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.
The pneumatic suspension is used to absorb vibration and provide comfortable labor conditions for transportation vehicle drivers. The cause of increased vibration of the tractor, often, are incorrectly matched elastic-damping characteristics of the cushions of the active suspension system, which can not cope (or cope extremely ineffectively) with fluctuations coming from the external background. Since the realization of an experiment for the dynamic analysis of pneumatic suspension takes a long time, the mathematical models of the vehicle suspension system are used to obtain the response parameters of the pneumatic suspension. In the given article the comparative characteristic of spring’s systems with a cylindrical spring and a linear pneumatic spring as a suspension system is given. To carry out the simulation, the Matlab/Simulink software complex was used, in which, based on the previously obtained values of equivalent rigidity, a simulation of the tractor was built. Since the tractor in this model is considered as a linear system, its spectral function was calculated from the spectrum of the input parameters of the path unevenness and the frequency response of the tractor. These parameters were used to analyze the vibration response of the suspension system to assess the effectiveness of the system and, as a result, assessment of the operator comfort. The algorithm of the proportional integral differentiating (PID) regulation of the suspension system was implemented depending on their output parameters as well. The comparative study shows how the linear model of the pneumatic suspension system controlled by a PID-regulator is able to suppress fluctuations arising from road roughness and whether it is effective than a passive suspension system for a vehicle with a coil spring. The criterion of efficiency in this work was the indicator of the tractor's displacement height.
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