The main criterion of the soil cultivation quality is tilling depth. The goal is to predict the trajectory of penetration and steady tool movement as well as the trajectory when hitting an obstacle and leaving it after the obstacle was hit. Factors that actively influence the trajectory can be the tractor motion speed, geometry and weightimplement and tiller tool. For this purpose on the basis of the number of hypotheses differential equation of front and rear mounted implements vibrations is composed relative to the tractor location in a vertical plane along the axis of its movement. In the hypothesis of the force interaction of toolswith soil main provisions proposed by Professor L.V. Gyachev are developed. Mechanical models of the mounted implement are built on the basis of simplifications. In particular, the position of tool at different movement moments is determined by some predetermined function of the generalized coordinate. For the generalized coordinate a rotational angle of the lower hitch links is selected. The pointed out dependence is named as the transmission function of the hitch. By setting in the differential equations of motion various external influences and by changing the power parameters of working bodies, it is possible to imitate changes of soil medium. Such mathematical models allow to simulate movement not only within real operation conditions but that is often more important, to simulate the tools operation in conditions that in practice cannot be created. This is achieved, for example, when we set very hard and long or set very light and short tools, very hard or very soft soil, etc. So you can more clearly see the new phenomena and trends that are difficult to suppose and impossible to see in the real conditions.As a result, new solutions to traditional problems appear.

The authors offer an automated drive design based on stepper motor which is mounted directly on the hydraulic control valve with manual control. This approach eliminates rework most of the hydraulic system, which significantly reduces the cost and the complexity of the process of modernization. When the drive was planning to use the medium-aided design SolidWorks. Within the theoretical research car-ried out kinematic and dynamic issledovaniyaprotsessa with joystick control. For this purpose calculated 3D-drive model with a directional control valve and the application for engineering calculations Solid-Works Simulation.

The authors propose the concept of a control system based on the creation of avated biometric corrected neural network control system implemented on the basis tillage machines and tractors unit capable to function effectively within the system.For this approach, it is planned to develop a software system that provides for tracking the behavior of machine and tractor unit operator in real time. The resulting data will be fed to the input of artificial neural networks of different topologies.

УДК 631.37 РЕЗУЛЬТАТЫ ЛАБОРАТОРНЫХ ИССЛЕДОВАНИЙ СИЛОВЫХ ПАРАМЕТРОВ ПОЧВООБРАБАТЫВАЮЩИХ РАБОЧИХ ОРГАНОВ кандидат технических наук И. Е. Донцов 1 кандидат технических наук М. Н. Лысыч 1 кандидат технических наук М. Л. Шабанов 1 1-ФГБОУ ВО «Воронежский государственный лесотехнический университет имени Г.Ф. Морозова», г. Воронеж, Российская Федерация Во время движения почвообрабатывающие машины и орудиясовершают свободные и вынужденные колебания. Одновременно изменяются направление и значение сил сопротивления их рабочих органов. Без информации о силовых параметрах рабочих органов изучение динамики почвообрабатывающих машин, орудий и машинно-тракторных агрегатов невозможно. Статья посвящена изучению силовых параметров пассивных, активных и ротационных почвообрабатывающих рабочих органов. Для исследований отобраны наиболее распространенные виды и типы рабочих органов. Силовое взаимодействие рабочих органов с почвой представлено равнодействующей сил сопротивления. Модуль, направление и положение равнодействующей сил сопротивления зависят от положения рабочего органа по отношению к вектору абсолютной скорости точки приведения на рабочем органе и глубины обработки. Указанные функции описаны уравнениями регрессии второго порядка. За основу взята модель силового взаимодействия почвообрабатывающих рабочих органов с почвой, предложенная проф. Гячевым Л.В. Спроектирована и изготовлена тензометрическая установка, предложена методикаопределения описанных силовых параметров рабочих органов в лабораторных условиях. В ходе эксперимента рабочий орган устанавливают в различные положения по отношению к основному (прямолинейному) движению, регистрируют параметры, характеризующие его координаты (факторы) и усилия в тягах навесного оборудования (отклики). Затем вычисляют характеристики главного вектора и главного момента, равнодействующей сил взаимодействия рабочих органов с почвой. Результаты нескольких измерений аппроксимируют кривой, в наибольшей степени соответствующей характеру взаимодействия. Статистический анализ результатов показал, что регрессионные модели адекватны при уровне значимости 0.01. Коэффициенты корреляции между безразмерными коэффициентами геометрически подобных рабочих органов равны 0,95-0,97.

The article is devoted to problems of forest regeneration and promote natural regeneration in conditions of wood cuttings down, in particular, the designs of tillage tools for primary soil preparation. Tillage equipment operated under such conditions, must possess high permeability and strength, while providing acceptable quality. These requirements correspond to the most ploughs-rippers with disk working bodies. It uses both passive and active working bodies, which brings the first disc plows and heavy harrows, and the second milling tillage. On the basis of the spent constructive analysis of existing tools their classification by drive type (with an active mechanical drive, with an active hydraulic drive, with a passive drive), method of aggregation (rear-mounted mounted, mounted on lateral faces) and to type of the safety mechanism (spring, hydraulic, without safety locks) is resulted.The tools representing various constructive types are in more details considered. Given their technical characteristics: variants of aggregation, type of drive, quantity of working bodies, the width, the diameter of the disk working bodies, depth of processing, type of safety mechanism, weight. The short description of designs and appointment disk rippers is given.On each tool the critical analysis is carried out and conclusions are drawn on possibility of its application in conditions not cleared cuttings down. Based on the analysis formulated the main requirements to prospective disk rippers that will effectively carry out basic preparation of the soil in conditions not cleared cuttings down at height of stubs to 50 sm in various conditions of the Russian Federation.