The Study of Movement of the Wide Span Tractor-Based Field Machine Unit with Power Method of its Control

Abstract

Recently, rapid development of controlled traffic farming convincingly demonstrates the broad prospects of using the wide span tractor-based field machines throughout the world. The issue at hand lies in the fact that having a wide span tractor-based machine with steering-wheel system moving along the tracks of a constant technological track is not a rational option. According to the concept of bridge and rutting agriculture, it is advisable to subordinate the automated means of mechanization to the principles of the functioning of the coordinate transport system in which machines can move only in two mutually perpendicular directions and for implementation of which the field must have strictly defined dimensions. Therefore, a method of power steering similar to a crawler tractor (track-type tractor) can be more efficient in the automatic driving of bridge means of mechanization within the coordinate-transport system than a kinematic control. Furthermore, methodology utilized for selection of design schemes, parameters and operating modes of machine-tractor aggregates can not be used for study of dynamics of the wide span tractor-based field machine. Theoretical study is based on theoretical mechanics, theory of mobile energy facilities, statistical dynamics and theory of automatic control of linear dynamical systems with reproduction of statistically random control and disturbing input effects. Purpose of the research lies in development of a dynamic model of plane parallel motion in the horizontal plane of a wide span tractor-based field machine unit using a power (onboard) method of control, which would allow investigation of impacts of the control parameters and disturbing influences on the controllability and stability of its motion. Mathematical models have been developed and new regularities of the straightforward parallel movement of the wide span tractor-based field machine unit for controlled traffic farming have been obtained. The results obtained allow the validation of new schemes, design parameters and modes of operation with acceptable controllability and stability of movement in the horizontal plane with a power control method of the chassis.

Study of passive steering of wide span vehicles with power-driven steering method

“…Given the general structure of the chassis and the steering mechanism of axle-driven machines, it has been scientifically proven that the simplest option is the on-board (power-driven) steering. These machines have motor wheels on two non-steerable axles and turn horizontally by varying the rotation speed of the front and rear wheels on the right and left side of the machine [12]. Despite the variety of specialised technical equipment, a curved movement (turning) takes place in the technological cycle of a wide span vehicle [13][14].…”

“…These machines have motor wheels on two non-steerable axles and turn horizontally by varying the rotation speed of the front and rear wheels on the right and left side of the machine [12]. Despite the variety of specialised technical equipment, a curved movement (turning) takes place in the technological cycle of a wide span vehicle [13][14]. The peculiarity of operating wide span machines is that during operation they can make not only active (controlled) turns, but also passive ones, making a curvilinear movement not under the controlling influence of the operator, but under the influence of external forces [15].…”

“…Attempts are known to apply to models of crawler and wheeled vehicles with non-swivelling bearings and inboard pivoting the shear force models of solid bodies on rough surfaces (based on pure friction between absolutely solid bodies) [13][14]. However, these models are dedicated to an active turnaround.…”

Determining Trafficked Areas Using Soil Electrical Conductivity – A Pilot Study

“…It has been shown that an increase in stress levels with higher bulk density and mechanical penetration resistance, and a decrease in soil hydraulic conductivity resulted in decreased root elongation rates and consequently prolonged the time required for roots to reach a certain soil depth. Soil compaction caused by machinery traffic needs to be: (a) either removed by costly subsoiling; or (b) avoided by implementation of technologies, such as wide span gantry technologies (Chamen, 2015;Bulgakov et al, 2018). Recently, controlled traffic farming (CTF) and its modifications show potential benefits worldwide (Godwin et al, 2015;Chamen, 2015;Gutu et al, 2015;Galambošová et al, 2017;Latsch and Anken, 2019;Antille et al, 2019;Masola et al, 2020).…”

Investigations of the Dynamics of a Four-Element Machine-and-Tractor Aggregate

“…In order to investigate the dynamics of multi-element machines, the D'Alembert-Lagrange principle (Bulgakov et al, 2016) or the Lagrange equations of the 2 nd kind can be applied. Usually, research of the mobile machine movement is studied together with a semi-trailer by means of the Lagrange equations of the 2 nd kind (Chieh, 1995;Siew et al, 2009;Bulgakov et al, 2018). A mathematical model of the single machine movement has been repeatedly investigated (Blundell and Harty, 2004;Karkee and Seward, 2010).…”