Mathematical model of passive withdrawal of a tractor unit

Abstract

Abstract The article reveals the construction of a mathematical model for pulling a tractor unit under the influence of external off-centre forces. The model describes the movement of the tractor and takes into account the force interaction of the tractor propulsion with the soil, as well as the properties of the soil. The construction of a mathematical model of passive removal is based on a combination of two types of movement: controlled and uncontrolled. External forces distort the straight-line trajectory of the tractor. The machine operator is forced to make changes to the control constantly. This entails increased operator fatigue. A mathematical model can be used to design an automated control system. Such a system will automatically correct the rectilinear movement of the tractor. Correcting rectilinear movement is to automatically return the machine to a straight path. The mathematical model allows the analysis of passive withdrawal factors. Such factors include: the modulus of the external resistance force, its direction, and the point of application. Thus, the aim of the study is to build a mathematical model for the removal of the tractor unit under the influence of external off-centre forces. Note that the mathematical model can be applied to the following cases: ploughing operation, dozer blade angle, lying of roadsides with a grader. Improvement of this mathematical model may open up possibilities for studying other issues of passive removal.