Synthesis of the law of optimal control of the system of active dynamic stabilization of the movement of a self-propelled machine with a mounted working body

The paper is devoted to the development of systems and technical devices for reduction of dynamic loads acting on operators and the supporting system of self-propelled vehicles. The goal of the paper is to develop an algorithm and a law of optimal control of the stabilization system. The set of tasks to be solved for this is determined, the requirements for the information field are highlighted, the element base of the stabilization system is substantiated. The problem of optimal control of the stabilization system is formulated. The development of a law of control of the stabilization system of the movement of self-propelled wheeled vehicles based on the principle of active inertial vibration damping is presented. The law of optimal control of the stabilization system with the possibility of correcting the requirements for attenuation and the type of transient process was developed. On the basis of quadratic integral criteria, the indicators for assessing the quality of system control are distinguished. It is substantiated that for the system of stabilization of the harvester body it is necessary to regulate the output variables, such as the angular velocity of the body and the angle of the longitudinal inclination of the harvester body. A linearized model of the longitudinal-angular motion of the combine is considered, the equations that connect the laws of the disturbed motion of the body and the law of optimal control are presented. With the help of simulation modeling, the effectiveness of the proposed stabilization method and the law of control of the stabilization system in terms of reducing the longitudinal angles of inclination of the body when driving on an asphalt-concrete highway and a dirt road are shown. The effectiveness of the proposed law of control for suppressing the pitch of the combine body during emergency braking is shown. The calculated values of the power spent on control of the stabilization system for the considered driving modes are given. On the basis of calculations, it is shown that in the total energy balance of the combine, the power consumption for control is insignificant, which confirms the efficiency of the proposed stabilization method and the law of control. Conclusions are drawn, stages and directions of further research are determined.

forage harvester, smooth running, motion stabilization, control algorithm, efficiency, performance