Theory of Movement of Machine-Tractor Unit with Trailer Haulm Harvester Machine

Abstract

Harvesting sugar and fodder beet tops is a complex technological process that requires the use of special harvesting machines. Trailed harvesters of different rows, which together with aggregate tractors form symmetric or asymmetric machine-tractor units, the movement of which in the horizontal plane is not always stable, are widely used. The purpose of this study is to determine the parameters of stable plane-parallel motion of asymmetric harvester machine-tractor unit based on numerical computer simulation of the obtained analytical dependencies. According to the results of the analytical study, the values of the amplitude and phase-frequency characteristics of the turning angle tractor’s oscillations were obtained. They reflect the reproduction by the angle rotation fluctuations of the haulm harvester machine in the horizontal plane. Calculations have shown that reducing the value of the input resistance coefficient of pneumatic tires of the driving wheels of the aggregating tractor increases its sensitivity to the action of disturbing influences. The greater the sensitivity, the closer the wheels of the power tool are to the attachment point of the trailed haulm harvester. In qualitative terms, increasing the speed of the machine-tractor unit from 1.5 to 2.5 m∙s−1 leads to an undesirable increase in the amplitude-frequency response and desired increase in the phase-frequency response when reproducing its external disturbing effects in the form of oscillations of the angle of rotation of the harvester.