Motion simulation and calculation of the components of the lateral forces of the guiding wheels of a cotton-harvesting machine

Abstract

BACKGROUND: One of the relevant issues to study is the motion of a cotton-harvesting machine (CHM) at the turning lanes of the cotton field along curvilinear path. At the same time, the CHM’s wheels rolling occurs with lateral slip of tires, so the machine may have unacceptable, according to the conditions for raw cotton harvesting, deviations in the lateral direction of the motion path when turning to enter the beds of the cotton field, and the traction performance of the CHM’s steered wheels declines significantly.

AIMS: Building mathematical models and carrying out kinematic simulations to determine the motion parameters and the values of lateral forces, the side slip resistance coefficients of tires of the CHM’s guide wheels necessary to achieve the required performance and to maintain the specified accuracy of the path motion along the headland of the cotton field with acceptable traction indicators.

METHODS: Dynamic processes are hugely complicated and difficult to analyze in full. The developed models are based on the balance equations and the wheels motion is not considered separately, taking into account tire deflections.

RESULTS: The kinematic scheme of turning of the MKh-1.8 CHM with front driving and rear steered wheels was considered. It was assumed that the MKh-1.8 CHM moves at a low constant velocity, so the centrifugal force can be neglected. In addition, lateral slip is the very parameter that reflects the impact of external force factors that go with the curvilinear motion on the machine.

CONCLUSIONS: Analyzing the obtained results, the following can be noted: during the curvilinear motion of the CHM, the main parameters that determine the turning of the machine are the CHM wheelbase, the average steering angle of the steered wheels and the slip angles of the rear axle. Moreover, it should be noted that the slip angles of the front and rear axles of the CHM, their values and change have a significant impact on the machine turning kinematics. The presence of lateral slip is the main reason of significant deviations from the given path of the CHM motion at a headland of a cotton field.

Keywords

cotton-harvesting machine / modeling / rectilinear and curvilinear motion / turning kinematics / lateral slip

References

[1] Abdazimov AD, Azimov BM, Sulyukova LF. Modelirovanie kolebaniy napravlyayushchikh koles polunavesnoy khlopkouborochnoy mashiny MKh-1.8. In: Mezhdunarodnaya nauchno-prakticheskaya konferentsiya «Tekhnika budushchego: perspektivy razvitiya selskokhozyay-stvennoy tekhniki». KubGAU. 15−16 May 2013. Krasnodar; 2013:149−150. (in Russ).

[2] Абдазимов А.Д., Азимов Б.М., Сулюкова Л.Ф. Моделирование колебаний направляющих колес полунавесной хлопкоуборочной машины МХ-1.8 // Международная научно-практическая конференция «Техника будущего: перспективы развития сельскохозяйственной техники». КубГАУ. 15−16 мая 2013 г. Краснодар, 2013. С. 149−150.

[3] Azimov BM, Usmanov II, Ruzikulov AR, et al. Modelirova-nie, optimalnoe upravlenie dvizheniem i rascheta sostavlyayushchikh bokovykh sil naprav-lyayushchikh koles khlopkouborochnoy mashiny MKh-1.8. Uzbekskiy zhurnal «Problemy in-formatiki i energetiki». 2016;2:50–60.

[4] Азимов Б.М., Усманов И.И., Рузикулов А.Р., и др. Моделирование, оптимальное управление движением и расчета составляющих боковых сил направляющих колес хлопкоуборочной машины МХ-1.8 // Узбекский журнал «Проблемы информатики и энергетики». 2016. № 2. С. 50–60.

[5] Belyaev AN, Orobinskiy VI, Trishina TV, et al. Opredelenie uglov bokovogo uvoda shin koles traktora. In: Nauka i obrazovanie na sovremennom etape razvitiya: opyt, pro-blemy i puti ikh resheniya materialy mezhdunarodnoy nauchno-prakticheskoy konferen-tsii. Voronezh: Voronezhskiy gosudarstvennyy agrarnyy universitet im. Imperatora Petra I; 2018:16–23. (in Russ).

[6] Беляев А.Н., Оробинский В.И., Тришина Т.В., и др. Определение углов бокового увода шин колес трактора // Наука и образование на современном этапе развития: опыт, проблемы и пути их решения материалы международной научно-практической конференции. Воронеж: Воронежский государственный аграрный университет им. Императора Петра I, 2018. С.16–23.

[7] Guskov VV, Velev NN, Atamanov YuE, et al. Tractors: Theory. Moscow: Mashinostroenie; 1988. (in Russ).

[8] Гуськов В.В., Велев Н.Н., Атаманов Ю.Е., и др. Тракторы: Теория. М.: Машиностроение, 1988.

[9] Astashev VK, Babitsky VI, Vulfson II. Dynamics of machines and control of machines: A Handbook. M.: Mashinostroenie; 1988. (in Russ).

[10] Асташев В.К., Бабицкий В.И., Вульфсон И.И. Динамика машин и управление машинами: Справочник. М.: Машиностроение, 1988.

[11] Dudnikov S.A. Issledovanie kinematiki povorota traktora klassa 1,4 na polugusenich-nom khodu v usloviyakh Amurskoy oblasti. [dissertation] Blagoveshchensk; 2012. (in Russ).

[12] Дудников С.А. Исследование кинематики поворота трактора класса 1,4 на полугусеничном ходу в условиях Амурской области. дисс. … канд. техн. наук. Благовещенск, 2012.

[13] Troyanovskaya IP. Metodologiya modelirovaniya krivolineynogo dvizheniya traktornykh agregatov. [dissertation] Chelyabinsk; 2011. (in Russ).

[14] Трояновская И.П. Методология моделирования криволинейного движения тракторных агрегатов. дисс. … д-ра. техн. наук. Челябинск, 2011.

[15] Azimov BM, Yakubjanova DK, Kubaev ST. Modeling and optimal control of motion of cotton harvester MH-2.4 under horizontal oscillations. International journal of advanced research in science, engineering and technology. 2018;5(9):6906–6914.

[16] Azimov B.M., Yakubjanova D.K., Kubaev S.T. Modeling and optimal control of motion of cotton harvester MH-2.4 under horizontal oscillations // International journal of advanced research in science, engineering and technology. 2018. Vol. 5, N 9. P. 6906–6914.

[17] Azimov BM, Yakubjanova DK. Modeling and optimal control of motion of cotton harvesting machines MX-1.8 and hitching systems of picking apparatus under vertical oscillations. J. Phys.: Conf. Ser. 2019;1210:012004 doi: 10.1088/1742-6596/1210/1/012004

[18] Azimov B.M., Yakubjanova D.K. Modeling and optimal control of motion of cotton harvesting machines MX-1.8 and hitching systems of picking apparatus under vertical oscillations // J. Phys.: Conf. Ser. 2019. Vol. 1210. P. 012004 doi: 10.1088/1742-6596/1210/1/012004

[19] Azimov BM, Kubaev ST, Axmedov SHA, et al. Motion study of four-row cotton harvester and the hitch system of harvesting unit under vertical vibrations. International Journal of Mechanical and Production Engineering Research in Dynamical (IJMPERD). 2020;10(3):5501–5510.

[20] Azimov B.M., Kubaev S.T., Axmedov Sh.A., et al. Motion study of four-row cotton harvester and the hitch system of harvesting unit under vertical vibrations // International Journal of Mechanical and Production Engineering Research in Dynamical (IJMPERD). 2020. Vol. 10, N 3. P. 5501–5510.

[21] Azimov BM, Yakubjanova DK, Kubaev ST, et al. Mayer Problem Application in Optimal Control of the Hitching Systems of Cotton-Harvesting Machines. International Journal of Advanced Research in Science, Engineering and Technology. 2020;7(5):13630-13635.

[22] Azimov B.M., Yakubjanova D.K., Kubaev S.T., et al. Mayer Problem Application in Optimal Control of the Hitching Systems of Cotton-Harvesting Machines // International Journal of Advanced Research in Science, Engineering and Technology. 2020. Vol. 7, N 5. P. 13630–13635.

[23] Reshenie ob ofitsialnoy registratsii programmy dlya elektronno-vychislitelnykh mashin № DGU 20201456. T. 2020. Azimov BM, Ruzikulov AR, Akhmedov ShA, et al. Kompleks programm rascheta optimalnykh parametrov gorizontalnykh i vertikalnykh kolebaniy khlopkouborochnykh mashin pri razlichnykh usloviyakh dvizheniya. (in Russ).

[24] Решение об официальной регистрации программы для электронно-вычислительных машин № DGU 20201456. Т. 2020. Азимов Б.М., Рузикулов А.Р., Ахмедов Ш.А., и др. Комплекс программ расчета оптимальных параметров горизонтальных и вертикальных колебаний хлопкоуборочных машин при различных условиях движения.

[25] Emelyanov AM, Shitov SV, Frolova GN. Mathematical modeling of the study of the curvilinear motion of the MTZ-82 tractor with dual wheels. Dalnevostochnyy agrarnyy vestnik. 2022;1:101–109. (in Russ).

[26] Емельянов А.М., Щитов С.В., Фролова Г.Н. Математическое моделирование исследования криволинейного движения трактора МТЗ-82 со сдвоенными колесами // Дальневосточный аграрный вестник. 2022. № 1. С. 101–109.

[27] Smirnov GA. Theory of motion of wheeled vehicles. Moscow: Mashinostroenie; 1990:89–94. (in Russ).

[28] Смирнов Г.А. Теория движения колесных машин. М.: Машиностроение, 1990. С. 89–94.

RIGHTS & PERMISSIONS

Eco-Vector