Theoretical research into the stability of motion of the ploughing tractor-implement unit operating on the ‘push-pull’ principle
¹National University of Life and Environmental Sciences of Ukraine, 15, Heroyiv Oborony Str., UA 03041 Kyiv, Ukraine
²National Scientific Centre, Institute for Agricultural Engineering and Electrification, 11, Vokzalna Str., Glevaкha-1, Vasylkiv District, UA 08631 Kiev Region, Ukraine
³Tavria State Agrotechnological University, 18, B. Khmelnytsky Ave., UA 72312 Melitopol, Zaporozhye region, Ukraine
⁴Estonian University of Life Sciences, Institute of Technology, Kreutzwaldi 56, EE51014 Tartu, Estonia
The reduction of power consumption in the ploughing operations can be achieved by way of improving the grip properties of the implement-carrying tractors, which is facilitated by setting up ploughing units for operation on the ‘push-pull’ principle. The aim of the current research is to substantiate the set-up and parameters of the ploughing unit with a front-mounted plough basing on the theoretical investigation of the stability of its motion in the horizontal plane. The methods of research include obtaining the amplitude- and phase-frequency response characteristics of the dynamic system in order to analyse the stability of its motion under the action of external statistically random perturbations. Also, the methods of software development and PC-based numerical computation are applied. The results of the study prove that the increase of the ploughing unit’s travel speed results in the considerable rise of the gain of the amplitude of the tractor’s heading angle oscillation in response to the oscillation of the angular displacement of the front-mounted plough in the horizontal plane. The phase-frequency response displays the same behaviour, changing substantially together with the unit’s travel speed. Raising the coefficient of resistance to tyre slip of the tractor’s rear wheels from 100 to 130 kPa and the front wheels from 140 to 175 kPa results in a minor decrease of the amplitude of oscillation of the tractor’s heading angle φ. The ploughing unit has the best response to the input effect, i.e. the oscillation of the front-mounted plough’s angular displacement βp, when it operates using the 1+5 combination. The increase of the number of front-mounted plough bodies from 1 to 3 results in the substantial growth of the tractor’s heading angle oscillation amplitude. Taking into account the way, in which the ploughing unit as a dynamic system responds to the input perturbance, the increase of its travel speed can be restricted not by the condition of its motion stability, but solely by the agrotechnical requirements applied to such a process operation as ploughing. The ploughing unit’s motion stability substantially improves in case of higher air pressure in the tyres on the tractor’s front and rear wheels. This effect is especially pronounced in the perturbance oscillation frequency range (0…1.5 s–1) that covers the main part of its dispersion.