Determination of the Angle for the Center Line When Entring Into a Turn Between the Rear Section of the Pivot-Architected Tractor and the Trailed Machine

Abstract

Goal of the study is to analyze the change in time of the angle between tractor sections with lateral wheel slip and with different modes of movement of the unit in a turn. To achieve this goal, you must: – analyze the kinematics of turning an articulated tractor with a trailer or a trailed machine and determine the presence of stable and unsteady motion; – to conduct an analytical study of the formation of the values of the angle between the sections of the articulated tractor in time. Research methods. The methodological basis of the work is the generalization and analysis of well-known scientific results on the kinematics of turning a wheeled tractor with an articulated frame, a rational combination of theoretical and experimental research and the use of a systematic approach. The results of the study. The kinematics and traction dynamics of an articulated tractor are considered taking into account the axle wheel slip angles. One of the factors influencing the side slip of the tractor wheels is the pulling force on the hook. The direction of this force when turning is determined by the kinematics of the trailed unit and other parameters. The position of the towed implement depends on the angle between it and the center line of the rear section of the articulated tractor. In the process of studying the angle between the axial lines of the rear section of the articulated tractor and the trailed unit at the turn, three periods were distinguished: the period of entering the turn can be divided into two phases; the period of steady turn, when the tractor and the attached implement move around the center of the turn; and the period of exit from the turn, which is divided into two phases. Conclusions. When carrying out theoretical studies, the dependences of the angle of rotation of the tractor (the angle between the rear section of the tractor and the trailed machine or trailer) were established. The obtained dependences make it possible to determine the direction of the traction force on the hook when turning, which is very important when taking into account the influence of the lateral slip angles of the tractor wheels on the kinematics and traction dynamics.