Investigation of automatic driving of a mobile wide span agricultural vehicle in the wake of a constant technology track

Abstract

Annotation Purpose. Determination of regularities of influence of parameters of bridge agricultural means and system of its automatic driving in the wake of a constant technological track on kinematics of its onboard (force) turn and development of the basic ways of development of automatic driving theory of specialized wide span agricultural means. Methods. Theoretical researches, synthesis of constructive schemes and parameters of the bridge agricultural means were carried out by modeling on the personal computer of conditions of its functioning. Bases of the theory of a tractor and theoretical mechanics with use of a Mathcad package are the basis for methods of research. Pilot studies of wide span agricultural means and implementation of the offered way of its automatic driving in the wake of a constant technology track with use of a laser beam were carried out in specially equipped laboratory. Results. For theoretical research of process of automatic driving of wide span agricultural means possible conditions of implementation of onboard (power) turn by it are considered. The equivalent scheme of forces and kinematics of onboard turn is constructed, on the basis of which the received analytical expressions which connect among themselves design, kinematic and power data of wide span agricultural means, at which perhaps effective implementation of onboard turn. It is also established that perspective and effective for automation of driving of wide span agricultural means in the wake of a constant technology track with purely onboard (power) method of its turn is uses of a laser beam as trajectory sensor. Thus the received analytical dependence for determination of accuracy of an arrangement of a laser emitter from the left and right side of a constant technology track depending on the set accuracy of giving of a laser beam. Keywords: track and bridge systems of agriculture, wide span agricultural means, driving automation, local positioning systems, theoretical and experimental researches, accuracy.