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UDC 631.3:634.8
ON THE STABILITY OF MOVEMENT OF AGRICULTURAL
AGGREGATES ON SLOPES
Khazratkulov Shermat Azamovich
Deputy Director for Scientific Work of the Bostonlyk Scientific and Experimental
Station, Scientific Research Institute of Horticulture, Winemaking named after acad.
M.M.Mirzaeva, Medicine), Tashkent region, Tashkent district,
exazratqulovshermamat@mail.com
https://orcid.org/0009-0004-8524-8976
Musurmonov Azzam Turdievich
DSc., prof., Head of the department "Mechanization of horticulture and viticulture",
Scientific-research institute of horticulture, viticulture and winemaking named after
academician Mahmud Mirzayev
HTTPS://ORCID.ORG/0009-0003-2969-0973
Utaganov Khusan Baimatovich
PhD, Senior Researcher, Head of the Department "Patenting and Certification",
Scientific Research Institute of Horticulture, Viticulture and Winemaking named
after acad. M.M.Mirzaeva, xusanotaganov6@gmail.com
https://orcid.org/0009-0004-3406-8895
Ochildiyev O‘tkir Ollanazarovich
Research Institute of Horticulture, Viticulture and Winemaking named after
Academician M. Mirzaev, Head of the Department of Viticulture and Microwine,
Senior Researcher
https://orcid.org/0009-0001-0362-042X
Аннотaция.
В статье изложены результаты анализа проведенных научных
исследований по динамике устойчивости движения сельскохозяйственных
машин сделан вывод что определение устойчивости движения должно
включать в себя понятие о способности агрегата востанавливать
первоначальный курс движения в плоскости поля, после прекращения влияния
случайных воздействии.
Ключевые слова
. Анализ, динамика, движение, устойчивость, сельское
хозяйство, уклон, машина.
Annotation
. The article presents the results of the analysis of the conducted
scientific studies on the dynamics of the stability of the movement of agricultural
machines, it is concluded that the determination of the stability of movement should
International scientific journal
“Interpretation and researches”
Volume 1 issue 2 (48) | ISSN: 2181-4163 | Impact Factor: 8.2
262
include the concept of the ability of the unit to restore the initial course of movement
in the field plane, after the cessation of the influence of accidental impacts.
Keywords. Analysis, dynamics, motion, stability, agriculture, slope,
machine.
Introduction
. To assess the quality of the agricultural operation
performed, the "degree" of straightness of the trajectory of the unit is of great
importance. That is why a number of concepts and evaluation indicators are
introduced in the scientific literature to assess the trajectory of the movement
of aggregates. One of the main concepts that characterize the quality of the
trajectory of the unit is the stability of the motion in question.
Stability of movement is a rather broad concept. In relation to mobile
agricultural units, the stability of movement should be considered in the plane
of the field surface and in the longitudinal-vertical plane relative to the field
surface. The slope of the terrain has a particularly significant effect on the
stability of the movement of agricultural units in the field plane. By the
stability of motion in the plane of the field, we mean the preservation by the
unit of a given direction of movement. [1-5]
During operation, a number of disturbances act on the agricultural unit,
tending to deflect it from the given direction of movement. If we assume that
the tractor controls are blocked, then in order to maintain the original course,
the unit must have a lot of inertia, but this will help only with small impacts
and with the ideal condition of the tractor chassis. Usually, under the influence
of random disturbances, the unit, having traveled some distance, deviates from
the given direction. Playing a certain role in maintaining the original motion,
the inertia (mass) of the unit cannot be a decisive factor in this matter.
Materials and methods
In order for the unit to maintain a given direction of movement, it
must itself be able to restore the original course after the cessation of
the influence of random disturbances. Therefore, the determination of
the stability of the movement of mobile agricultural implements should
include the concept of the ability of the unit to set the initial course of
movement in the field plane after the cessation of the influence of
accidental influences.
Materials and methods. Restoration of the given direction of movement of
the unit is due not only to the design of the unit, but also to the subjective
characteristics of the tractor driver. If the behavior of the unit is considered
separately from the actions of the tractor driver, then, of course, the restoring
ability of the unit is determined by the purely design features of the chassis
International scientific journal
“Interpretation and researches”
Volume 1 issue 2 (48) | ISSN: 2181-4163 | Impact Factor: 8.2
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and working bodies of the agricultural implement. At the same time, to
determine the stability of movement, it is necessary to block the controls of
the unit. In this case, the movement of the tractor can be stable only in ideal
conditions and only theoretically, the slightest violation in the adjustment of
the tractor chassis or a change in relief conditions can take the unit off the
given course. Since there are no such ideal conditions in nature, almost any
movement of agricultural aggregates on a horizontal plane, and even more so
on an inclined one, is unstable.
The issues of stability of movement of an individual agricultural tool and
a unit as a whole differ from each other. If on the field plane an uncontrolled
unit moves unsteadily, then agricultural implements, primarily trailed ones, for
the most part move steadily. Here we already mean a steerable tractor,
followed by a trailed implement, maintaining the general direction of
movement for the unit and restoring it in case of violation (Fig.1.).
/
Fig.1. Arable unit.
The instability of the movement of agricultural units in the field plane
predetermines the need for control by the tractor driver. And indeed, if the unit
moved steadily, and after directing it along a given course, the presence of the
tractor driver would become superfluous. Obviously, this would greatly
facilitate the task of automating the driving of agricultural units. [4-12] Thus,
agricultural aggregates in the field plane move unsteadily. This excludes the
possibility of assessing their behavior when performing a number of
operations where maintaining a given direction of movement is of paramount
importance.
However, the concept of stability of movement in relation to agricultural
units can be replaced by the ability of the unit to maintain a given direction of
movement as long as possible (time, path) or deviate from it within
permissible limits. But this ability practically only facilitates the work of the
tractor driver, while the main task of maintaining the direction of movement
remains with him.
The appearance of a tractor driver with his subjective features in the issue
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under study complicates the possibility of a strictly objective study of the
movement of agricultural units and the plane of the field. Meanwhile, many
issues of kinematics of the movement of agricultural units (for example, issues
of turning) cannot be studied without taking into account the control actions of
the tractor driver. In such cases, in fact, the logical actions of the tractor driver
are accepted as one of the links in the control system. Is this acceptable? How
expedient is it?
The actions of such a "live link" of control differ from all mechanical and
other links in that the latter, receiving certain external signals, under other
conditions of the same conditions, always develop quite definite actions, while
the tractor driver reacts differently to the same signals at different times,
although this difference is small. In addition, depending on the subjective
characteristics of tractor drivers, the same signals are also perceived very
differently.
The actions "developed" by tractor drivers under certain influences, being
accidental, cannot but be logical. However, these logical actions vary in a
wide range. By studying the actions of a sufficiently large number of tractor
drivers when performing various operations, it is possible to determine the
intervals of signal distortion by the "live link" of the control system for a
given operation under certain, external conditions.
Of course, a person cannot be unconditionally equated with a mechanism,
because during his work he has a lot of information and applies it. Let's
consider the actions of a tractor driver while driving a tractor in the transverse
direction of the slope (Fig.2.).
Fig.2. Unit for surface tillage
.
When working in the transverse direction of the slope, the tractor must
move along the contours of the terrain. To do this, the tractor driver marks a
landmark at the first pass on the ground and drives the tractor in the direction
of this landmark. The chosen landmark can be located either below the
horizontal on which the tractor originally stood, or higher. Our observations
International scientific journal
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Volume 1 issue 2 (48) | ISSN: 2181-4163 | Impact Factor: 8.2
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show that the visually chosen landmark is most often located below the
original horizontal. When the tractor approaches the original landmark, a new
landmark is chosen, etc. Often the tractor is driven along the intended
horizontal without preliminary outlining of landmarks on the ground. In such
cases, the value of the angle drawn up between the horizontal and the axis of
the actual trajectory along the path traveled can change greatly.
Results. The second and subsequent passes of the tractor are made in
parallel with the first. If the tractor driver has low qualifications, then when
driving, he is guided by the deviation of the tractor from the first pass. At the
same time, the more attentive it is, the greater the frequency of oscillations of
the tractor's trajectory relative to the axis of movement, and the smaller the
amplitude. However, here the transverse slope of the terrain has a strong
influence, under the influence of which the tractor deviates from the horizontal
terrain.
Tractor drivers of higher qualifications drive a tractor using not only the
deviation of its trajectory from the initial baseline, but also derivatives of this
deviation, for example, the angle of the direction of movement drawn up with a given
direction. In this case, the frequency of oscillations of the tractor trajectory relative to
the movement is relatively smaller. The tractor driver can also use other more
complex techniques when driving the tractor, but in all cases his actions are
characterized by a time lag between the moment of observation of the error and the
moment of impact on the controls. This is especially important when applying high
operating speeds of mobile agricultural implements. Moreover, when performing
some operations in crop production, a delay in the reaction of the tractor driver can
prevent an increase in the operating speeds of the unit.
Conclusion. The stability of the movement of mobile agricultural units in
the field plane is due exclusively to the actions of the tractor driver. But on the
other hand, the successful design of the unit, as well as the correct
organization of work, can greatly facilitate the actions of the tractor driver.
Consequently, the type of operation performed, the design features of the
working bodies of the tools and the unit as a whole, and other factors in
themselves cannot give stability to the movement of the unit, but have a huge
impact on its movement.
During field experiments, when the issues of stability of movement and
equilibrium of units in the field plane are investigated, the use of the same
tractor driver is unacceptable. Such experiments can only give the regularities
inherent in a given unit in the process. work on it by this tractor driver.
Therefore, during such experiments, it is necessary to use at least three tractor
drivers of approximately average qualification, and accordingly increase the
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Volume 1 issue 2 (48) | ISSN: 2181-4163 | Impact Factor: 8.2
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number of repetitions of experiments. This is especially important when
studying the operation of agricultural implements on slopes.
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