Abstract
To automate the process of harvesting crops, different types of harvesting machines are required. The most common type of machines used to automate ingathering are harvesters. The use of harvesters for collecting grain crops is rational in fields from 2 hectares. On smaller areas it is not profitable and difficult to apply. For applications in small areas, low-capacity harvesters with a throughput of the thresher up to 1 kg/s (small-sized) may be suitable. The purpose of this study is to analyze the cushioning mass control system of a low-capacity unmanned combine harvester using computer simulation, as well as the simulation of directional stability and turning. To calculate vertical vibrations in the Matlab/Simulink software package, a model of a cushioning system for a wheeled agricultural combine was prepared. In the same software package, simulation of directional stability and turning implementation was carried out. The parameters of vibration displacement, vibration velocity and acceleration, as well as the vibration frequency indicators on the operator's seat are determined. Comparison of the simulation results of the initial and corrected direction of movement of the harvester showed that for this model the maximum deviation from the planned path is a maximum of 10%, which is within acceptable limits. The maximum deviation of the harvester from the course does not exceed the permissible values, which is acceptable accuracy to ensure directional stability.
Highlights
The process of harvesting crops has its own characteristics and difficulties that require its automation in order to increase the productivity of the harvesting unit
Calculation of directional stability is simple according to the following algorithm: We introduce the resulting motion function r (t), which is determined by the formula: r(t)
The vibratory frequency of the harvester was determined when moving along an imitation background the stubble of the spike crops, as well as the values of the maximum deviation of the harvester from a given course of movement
Summary
The process of harvesting crops has its own characteristics and difficulties that require its automation in order to increase the productivity of the harvesting unit. The use of harvesters is rational with the area of the cultivated plot of land starting from 2 hectares [1]. It is a tractor with a trolley, on which a robot manipulator is located, which is able, for example, to collect fruits from trees.
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