Study on the Dynamic Interaction between Agricultural Tractor and Trailer during Braking Using Lagrange Equation

Năstăsoiu, Mircea; Ispas, Nicolae

doi:10.4028/www.scientific.net/amm.659.515

Cited by 3 publications

(5 citation statements)

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“…In the operational cycle of any bridge machine a curvilinear motion (turning), the characteristics of which are often decisive in the design of new or evaluation of existing models of equipment, must be considered. Currently, there are many steering models, most of which have been developed for fast-wheeled and tracked machines (Hac et al, 2009;Shahgoli et al, 2010;Nastasoiu & Ispas, 2014). The steering of such machines is adapted to manual steering and is built according to the kinematic or force principle of rotation.…”

Section: Resultsmentioning

confidence: 99%

“…Due to the presence of elasticities in the "wheel-supporting surface" system, the trajectory of the mobile machine when turning does not depend unambiguously on the turn of the steering wheel. All this makes it difficult to automate the process of turning (Nastasoiu & Ispas, 2014). The most widespread methods for turning mobile machines are those that involve rotating the steered wheels (front, rear or both front and rear) relative to the body or by changing the position of one part of the mobile machine relative to the other in the horizontal plane (articulated frame).…”

Section: Resultsmentioning

confidence: 99%

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Untitled

2023

Tehnìka ta energetika

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The research is devoted to the topical problem of the efficiency of turning wide-span bridge machines in the track farming system. The research aims to study the curvilinear movement along the soil traces of a constant technological track of an arbitrary multi-supported bridge machine, considering its design and method of turning, parameters, modes of movement and loading. Experimental studies were conducted, involving the use of a modern strain track and specially designed equipment for electrical measurements of non-electrical quantities. The processing of research data was carried out on a personal computer. A methodology for compiling private models of turning off the bridge vehicle moving along the soil trace of the constant technological track was developed. As a result of the joint solution problem of the bridge machine turning, it is possible to determine all output parameters of curvilinear motion: trajectory, tractive forces, turning radius, slipping, and actual speeds. The force interaction of the bridge machine's undercarriage with the soil trace of a constant track is presented based on flat sliding with a variable anisotropic friction coefficient of adhesion φ yd , depending on the properties of the track. As the radius of the wheel, the width of its tire and the air pressure in it, as well as the vertical load that acts on it, the coefficient of traction of the bridge machine φ yd increases, which may cause higher slippage. The adequacy of the model of stationary turning of the overhead machine is confirmed by experimental estimation of the

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Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

Untitled

2023

Tehnìka ta energetika

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“…A different combination of geometric (10) and kinematic equations (12)(13)(14)(15) allows for a description of restrictions imposed by the design scheme of the bridge vehicle (number of propulsor supports, mutual arrangement, steering scheme, base, and track) and control system on its curvilinear motion parameters. As a result of solving the system of equations ( 9) considering the unknowns х т , у т , α and the coordinates of the instantaneous velocity centre (x ij , y ij ), all force and kinematic characteristics of curvilinear motion of the bridge machine were acquired, namely angular velocity, trajectory of motion, longitudinal and transverse components of the velocity of the centre of mass, actual turning radius, normal acceleration, traction forces and slipping on the leading supports, distribution of normal reactions on the supports, power losses and their change in time, depending on the control parameters.…”

Section: Analytical Study Of the Turns Of Bridge Machinesmentioning

confidence: 99%

“…The unknowns are the coordinates of the centre of rotation in the machine system of its angle speed y 0 , its angle speed ω and the coordinates of the instantaneous velocity centre х ij , y ij . The stationary rotation model is a system of 2nm coupling equations (10)(11)(12)(13)(14)(15) and three equations of motion:…”

Section: Analytical Study Of the Turns Of Bridge Machinesmentioning

confidence: 99%

Analytical study of the turns of bridge machines

Beloev,

Kuvachоv,

Adamchuk

et al. 2023

Tehnìka ta energetika

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The research is devoted to the topical problem of the efficiency of turning wide-span bridge machines in the track farming system. The research aims to study the curvilinear movement along the soil traces of a constant technological track of an arbitrary multi-supported bridge machine, considering its design and method of turning, parameters, modes of movement and loading. Experimental studies were conducted, involving the use of a modern strain track and specially designed equipment for electrical measurements of non-electrical quantities. The processing of research data was carried out on a personal computer. A methodology for compiling private models of turning off the bridge vehicle moving along the soil trace of the constant technological track was developed. As a result of the joint solution problem of the bridge machine turning, it is possible to determine all output parameters of curvilinear motion: trajectory, tractive forces, turning radius, slipping, and actual speeds. The force interaction of the bridge machine’s undercarriage with the soil trace of a constant track is presented based on flat sliding with a variable anisotropic friction coefficient of adhesion φyd, depending on the properties of the track. As the radius of the wheel, the width of its tire and the air pressure in it, as well as the vertical load that acts on it, the coefficient of traction of the bridge machine φyd increases, which may cause higher slippage. The adequacy of the model of stationary turning of the overhead machine is confirmed by experimental estimation of the resistance coefficient of the power onboard turning. The convergence of the theoretical and experimental values of this coefficient is within the confidence interval ± σ in the whole investigated weight range of the bridge machine prototype. This allows us to assess the influence of design parameters and schemes on the turning characteristics as early as the design stage of a new bridge machine, thus optimizing the design process. The results of the research can be applied to the organization of the process of turning the existing models of bridge machines

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“…The research on the dynamics of agricultural tractor-implement units has been the subject of quite a number of studies (Bulgakov et al, 2016;Xu et al, 2015;Rabbani et al, 2011;Mircea et al, 2014;Karkee, 2009).…”

Section: Introductionmentioning

confidence: 99%

Development of Advanced Methodology of Experimental Research on Oscillation Processes Intensity for Machine-Tractor Units

BULGAKOV,

IVANOVS,

KUVACHОV

et al. 2023

INMATEH

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An important operational indicator of agricultural machine-tractor units is the smoothness of movement, which significantly affects the traction and dynamic performance of their work, productivity, agronomic qualities of the operation, traffic safety, durability and efficiency. As a rule, it is evaluated by the influence of oscillations (translational vertical, transverse, angular longitudinal, etc.), on these indicators, as well as on the physical condition and health of operators who control these units in real production conditions. This article presents an improved method and results of experimental assessment of the smoothness of the movement of the modular agricultural unit, which moves in the footsteps of a constant technological track. Studies of the smoothness of the modular unit showed that the graphs of normalized correlation functions of vertical oscillations of the modular agricultural tool developed by us in its motion in the wake of a constant techno-logical track is characterized by a function containing along with random components harmonic, which are expressed by attenuating periodic oscillations. The range of frequencies of oscillations of the frame of the agricultural tool is concentrated in the range from 0 tо 20 s−1, which is consistent with the frequency range 0…0.3 s−1 in which the variances of oscillations of inequalities of a profile of traces of a technological track are concentrated. Studies have confirmed the effectiveness of the method of estimating the intensity of vertical oscillations of the agricultural unit measuring and recording system based on a tablet computer with Android operating system with built-in accelerometer sensors and Accelerometer Meter application. The developed technique of mathematical modelling and experimental determination of vertical oscillations of the machine-tractor unit can be used in the study of the dynamics of other agricultural machines and units.

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Study on the Dynamic Interaction between Agricultural Tractor and Trailer during Braking Using Lagrange Equation

Cited by 3 publications

References 1 publication

Untitled

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Analytical study of the turns of bridge machines

Development of Advanced Methodology of Experimental Research on Oscillation Processes Intensity for Machine-Tractor Units

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