Mechatronic model of controlled motion of a wheeled machine-tractor unit

Abstract

An important task of agricultural production is to ensure high labor productivity with quality performance of field work. Disturbances from the microrelief of the field surface, inertia forces, transverse and longitudinal slopes of the field cause deviations of machine-tractor unit links from the set trajectory. This leads to a decrease of the quality of work performed and increased fuel consumption due to the increase of the traveled distance. The above-mentioned problems may be solved by using precision farming systems that include motion control systems - thrusters and autopilots. When developing control systems, the actual task is to conduct theoretical and experimental studies to verify their performance. The development of mathematical description of control laws that minimize the deviation of machine-tractor unit links from the given trajectory is one of the most important tasks when creating a motion control system for a machine-tractor unit. This paper describes the algorithm of motion control of wheeled machine-tractor unit consisting of the tractor K-744 and plow PTK-9-35. The description of the mechatronic model of the machine-tractor unit in the CamelView software application is presented. The model describes the internal mechanical interaction of machine-tractor unit links and their interaction with the field surface. The description of the motion control law is implanted into the model to ensure movement along a given trajectory. Mathematical modeling of controlled rectilinear motion is carried out. According to the results of modeling it is found that the value of limiting transverse deviations does not exceed 20 cm for the tractor and 8 cm for the plow. The algorithm of the proposed control may be used when performing field works with decimeter accuracy.