Dynamics of a root harvesting machine with a system for maintaining the depth of the working bodies

Abstract

The main criterion for further intensification of the modern development of agricultural production is the material and technical basis for mechanization of all production processes based on the introduction of resource-saving technologies for harvesting crops. One of the main features characterizing progressive technology is a significant reduction in energy resources, which are characteristic of the technological operation of digging out root crops. On the other hand, the development of modern machine-building is characterized by an increase in the capacity of root-harvesting machines, which leads to intensification of the technological process and, as a result, to more severe operating conditions of the machines themselves. In addition, the problem of reducing the losses and damage to root crops and ensuring the reliability of the operation by digging out the roots of the root harvesting machines, among which the special place is occupied by the discs of the diggers, remains quite topical. To solve this problem, it is necessary to constantly improve not only the system of working organs of machines intended for excavating root crops, but also the dynamics of its functioning. In the paper, based on Lagrange's equations of the second kind, a system of differential equations is obtained that describes the motion of the root-harvesting machine, taking into account the possibility of maintaining a given depth of motion of the working organs. The solution of the equations obtained shows that when a technological operation is performed in the system of automatic regulation of burial, a transient process is observed, which has an aperiodic character. In addition, it is established that the system acquires stability at an operating speed of the machine in the range from 6 to 8 km / h and with a depth of movement of the digging organs at a level of 6…9 cm (the average deviation of the stroke depth from the set value is 0.6 cm). The delay time of the automatic depth control system is 0.1 s, and the average power consumed by the hydraulic system of the machine does not exceed 2.2 kV. Calculations established that the output of the machine to a stable technological process can reduce the number of root crop losses by 1.5% compared to the machine that performs the technological process with serial indicators.