles of the longitudinal slope of the surface relief within which the height of the supports remains constant, increases. The graph of step installation of unified supports along the cable metro line from the angle of the longitudinal slope of the surface relief also has discrete-step type. The transition to a larger height unified intermediate supports determines the need for installation of supports with a large pitch. Its value then begins to decrease monotonically with further increase of the angle of the longitudinal slope of the surface relief until it needs to transition to the new size of supports. Synchronous change in the optimal values of the height and step of the installation of intermediate supports, depending on the angle of the longitudinal slope of the sur-face relief leads to the fact that the optimal cost characteristics of the cable metro lines are smooth functions. It has an extreme character with a minimum at angles of inclination of the surface elevation ~5 degrees, which is associated with the form of sagging of the load-bearing ropes. Unification of intermediate supports has little effect on the optimal cost characteristics of the cable metro lines. Even for a sufficiently large step of the unification the largest difference in op-timal value is almost insignificant: it lies in the range of 2...3%, increasing with increasing the angle of the longitudinal slope of the surface relief and unit cost of the intermediate support. Unification of intermediate supports according to the height and their step practically does not affect the optimal value for horizontal tension on the load-bearing ropes. It determined mainly by the angle of the longitudinal slope of the surface relief. Deviation of horizontal tension on the load-bearing ropes for the nonstandard supports and the unified supports within the range of angles of inclination of the terrain surface 0...60 degrees is not more than 0.5 to 0.8 %.

In article was formulated and solved the problem of conditional nonlinear optimization of the distance between inter-mediate supports during the design of the cable metro lines in highly urbanized environment, taking into account not the horizontal surface of the terrain. The optimization problem involves a single-criterion objective function that expresses the cost of construction of the cable metro line (total cost of intermediate supports and their foundations, traction and carrying steel cables and technical equipment). The specified objective function subject to minimization by finding the optimal combination of the distance between intermediate supports and tension carrying ropes with accounting con-structive, modal, structural and planning constraints in the form of nonlinear inequalities. When constructing the objec-tive function were considered three possible forms sagging of carrying ropes, which can be implemented for various values of the efforts of their tension. Analysis was done of the influence of the angle of the longitudinal slope of the surface relief along the line of the cable metro on the value of the optimal distance between intermediate supports de-pending on the design and cost of intermediate supports and at the cost of 1 km line of the cable metro. Quantitative calculations showed that with the increase of the longitudinal slope of the surface construction cost also increases with nonlinear increasing rate. The dependence of the cost of 1 km of line underground cable metro from the parameters of the relief is of extreme character with a pronounced minimum at small angles of inclination of the terrain surface about 3...60 degrees. The position of the minimum is quite stable and only slightly changes when enough significant change in the cost of intermediate supports and installed on them technological equipment. The most effective conditions for the construction of the cable metro is the terrain with considerable differences in altitude along the length of the route of transport: only if the surface inclination of more than 50...60 degrees cost of 1 km line starts to exceed the cost of 1 km line laid along a strictly horizontal surface. At small angles of inclination of the surface (less than 6...8 degrees) to min-imize the cost of construction of the cable metro line requires more frequent installation of intermediate supports. How-ever, despite the possibility of building a lower and cheaper supports, the observed increased values of the cost of 1 km of optimum option of the line. At large angles of inclination of the surface a need for a more rare setup higher interme-diate supports. Within the tilt angle 10...60 degrees the range of variation of the optimal step is small enough, amount-ing to no more than ±10 % from the value of the step at an angle of inclination of the surface 10 degree. In the range of small angles of inclination of the terrain surface (3...6 degrees) observed abrupt changes in the basic technical and eco-nomic characteristics of the cable metro lines. This is due to the change of the forms sagging of load-bearing ropes. The increase in the number of supporting ropes has a very small economic effect (within 4 %). It does not change the opti-mal characteristics of such line, as a step of the installation and the height of intermediate supports, shape and sagging boom carrying ropes. However, the significantly reduced diameter of the supporting rope and the horizontal force ten-sion. The increase in aggregate strength of carrying ropes provides a directly proportional increase in the optimal step installation of intermediate supports and leads to a marked decrease in the cost of construction of the cable metro lines. At the height of intermediate supports and the horizontal force of the tension carrying ropes of their aggregate strength influence practically does not, however, leads to a significant reduction in the required diameter of the supporting ropes. It also has a positive effect on reducing the cost characteristics of the construction cable metro line. The capacity of the line cable metro has a significant impact on the optimal values of some of its basic technical and economic characteris-tics, in particular, the cost of 1 km line, the step to install intermediate supports, tension and diameter of the supporting ropes. Its increase is possible by increasing the allowed speed passenger cabins and (or) their capacity and quantity. In all these cases, increasing capacity causes the increase in the cost of 1 km of line and the reduction step of the installa-tion of intermediate supports. The degree of influence these areas of increasing capacity is not the same, which suggests the presence for the given value of the theoretical capacity of an optimal combination of speed, capacity and number of passenger cabins, which will be achieved the greatest technical and economic effect during the construction of the cable metro line.

In relation to the current situation in the field of public transport in the Bryansk city was shown the main problems in the implementation of innovative technology for the aerial passenger transport on the basis of suspended passenger ropeways (Cable metro). Shows the advantages of the cable metro-based mechatronic technology transportation compared to the traditional suspended passenger ropeways. Was made the technical and economic feasibility analysis of the construction of the cable metro in conditions of a highly urbanized urban environment of large cities, metropolises and urban agglomerations. Presented the statistical data on the development of vehicles in the Bryansk city in the period 2004-2016 years and based on the analysis of these data shows the feasibility of the development of aerial passenger transport as the most high-speed and environmentally friendly mode of transport compared with automobile and electric transport. Considered the possible sources of financing of design and construction works and shows the commercial attractiveness of the project to potential investors in the framework of public-private partnerships. For existing urban development and major transport flows of the Bryansk city was formulated proposals for the location of future transport cable metro lines, order their gaskets, the formation routes of movement of the rolling stock. Made the estimation of labor and financial costs for the implementation of the project of modernization of the public transport system of the city of Bryansk on the basis of the suspended passenger ropeways. The proposed option has the following characteristics: the number of transport lines - 6, total length - 54.8 km, total number of passenger boarding stations - 26, hub passenger stations – 6, the total number of intermediate supports – 100...110 pieces with a span between supports of 400...600 m. the cost of construction of transport lines and the purchase of necessary passenger and processing equipment will be according to rough estimates of 10.6 billion RUB, cost of building passenger stations – 1.9 billion RUB.

The conception of the cable metro use as the passenger transport system is considered. The investment prospects of the cable metro versus other modes of the public transport are proved. The multiengined drive with the mechatronic motion modules that opens up new vistas for the development of the passenger cable transport in the urbanized environment is described.