To study the dynamics of the tractor with articulated frame and taking into account the inequality of the supporting surface

Abstract

The paper presents a method for studying the dynamics of a tractor with a pivotally connected frame, taking into account the unevenness of the supporting surface. It was noted that to solve the scientific problem of the dynamics of tractors and agricultural units, it is necessary to conduct a study of the dynamics, determine the relationship between the dynamic and energy indicators of their functioning. The variety of designs and technological schemes with various methods of aggregation need to increase the number of mathematical models to study the dynamics and evaluate the effectiveness of their use and, accordingly, methods of aggregation. Therefore, it is necessary to substantiate the methodology of studying the dynamics of agricultural aggregates, will allow to effectively determine their characteristics taking into account the schemes of aggregation and simultaneous assessment of the influence of the supporting surface on dynamics and energy efficiency. A mathematical model of the spatial dynamics of the tractor is proposed. The equations of kinematic relations of characteristic points of a tractor are composed. The Apel equation was used to construct the equations of the tractor dynamics, taking into account the shape of the supporting surface. The mathematical model of a tractor is investigated. The dependences of the velocities of the points of the kinematic model of the tractor are obtained; they do not degenerate with the straight-line movement of the tractor. The points of interaction of wheels with the ground are selected as instantly immobile. Tractor frame - as a solid body and without taking into account nonholonomic bonds, has six degrees of freedom and six independent speeds. It is established that, taking into account the angle of fracture of the tractor half-frames and the nonholonomic connection, the instantaneous center of speed, the number of independent speeds becomes four. A theoretical study of the movement of the XTZ-242K.20 tractor with a constant speed of movement and a given angle of fracture of the half-frames was carried out. Calculated the trajectory of the tractor. The profile of the support surface is as-sumed to be smooth, without inclination to the horizon.