USE OF THE PROPOSED ALGORITHMS DURING THE SIMULATION OF MANEUVERS BY FIELD UNITS
Keywords:
maneuvers, performance, machine unit, speed, turn, trajectory, path, simulation, mathematical model, efficiency, precision farming system
Abstract
The productivity of field machine units largely depends on the working width of the grip, speed of movement, nominal power of the engine, the traction force of the vehicle, the ratio of working moves, as well as on the rational use of working time. Productivity is also determined by the working conditions, in particular the shape and size of the site, the depth of cultivation, the volume of technological capacities, the maneuverability of units, the qualification of the operator, etc. One of the productivity improvement reserves includes the kinematic parameter, the coefficient of working strokes φ, which shows the degree of utilization of the total path of the unit in the corral for useful work, and is an important characteristic of the chosen mode of movement, and is the ratio of the total working path of the unit in the corral to the entire distance traveled. The value of the coefficient depends on the size of the processing area (the length of the furrow), the kinematic indicators of the unit – the turning radius, the length of the exit, the width of the unit, the method and speed of movement during turns and entrances. The higher the coefficient φ, the shorter the idle distance of the unit and the higher its productivity. The purpose of the scientific research is the analysis based on the created mathematical model of the curvilinear movement of the center of gravity of the field unit with front steerable wheels, the proposed algorithm of using mathematical equations in parametric form for modeling the trajectories (maneuvers) of energy vehicles using the front axle based on the Microsoft Excel spreadsheet processor. In the analysis of literary sources, methods of theoretical analysis of ways to increase the productivity of machine-tractor units, systematization of parameters, and sequential analysis of characteristics were used. Attempts and ways to increase the productivity of field units have been investigated in many articles by world scientists. This leads to a reduction in the required width of the turning lane, an increase in the length of the furrows, an increase in the productivity of the unit, a significant decrease in the number of damaged plants on the sown turning lanes, and a decrease in the mechanical and technological properties of the soil. In the conclusions of the scientific study, the result of the rational use of the simulated trajectories of curvilinear movement of field units with front steered wheels during the performance of agricultural works with the help of introduced algorithms, which are simpler and suitable for use in practice, is presented.
References
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18. Limont A.S., Melnyk I.I., Malynovskyi A.S. ta in. Praktykum iz mashynovykorystannia v roslynnytstvi – [Workshop on machine use in crop production] : navch. posibnyk dlia studentiv VNZ. Kyiv : Kondor, 2009. 284 p. [in Ukrainian]
19. Lovarelli D., Bacenetti J. Bridging the gap between reliable data collection and the environmental impact for mechanised field operations. Biosystems Engineering. 2017. Vol. 160. P. 109–123. doi: 10.1016/j.biosystemseng.2017.06.002
20. Lovarelli D., Bacenetti J., Fiala M. Effect of local conditions and machinery characteristics on the environmental impacts of primary soil tillage. Journal of Cleaner Production. 2017. Vol. 140(2). P. 479–491. doi: 10.1016/j.jclepro.2016.02.011
21. Lovarelli D., Fiala M., Larsson G. Fuel consumption and exhaust emissions during on-field tractor activity: A possible improving strategy for the environmental load of agricultural mechanisation. Computers and Electronics in Agriculture. 2018. Vol. 151. P. 238–248. doi: 10.1016/j.compag.2018.06.018
22. Marchenko V.V. Mekhanizatsiia tekhnolohichnykh protsesiv u roslynnytstvi – [Mechanization of technological processes in crop production] : navchalnyi posibnyk. Kyiv : Kondor, 2007. 334 p. [in Ukrainian]
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28. Nadykto V.T. Enerhonasychenist traktoriv ta shliakhy yii realizatsii – [Energy saturation of tractors and ways of its implementation]. Tekhnika i tekhnolohii APK. 2011. Vol. 9. P. 8–11. [in Ukrainian]
29. Nadykto V.T., Kiurchev V.M., Aiubov A.M. ta in. Perspektyvy zrostannia produktyvnosti roboty mashynno-traktornoho ahrehatu – [Prospects for increasing the productivity of the machine-tractor unit]. Naukovyi visnyk Tavriiskoho derzhavnoho ahrotekhnolohichnoho universytetu. 2019. Vol. 8(2). [in Ukrainian]
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31. Perozzi A., Mattetti M., Molari G., Sereni E. Methodology to analyse farm tractor idling time. Biosystems Engineering. 2016. Vol. 148(2). P. 81–89. doi: 10.1016/j.biosystemseng.2016.05.007
32. Ruzhytskyi M.A., Riabets V.I., Kiiashko V.M. ta in. Ekspluatatsiia mashyn i obladnannia – [Operation of machines and equipment] : navchalnyi posibnyk. Ahrarna osvita, 2010. 617 p. [in Ukrainian]
33. Sabelhaus D., Röben F. Lars Peter Meyer zu Helligen, Peter Schulze Lammers, Using continuous-curvature paths to generate feasible headland turn manoeuvres. Biosystems Engineering. 2013 Vol. 116(4). P. 399–409. doi: 10.1016/j.biosystemseng.2013.08.012
34. Santosh K., Pitla J., Luck D., Werner J., Lin N., Scott A. Shearer, In-field fuel use and load states of agricultural field machinery. Computers and Electronics in Agriculture. 2016. Vol. 121. P. 290–300. doi: 10.1016/j.compag.2015.12.023
35. Senchuk M.M., Demeshchuk V.A. Osnovy mashynovykorystannia v roslynnytstvi – [Basics of machine use in crop production] : metodychni vkazivky dlia samostiinoi roboty ta laboratorno-praktychnykh zaniat za kredytno-modulnoiu systemoiu navchannia studentiv ahronomichnoho fakultetu. Bila Tserkva, 2010. 85 p. [in Ukrainian]
36. Seyyedhasani H., Dvorak S. Reducing field work time using fleet routing optimization. Biosystems Engineering. 2018. Vol. 169. P. 1–10. doi: 10.1016/j.biosystemseng.2018.01.006
37. Shuliak M., Mikulina M., Mudryi Ya., Pyrohov V. Vplyv vykorystannia bezpilotnykh litalnykh aparativ na pidvyshchennia efektyvnosti tekhnolohichnoho protsesu v roslynnytstvi – [The influence of the use of unmanned aerial vehicles on increasing the efficiency of the technological process in crop production]. Visnyk Natsionalnoho tekhnichnoho universytetu “KhPI”. Seriia “Avtomobile- ta traktorobuduvannia”. Kharkiv, 2023. Vol. 12023. P. 133. doi: 10.20998/2078-6840.2023.1.13
38. Syvolapov V., Kyslyi S., Marchenko V. Yak pidvyshchyty produktyvnist mashynnykh ahrehativ – [How to increase the productivity of machine units]. Tekhnika. 2016. Vol. 2(91). [in Ukrainian]
39. Van Linden V., Herman L. A fuel consumption model for off-road use of mobile machinery in agriculture. Energy. 2014. Vol. 77. P. 880–889. doi: 10.1016/j.energy.2014.09.074
2. Backman J., Piirainen P. Timo Oksanen, Smooth turning path generation for agricultural vehicles in headlands, Biosystems Engineering. 2015. Vol. 139. P. 76–86. doi: 10.1016/j.biosystemseng.2015.08.005
3. Barabash H.I., Tatsenko O.V., Bakai R.B. Ekspluatatsiia mashyn i obladnannia – [Operation of machines and equipment]. R. 2. Vykorystannia mashyn v mekhanizovanykh tekhnolohichnykh protsesakh : Praktykum shchodo vykonannia laboratornopraktychnykh robit dlia studentiv 4-ho kursu spetsialnosti 6.100102 “Protsesy, mashyny ta obladnannia ahropromyslovoho vyrobnytstva” dennoi ta zaochnoi formy navchannia / SNAU. Sumy, 2014. 135 p. [in Ukrainian]
4. Bendera I.M., Hrubyi V.P., Rozdorozhniuk P.I. ta in. Ekspluatatsiia mashyn i obladnannia – [Operation of machines and equipment]: navchalno-metodychnyi kompleks : navch. posibnyk dlia studentiv inzhenernykh spetsialnostei osv.-kvalif.rivnia “Bakalavr”. Kamianets-Podilskyi, 2013. 576 p. [in Ukrainian]
5. Bietresato M., Calcante A., Mazzetto F. A neural network approach for indirectly estimating farm tractors engine performances. Fuel. 2015. Vol. 143. P. 144–154. doi: 10.1016/j.fuel.2014.11.019
6. Bochtis D.D., Vougioukas S.G. Minimising the non-working distance travelled by machines operating in a headland field pattern. Biosystems Engineering. 2008. Vol. 101(1). P. 1–12. doi: 10.1016/j.biosystemseng.2008.06.008
7. Cavallo E., Ferrari E., Coccia M. Likely Technological Trajectories in Agricultural Tractors by Analysing Innovative Attitudes of Farmers (May 6, 2015). Int. J. Technology, Policy and Management. 2015. Vol. 15(2). P. 158–177. doi: 10.1504/IJTPM.2015.069203
8. Damanauskas V., Janulevičius A. Differences in tractor performance parameters between single-wheel 4WD and dualwheel 2WD driving systems. Journal of Terramechanics. 2015. Vol. 60. P. 63–73. doi: 10.1016/j.jterra.2015.06.001
9. Ilchenko V.Yu., Kobets A.S., Melnyk V.P. ta in. Praktykum z vykorystannia mashyn v roslynnytstvi – [Workshop on the use of machines in crop production] : navch. posibnyk. Dnipropetrovsk : Redaktsiino-vydavnychyi viddil Dnipropetrovskoho derzhahrouniversytetu, 2002. 212 p. [in Ukrainian]
10. Imdadul H.K., Masjuki H.H., Kalam M.A. Zulkifli N.W.M., Kamruzzaman M., Shahin M.M., Rashed M.M. Evaluation of oxygenated n-butanol-biodiesel blends along with ethyl hexyl nitrate as cetane improver on diesel engine attributes. Journal of Cleaner Production. 2017. Vol. 141. P. 928–939. doi: 10.1016/j.jclepro.2016.09.140
11. Janulevičius A., Juostas A., Pupinis G. Tractor’s engine performance and emission characteristics in the process of ploughing. Energy Conversion and Management. 2013. Vol. 75. P. 498–508. doi: 10.1016/j.enconman.2013.06.052
12. Janulevičius A., Damanauskas V., Pupinis G. Effect of variations in front wheels driving lead on performance of a farm tractor with mechanical front-wheel-drive. Journal of Terramechanics. 2018. Vol. 77. P. 23–30. doi: 10.1016/j.jterra.2018.02.002
13. Juostas A. & Janulevičius A. Tractor’s engine efficiency and exhaust emissions’ research in drilling work. Journal of Environmental Engineering and Landscape Management. 2014. Vol. 22(2). P. 141–150. doi: 10.3846/16486897.2013.852556
14. Karparvarfard S.H., Rahmanian-Koushkaki H. Development of a fuel consumption equation: Test case for a tractor chisel-ploughing in a clay loam soil. Biosystems Engineering. 2015. Vol. 130. P. 23–33. doi: 10.1016/j.biosystemseng.2014.11.015
15. Koniuszy A, Kostencki P, Berger A, Golimowski W. Power performance of farm tractor in field operations. Eksploatacja i Niezawod-nosc – Maintenance and Reliability. 2017. Vol. 19(1). P. 43–47. doi: 10.17531/ein.2017.1.6
16. Kozachenko O.V., Sychov I.P., Sorokin S.P. ta in. Praktykum z tekhnichnoi ekspluatatsii silskohospodarskoi tekhniky – [Workshop on technical operation of agricultural machinery] / KhDTUSH. Kharkiv : Tornado, 2001. 374 p.
[in Ukrainian]
17. Lacour S., Burgun C., Perilhon C., Descombes G., Doyen V. A Model to assess tractor operational efficiency from bench test data. Journal of Terramechanics. 2014. Vol. 54. P. 1–18. doi: 10.1016/j.jterra.2014.04.001
18. Limont A.S., Melnyk I.I., Malynovskyi A.S. ta in. Praktykum iz mashynovykorystannia v roslynnytstvi – [Workshop on machine use in crop production] : navch. posibnyk dlia studentiv VNZ. Kyiv : Kondor, 2009. 284 p. [in Ukrainian]
19. Lovarelli D., Bacenetti J. Bridging the gap between reliable data collection and the environmental impact for mechanised field operations. Biosystems Engineering. 2017. Vol. 160. P. 109–123. doi: 10.1016/j.biosystemseng.2017.06.002
20. Lovarelli D., Bacenetti J., Fiala M. Effect of local conditions and machinery characteristics on the environmental impacts of primary soil tillage. Journal of Cleaner Production. 2017. Vol. 140(2). P. 479–491. doi: 10.1016/j.jclepro.2016.02.011
21. Lovarelli D., Fiala M., Larsson G. Fuel consumption and exhaust emissions during on-field tractor activity: A possible improving strategy for the environmental load of agricultural mechanisation. Computers and Electronics in Agriculture. 2018. Vol. 151. P. 238–248. doi: 10.1016/j.compag.2018.06.018
22. Marchenko V.V. Mekhanizatsiia tekhnolohichnykh protsesiv u roslynnytstvi – [Mechanization of technological processes in crop production] : navchalnyi posibnyk. Kyiv : Kondor, 2007. 334 p. [in Ukrainian]
23. Mashynovykorystannia v zemlerobstvi – [Machine use in agriculture] / V.Iu. Ilchenko ta in. ; za red. V.Iu. Ilchenka, Yu.P. Nahirnoho. Urozhai, 1996. 384 p. [in Ukrainian]
24. Matviienko O.O., Krylov O.V. Metodychni vkazivky do vykonannia praktychnykh zaniat z kursu “Teoretychni osnovy ekspluatatsii silskohospodarskoi tekhniky” – [Methodical instructions for the implementation of practical classes from the course “Theoretical bases of operation of agricultural machinery”] : dlia studentiv spetsialnosti 208 “Ahroinzheneriia”, spetsializatsii “Tekhnichnyi servis” OKR mahistr. Kropyvnytskyi : TsNTU, 2018. 105 p. [in Ukrainian]
25. Melnik V., Dovzhik M., Tatyanchenko B., Solarov O., & Sirenko Y. Analytical method of examining the curvilinear motion of a four-wheeled vehicle. Eastern-European Journal of Enterprise Technologies. 2017. Vol. 3(7(87)). P. 59–65. doi: 10.15587/1729-4061.2017.101335
26. Melnyk V.I., Artomov M.P., Anikieiev O.I., Syrovytskyi K.H., Chyhryna S.A. Mashynovykorystannia v suchasnomu zemlerobstvi – [Machine use in modern agriculture] : metod. vkazivky № 1, 2 dlia vykonannia prakt. robit studentam pershoho (bakalavrskoho) rivnia vyshchoi osvity dennoi (zaochnoi) formy navch. OPP “Ahroinzheneriia” spets. 208 Ahroinzheneriia / Kharkiv. der. biotekh. un-t. Kharkiv, 2022. 75 p.
27. Nadykto V.T., Didur V.A., Fedorenko V.V. Vplyv biodyzelia na ekspluatatsiini pokaznyky roboty MTA – [The impact of biodiesel on the performance indicators of MTA]. Tekhnika APK. 2008. Vol. 1. P. 27–29. [in Ukrainian]
28. Nadykto V.T. Enerhonasychenist traktoriv ta shliakhy yii realizatsii – [Energy saturation of tractors and ways of its implementation]. Tekhnika i tekhnolohii APK. 2011. Vol. 9. P. 8–11. [in Ukrainian]
29. Nadykto V.T., Kiurchev V.M., Aiubov A.M. ta in. Perspektyvy zrostannia produktyvnosti roboty mashynno-traktornoho ahrehatu – [Prospects for increasing the productivity of the machine-tractor unit]. Naukovyi visnyk Tavriiskoho derzhavnoho ahrotekhnolohichnoho universytetu. 2019. Vol. 8(2). [in Ukrainian]
30. Olasiuk Ya.V. Ekspluatatsiia mashyn i obladnannia. Metodychni vkazivky dlia vykonannia kursovoho proektu dlia studentiv spetsialnosti “Ekspluatatsiia ta remont mashyn i obladnannia ahropromyslovoho vyrobnytstva” – [Operation of machines and equipment. Methodological guidelines for the implementation of a course project for students of the specialty “Operation and repair of machines and equipment of agro-industrial production”]. Liubeshivskyi tekhnichnyi koledzh Lutskoho natsionalnoho tekhnichnoho universytetu. Lutsk, 2016. 101 p. [in Ukrainian]
31. Perozzi A., Mattetti M., Molari G., Sereni E. Methodology to analyse farm tractor idling time. Biosystems Engineering. 2016. Vol. 148(2). P. 81–89. doi: 10.1016/j.biosystemseng.2016.05.007
32. Ruzhytskyi M.A., Riabets V.I., Kiiashko V.M. ta in. Ekspluatatsiia mashyn i obladnannia – [Operation of machines and equipment] : navchalnyi posibnyk. Ahrarna osvita, 2010. 617 p. [in Ukrainian]
33. Sabelhaus D., Röben F. Lars Peter Meyer zu Helligen, Peter Schulze Lammers, Using continuous-curvature paths to generate feasible headland turn manoeuvres. Biosystems Engineering. 2013 Vol. 116(4). P. 399–409. doi: 10.1016/j.biosystemseng.2013.08.012
34. Santosh K., Pitla J., Luck D., Werner J., Lin N., Scott A. Shearer, In-field fuel use and load states of agricultural field machinery. Computers and Electronics in Agriculture. 2016. Vol. 121. P. 290–300. doi: 10.1016/j.compag.2015.12.023
35. Senchuk M.M., Demeshchuk V.A. Osnovy mashynovykorystannia v roslynnytstvi – [Basics of machine use in crop production] : metodychni vkazivky dlia samostiinoi roboty ta laboratorno-praktychnykh zaniat za kredytno-modulnoiu systemoiu navchannia studentiv ahronomichnoho fakultetu. Bila Tserkva, 2010. 85 p. [in Ukrainian]
36. Seyyedhasani H., Dvorak S. Reducing field work time using fleet routing optimization. Biosystems Engineering. 2018. Vol. 169. P. 1–10. doi: 10.1016/j.biosystemseng.2018.01.006
37. Shuliak M., Mikulina M., Mudryi Ya., Pyrohov V. Vplyv vykorystannia bezpilotnykh litalnykh aparativ na pidvyshchennia efektyvnosti tekhnolohichnoho protsesu v roslynnytstvi – [The influence of the use of unmanned aerial vehicles on increasing the efficiency of the technological process in crop production]. Visnyk Natsionalnoho tekhnichnoho universytetu “KhPI”. Seriia “Avtomobile- ta traktorobuduvannia”. Kharkiv, 2023. Vol. 12023. P. 133. doi: 10.20998/2078-6840.2023.1.13
38. Syvolapov V., Kyslyi S., Marchenko V. Yak pidvyshchyty produktyvnist mashynnykh ahrehativ – [How to increase the productivity of machine units]. Tekhnika. 2016. Vol. 2(91). [in Ukrainian]
39. Van Linden V., Herman L. A fuel consumption model for off-road use of mobile machinery in agriculture. Energy. 2014. Vol. 77. P. 880–889. doi: 10.1016/j.energy.2014.09.074
Published
2023-12-04
How to Cite
Zubko, V., Sirenko, Y. V., & Kalnahuz, A. (2023). USE OF THE PROPOSED ALGORITHMS DURING THE SIMULATION OF MANEUVERS BY FIELD UNITS. Bulletin of Sumy National Agrarian University. The Series: Mechanization and Automation of Production Processes, (3 (53), 32-39. https://doi.org/10.32782/msnau.2023.3.6
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