Abstract
Goal. To explore theoretically and experimentally the increase of stability of the pivot connection of the technological and power modules of a new design of the modular machine-tractor unit. Methods. Theoretical studies were carried out using the main provisions of the higher mathematics, theoretical mechanics, theory of automatic control. Experimental studies were carried out in field conditions on a real modular machine-tractor unit. Results. The new construction of the pivot connection of the technological module with the power module (tractor) of the modular machine-tractor unit is developed. To ensure satisfactory maneuverability of technological module when cornering it is equipped with vertical and horizontal joints. Limitation of turning ability of technological module relative to the power one in the horizontal plane through this vertical hinge is provided by a hydraulic cylinder, which over- and under-piston cavities are connected through a restrictor with the coefficient of hydraulic resistance at the level of 1.03×106 N·m·s·rad–1. Based on the equivalent power circuit, a mathematical model was created of movement of the unit, allowing to investigate theoretically its stability. As the energizing impact was taken the turning moment, created by external forces. Output parameters of the model were the angle of rotation of the technological module relative to the energy in the horizontal plane, and the heading angle of the latter. The theoretical study is confirmed experimentally. Conclusions. As a result of mathematical modeling, the change of speed of the unit from 2 to 5 m·s–1 does not lead to a deterioration of the stability of motion, neither technological nor, especially, the power modules. The values of the coefficients of resistance of the introduction of wheel tires of power module do not affect its development of fluctuations of the energizing moment. However, the value of the coefficient of resistance of the introduction of the tire of each wheel of the technological module of modular traction vehicle should be not less than 160 kN·rad–1.
Highlights
One way to increase the productivity of machine and tractor units is to increase the power of the tractor engine
It should be noted at once that the direction of our research is due to the scientific hypothesis, the essence of which is the following: "It is possible to increase the stability of transport movement of the unit on the basis of the modular traction device by damping the horizontal vibrations of the technological module on the energy module by introducing a hydraulic damper between them"
In this article the results of theoretical and experimental research of stability of transport movement of the modular unit at change of speed of its movement, and change of resistance coefficient to introduction of wheels tires of the technological module which hydraulic cylinder is equipped by a throttle with the specified above coefficient of hydraulic resistance are resulted
Summary
One way to increase the productivity of machine and tractor units is to increase the power of the tractor engine. It should be noted at once that the direction of our research is due to the scientific hypothesis, the essence of which is the following: "It is possible to increase the stability of transport movement of the unit on the basis of the modular traction device by damping the horizontal vibrations of the technological module on the energy module by introducing a hydraulic damper between them".
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