Study of the maneuvers of the tillage unit in the function of time

Abstract

Tractors performing work on agricultural land and transport operations move in a straight or curved trajectory, the curvature of which is constantly changing. Drawing up the equations of curvilinear motion is one of the main tasks of modeling the rotation. Fundamentally different assumptions underlying the description of the force interaction of the wheel and caterpillar propulsion with the soil, led to the formation of different methodological approaches in the study of curvilinear motion of machines. Many scientists have tried to obtain mathematical equations of curvilinear motion by different methods: analytical, graph-analytical and graphical. What were the methods of approximation, exact mathematical models, but which are very difficult to apply in practice. The necessity of studying the trajectories of unsteady motion is substantiated in the article.

The equations for the trajectory of nonlinear motion of the tillage unit as a function of the angle of rotation of the body, as well as the equation of motion in a circle were obtained in the article. Using these equations, you can investigate any reversal and its components, each section.

Ensuring complete information on the exact location of the unit relative to the specified trajectory for the entire period of change is necessary for full automation of the control of the operation of machine-tractor units and machines without the help of a driver.

The results of the article can be used in the future to plan the reversals of the AIT, which should be made the most rational and economical, when performing agricultural work; to reduce unproductive power consumption and avoid damage to land in reversible areas, or to compile AIT automatic control software.