Mathematical modeling of dynamic processes of agricultural mobile energy vehicles on an electric drive

The article considers the issues of modeling the processes of agricultural mobile energy vehicles (MEV) with electric drive (ED). A review of modern literature on the problem under study as well as questions on modeling the functional properties of mobile machines and improving the quality indicators of MEV work are presented. A mathematical model of the motion of the MEV with an electric motor is presented, as well as a description of the method used and a sequence of actions for conducting research. Preliminary theoretical studies of motion in different modes of operation have been carried out. The proposed model is convenient for implementation and calculation in any of the applied software products that support the modeling of dynamic systems with an electromechanical drive. The proposed model, the solution of which is based on the methods of numerical integration of systems in the Matlab Simulink software environment, made it possible to simulate the dynamic processes of electromechanical power transmission of MEV during various agricultural operations. With the help of this model, the analysis of electromechanical processes in transient and steady-state operating modes, as well as dynamic processes in the power transmission were carried out. Graphs of changes in the studied parameters of the MEV power transmission are obtained and elastic moments in the joints of the 5-mass design scheme are determined. The use of the model allows you to track the change in statistical characteristics when the conditions of the experiment change. The model has shown its operability when performing simulation of agricultural operations: fertilization, cultivation and sowing, and it can be used at the design stage to study the characteristics of dynamic processes of small-class traction MEV power transmissions with an electromechanical drive. With different parameters of the model, there is a change in the mathematical expectation of the angular velocity of the ED from 147.89 to 156.87 rad/s, a change in the mathematical expectation of the speed of the MES from 4.51 to 4.79 m/s.

1. Godzhaev Z. A., Senkevich S. E., Kuzmin V. A. Promising projects for the creation of robotic mobile power tools for agricultural purposes. Materials of the XII multi-conference on management problems (MKPU-2019): materials of the XII multiconference in four volumes. Divnomorskoe, Gelendzhik: Izd-vo Yuzhnogo federal'nogo universiteta, 2019. Vol. 2. pp. 127–129. URL: https://www.elibrary.ru/item.asp?id=41848052

2. Senkevich S., Duryagina V., Kravchenko V., Gamolina I., Pavkin D. Improvement of the Numerical Simulation of the Machine-Tractor Unit Functioning with an Elastic-Damping Mechanism in the Tractor Transmission of a Small Class of Traction (14 kN). International Conference on Intelligent Computing & Optimization. 2020;1072:204–213. DOI: https://doi.org/10.1007/978-3-030-33585-4_20

3. Franceschetti B., Lenain R., Rondelli V. Comparison between a rollover tractor dynamic model and actual lateral tests. Biosystems Engineering, 2014;127:79–91. DOI: https://doi.org/10.1016/J.BIOSYSTEMSENG.2014.08.010

4. Qin J., Zhu Zh., Ji H., Zhu Zhong., Li Zh., Du Yu., Song Zh., Mao E. Simulation of active steering control for the prevention of tractor dynamic rollover on random road surfaces. Biosystems Engineering. 2019;185:135–149. DOI: https://doi.org/10.1016/j.biosystemseng.2019.02.006

5. Li B., Yuan H. Research on dynamic characteristics and reliability of a new heavy duty tractor. Journal of Advanced Mechanical Design, Systems, and Manufacturing. 2019;13(1):JAMDSM0010. DOI: https://doi.org/10.1299/jamdsm.2019jamdsm0010

6. Hou X., Yue M., Zhao J., Zhang X. An ESO-based integrated trajectory tracking control for tractor–trailer vehicles with various constraints and physical limitations. International Journal of Systems Science. 2018;49(15):3202–3215. DOI: https://doi.org/10.1080/00207721.2018.1535100

7. Ahmadi I. Dynamics of tractor lateral overturn on slopes under the influence of position disturbances (model development). Journal of Terramechanics. 2011;48(5):339–346. DOI: https://doi.org/10.1016/J.JTERRA.2011.07.001

8. Melo R. R., Antunes F. L. M., Daher S., Vogt H. H., Albiero D., Tofoli F. L. Novel conception of an electric propulsion system for a 9-kW electric tractor suitable to family farming. IET Electric Power Applications. 2019;13(12):1993–2004. DOI: https://doi.org/10.1049/iet-epa.2019.0353

9. Baek S.-Y., Kim Y.-S., Kim W.-S., Baek S.-M., Kim Y.-J. Development and Verification of a Simulation Model for 120 kW Class Electric AWD (All-Wheel-Drive) Tractor during Driving Operation. Energies. 2020;13(10):2422. DOI: https://doi.org/10.3390/en13102422

10. Chen Y., Xie B., Mao E. Electric Tractor Motor Drive Control Based on FPGA. IFAC-PapersOnLine. 2016;49(16):271–276. DOI: https://doi.org/10.1016/j.ifacol.2016.10.050

11. Jaiswal S., Korkealaakso P., Aman R., Sopanen J., Mikkola A. Deformable Terrain Model for the Real-Time Multibody Simulation of a Tractor With a Hydraulically Driven Front-Loader. IEEE Access. 2019;7:172694–172708. DOI: https://doi.org/10.1109/access.2019.2956164

12. Osinenko P., Geißler M., Herlitzius T. Fuzzy-logic assisted power management for electrified mobile machinery. Neurocomputing. 2015;170:439–447. DOI: https://doi.org/10.1016/j.neucom.2015.04.095

13. Godzhaev Z., Senkevich S., Kuzmin V., Melikov I. Use of the Neural Network Controller of Sprung Mass to Reduce Vibrations From Road Irregularities. Research Advancements in Smart Technology, Optimization, and Renewable Energy. IGI Global, 2021. pp. 423–463. DOI: https://doi.org/10.4018/978-1-7998-3970-5.ch005

14. Godzhaev Z., Senkevich S., Kuzmin V., Ilchenko E., Chaplygin M., Alekseev I., Prilukov A. Simulation of the dynamic processes of a low-capacity combine harvester movement. Topical Problems of Green Architecture, Civil and Environmental Engineering 2019 (TPACEE 2019). 2020;164:06009. DOI: https://doi.org/10.1051/e3sconf/202016406009

15. Pustovetov M. Yu., Soltus K. P., Sinyavskiy I. V. Computer modelling of induction motors and transformators. Examples of interaction with power electronic converters: monograph. Germaniya, Saarbrucken: LAP LAMBERT, 2013. 209 р. URL: https://www.elibrary.ru/item.asp?id=20797893

16. Dynamics of the road-tire-car-driver system. Pod red. A. A. Khachaturova. Moscow: Mashinostroenie, 1976. 535 p.

17. Cremer L., Heckl M. Structure-borne sound: structural vibrations and sound radiation at audio frequencies. Springer Science & Business Media, 2013. 573 p.

18. Adams V., Askenazi A. Building better products with finite element analysis. Cengage Learning, 1999. 587 p.