Theoretical Consideration of The Controllability Indicator of Machine-Tractor Unit Movement

The paper is focused on the issues of controllability of machine-tractor units based on wheel-type tractors during their non-straight driving on the soil surface, which is positioned at an angle to the horizon. There were obtained analytical expressions for the determination of the actual indicator...

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Main Authors: Bulgakov Volodymyr, Adamchuk Valerii, Nadykto Volodymyr, Kyurchev Volodymyr, Nozdrovický Ladislav
Format: Article
Language:English
Published: Sciendo 2017-03-01
Series:Acta Technologica Agriculturae
Subjects:
Online Access:https://doi.org/10.1515/ata-2017-0003
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spelling doaj-3f8a1373189d4677a80dd03a8c7fde172021-09-06T19:40:15ZengSciendoActa Technologica Agriculturae1338-52672017-03-01201111810.1515/ata-2017-0003ata-2017-0003Theoretical Consideration of The Controllability Indicator of Machine-Tractor Unit MovementBulgakov Volodymyr0Adamchuk Valerii1Nadykto Volodymyr2Kyurchev Volodymyr3Nozdrovický Ladislav4National University of Life and Environmental Sciences of Ukraine, UkraineNational Scientific Centre ’Institute for Agricultural Engineering and Electrification‘, UkraineTavria State Agrotechnological University of Ukraine, UkraineTavria State Agrotechnological University of Ukraine, UkraineSlovak University of Agriculture in Nitra, Faculty of Engineering, Tr. A. Hlinku 2, 949 76 Nitra, SlovakiaThe paper is focused on the issues of controllability of machine-tractor units based on wheel-type tractors during their non-straight driving on the soil surface, which is positioned at an angle to the horizon. There were obtained analytical expressions for the determination of the actual indicator of control λd, including both the power and the design parameters of the machine-tractor unit, which affect the abovementioned indicator in the longitudinal vertical plane. These expressions are obtained for the tractor driving on both road and also driving during field operation. In addition, the paper discusses the conditions under which there may occur the cross-slip of the tractor steering wheels in the transversal horizontal plane. As a result of this review, there were obtained the analytical expressions for determining the required indicator of the controllability λd of machine-tractor unit in the horizontal plane, excluding the possibility of lateral sliding of the unit by turning its steering wheels at a certain angle. These expressions are obtained for the two modes of the machine-tractor unit: for driving during transport on the road and during the operation in the field. The machine-tractor unit based on the wheel-type tractor with rear mounted 3-mouldboard plough was analytically investigated. By means of computer calculations, there was observed the fact that when moving in non-straight direction on the soil surface, inclined to the horizon at an angle of 12°, the machine-tractor unit is controllable only when the angles of the steering wheel of the given tractor do not exceed 9°. During the working movement (ploughing) of the given machine-tractor unit on an inclined field surface, its controllability will be preserved on condition that the angle of the tractor steering wheels does not exceed 11°. According to obtained results, it can be stated that the controllability of the machine-tractor unit is determined by the indicator of controllability, taking into account the value of the vertical load acting on the tractor steering wheels, the possibility of their turning in the horizontal plane, as well as the withdrawal of the machine-tractor unit from rectilinear motion and its movement on the field surface, inclined at an angle to the horizon.https://doi.org/10.1515/ata-2017-0003equivalent scheme of forcesequilibrium equationslifting angleequivalent wheelforce of inertiatires diversion
collection DOAJ
language English
format Article
sources DOAJ
author Bulgakov Volodymyr
Adamchuk Valerii
Nadykto Volodymyr
Kyurchev Volodymyr
Nozdrovický Ladislav
spellingShingle Bulgakov Volodymyr
Adamchuk Valerii
Nadykto Volodymyr
Kyurchev Volodymyr
Nozdrovický Ladislav
Theoretical Consideration of The Controllability Indicator of Machine-Tractor Unit Movement
Acta Technologica Agriculturae
equivalent scheme of forces
equilibrium equations
lifting angle
equivalent wheel
force of inertia
tires diversion
author_facet Bulgakov Volodymyr
Adamchuk Valerii
Nadykto Volodymyr
Kyurchev Volodymyr
Nozdrovický Ladislav
author_sort Bulgakov Volodymyr
title Theoretical Consideration of The Controllability Indicator of Machine-Tractor Unit Movement
title_short Theoretical Consideration of The Controllability Indicator of Machine-Tractor Unit Movement
title_full Theoretical Consideration of The Controllability Indicator of Machine-Tractor Unit Movement
title_fullStr Theoretical Consideration of The Controllability Indicator of Machine-Tractor Unit Movement
title_full_unstemmed Theoretical Consideration of The Controllability Indicator of Machine-Tractor Unit Movement
title_sort theoretical consideration of the controllability indicator of machine-tractor unit movement
publisher Sciendo
series Acta Technologica Agriculturae
issn 1338-5267
publishDate 2017-03-01
description The paper is focused on the issues of controllability of machine-tractor units based on wheel-type tractors during their non-straight driving on the soil surface, which is positioned at an angle to the horizon. There were obtained analytical expressions for the determination of the actual indicator of control λd, including both the power and the design parameters of the machine-tractor unit, which affect the abovementioned indicator in the longitudinal vertical plane. These expressions are obtained for the tractor driving on both road and also driving during field operation. In addition, the paper discusses the conditions under which there may occur the cross-slip of the tractor steering wheels in the transversal horizontal plane. As a result of this review, there were obtained the analytical expressions for determining the required indicator of the controllability λd of machine-tractor unit in the horizontal plane, excluding the possibility of lateral sliding of the unit by turning its steering wheels at a certain angle. These expressions are obtained for the two modes of the machine-tractor unit: for driving during transport on the road and during the operation in the field. The machine-tractor unit based on the wheel-type tractor with rear mounted 3-mouldboard plough was analytically investigated. By means of computer calculations, there was observed the fact that when moving in non-straight direction on the soil surface, inclined to the horizon at an angle of 12°, the machine-tractor unit is controllable only when the angles of the steering wheel of the given tractor do not exceed 9°. During the working movement (ploughing) of the given machine-tractor unit on an inclined field surface, its controllability will be preserved on condition that the angle of the tractor steering wheels does not exceed 11°. According to obtained results, it can be stated that the controllability of the machine-tractor unit is determined by the indicator of controllability, taking into account the value of the vertical load acting on the tractor steering wheels, the possibility of their turning in the horizontal plane, as well as the withdrawal of the machine-tractor unit from rectilinear motion and its movement on the field surface, inclined at an angle to the horizon.
topic equivalent scheme of forces
equilibrium equations
lifting angle
equivalent wheel
force of inertia
tires diversion
url https://doi.org/10.1515/ata-2017-0003
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AT kyurchevvolodymyr theoreticalconsiderationofthecontrollabilityindicatorofmachinetractorunitmovement
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