RU2023359C1 - Method of assessing parameters of agriculture machines - Google Patents

Abstract

FIELD: agriculture mechanical engineering. SUBSTANCE: velocity, speed of rotation and load which acts from the side of a tool of an agriculture machine are recorded and slipping coefficient is determined. Power fluxes are then cut off from parts of the machine at different operational regimes and parameters of the machine are determined. EFFECT: enhanced accuracy. 3 cl, 25 dwg

Description

 The invention relates to a method for evaluating the parameters of an agricultural machine and can be used to study tractors, agricultural equipment and the effectiveness of the man-machine-soil system in real work.

 Known methods for evaluating technology, including measuring forces, loading, recording and processing the results. In actual operation of the machine, functional, informational, technological, energy and cybernetic elements and flows in the human-machine-soil system have inputs and outputs that lose information and energy, and losses often exceed the cost of useful work and management is difficult.

 The closest prototype is a method involving the measurement of the load and speeds of the machine and its wheels and the determination of wheel slippage.

 The aim of the invention is to increase information content and facilitate evaluation and management.

 The goal is achieved in that by turning the power flows of the agricultural machine and its parts on and off for each combination of these parameters, the energy flows and capacities of the agricultural machine and its parts are determined, while in the mode of utilization of the energy of the pushing force, the wheel slip coefficient is estimated from zero to minus one. In an energy assessment, power is determined by multiplying the reactive moment of the clutch and speed, and use the clutch as a sensor of information about the moment load.

 When working on a slope, the inclinations of the wheels and the mounted implement are reduced in proportion to their width.

In FIG. 1 shows a diagram of an implementation of a method of obtaining information for estimating energy consumption during actual operation of the unit; in FIG. 2 is a diagram of the implementation of a signal about a change in load and speed relative to their target values M ^' , ω ^' ; in FIG. 3 - scheme of assessment and management of working bodies; in FIG. 4 is a diagram for evaluating a slipping mode; in FIG. 5 is a diagram for determining patterns of measurement of parameters depending on slippage and the sign of the hook load; in FIG. 6 is a diagram of an implementation of a method by an aggregate control device; in FIG. 7 is a diagram of an embodiment of a mechanical connection of a rod with a lever fork for realizing element bonds; in FIG. 8 is a diagram of an embodiment of communication with a gearbox and vertical load corrector (KVN); in FIG. 9 is a diagram of a power indicator; in FIG. 10 is a graphical interpretation of power flows and indicators of energy security management; in FIG. 11 is a diagram of a method for ensuring environmental safety of management; in FIG. 12 is a diagram of the priority (priority) of the formation of the trajectory and the load and speed modes; in FIG. 13 is a diagram of the relationships and interferences of parameters; in FIG. 14 is a diagram of a change in regular relationships of process parameters in traction and braking modes; in FIG. 15 is a diagram for obtaining speed and power information by a tachogenerator; in FIG. 16 is a flowchart of a method of using information about the load moment and speed to control the engine (D), the utilizer (UT), the brake (T) in braking mode and the transmission i _tr , vertical load corrector (KVN) and traction resistance P _{cr of the} gun with taking into account the values of the moment M and frequency P ^' corresponding to the economical mode; in FIG. 17 is a diagram of energy utilization by transmitting reactive power P _p and power N _p to the input of the power take-off shaft to drive the working bodies; in FIG. 18 is a diagram for determining the utilization power N _ut when inputting the energy of the pushing force P _r through the ground P _φ , N _φ , transferring N _{p of} utilized power N _ut to the input of the drive of the working bodies; in FIG. 19 - patterns of changes in the efficiency of energy distribution (E), adhesion coefficients φ ₁ , φ ₂ and force P _φ1 , P _φ2 , power towing N _b , rolling N _f , rotation N _p , lateral force P _b and differences in the coefficient of adhesion Δ φ of the propulsion depending on the displacement of the plane of the mover from the wall of the furrow and its depth h _b ; in FIG. 20 is a diagram of the coordination of energy flows when rolling one wheel along the bottom of the furrow; in FIG. 21 is a diagram of the formation of the program of interaction of the elements of the unit when implementing the signal of the torque load sensor; in FIG. 22 is a diagram of the formation of a program of interaction and interconnections of processes when implementing a signal about a change in speed; in FIG. 23 is a graphical explanation of the indicators and the logical relationship between the turning power and the difference in speed between the sides and the turning radius when forming a curved path to evaluate the speed control program; in FIG. 24 is a graphical assessment of the limitations of turning and lifting tools on a slope; in fig. 25 is a graphical assessment of the relationship of the inclination of the wheel, radii, speeds and forces when working on a slope.

 The method is as follows.

Information about changes in energy flows - components of the power balance - is obtained from the clutch - the load sensor, speed sensor and power indicator. The structure and operation modes of the elements of the unit are evaluated based on the coordination and combination of measurements, taking into account the harmfulness and usefulness of the phenomena during the real operation of the unit and its elements. Power 1 (Fig. 1 and 10) is determined taking into account 2 signs of the load moment M for determining the resistances and capacities 3 - components of the power balance: maintenance costs N _о , overcoming transmission resistances N _tr , slipping N _b , rolling N _f , inertia N _j, lifting n _α, drive n _ave and PTO n _in, drive n _m and hydrodrive n _r, adjustment of vertical loads n _kvn, turning n _n, circulation parasitic power n _DH hook n _cr, evaluation 4 coefficients beneficial and harmful effects in traction mode and determination of 5 power N _t , braking, shifting yes 6, starting _pu N N utilization _y N _to compression braking transmission T _t and T of the wheels _to the evaluation coefficients useful reaction η ^I = N _p / N, utilization η _y = N _y / N and harmfulness 1- η.

When evaluating the control of the unit in the traction mode, the signals 7 (Fig. 2) of the sensors and the power indicator are used after comparing 8, 9 values of the moment M and speed ω with their permissible values for stabilization 10 or correction 11 of the hook force, providing feedback 12. By using 13 (Fig. 3) the information of the power indicator determines the 14 sign of the load moment for regulating the 15 gear ratio of the transmission i _tr , the hook force P _to (power regulation) at M> 0 in traction mode or controlling 16 engine, generator and shutter with output whose 17 information is in an inhibitory mode with the transfer of 18 into such a mode without human intervention.

 When accounting and evaluating slippage, the method involves measuring the sliding (slipping) ΔV and motion V 19 (Fig. 4), determining 20 slipping B, comparing B with zero 21 to determine 22 speeds V = rω - ΔV by the radius and angular velocity ω of the wheel in traction mode or speed 23 in braking mode with the transition 24 in this mode, if B <0, V = rω + ΔV.

In the environmental and economic assessment of the aggregate, the patterns of linear and angular speeds of the wheels, slipping, sliding depending on the sign of the hook force and the effect on the soil are determined taking into account slipping 25 (Fig. 5), comparison 26 with zero to go to search 27 patterns of desire to unit, when the sliding and moving velocities determine 28 by the sign of change
ΔV-> rω, V = r ω - Δ V, or by stopping V = 0, ΔV = 0, if B = 0 in block 29, and transition 30 to this from block 31 of searching for the law B -> -1, or to block 32 definitions
ω -> 0, ΔV -> V, Δω ->ω; Δ ω / ω -> 1.

To implement these processes, the device includes a drive 33 (Fig. 6) of the engine controller, the weights 34 of which can give a signal; move the clutch 35, compress the spring 36 taking into account the settings by the lever 37, move the rail 38 of the pump relative to the scale 39 with the arrow 40 of the pointer, the rod 41 of the lever 42 with the hinge 43, the lever 44 and the adjustable rod 45, 46, control the KVN 47, the control valve 48 of the power regulator , hydraulic cylinder 49 regulating the traction force of the gun P _cr (depth, and when the working body 50 is turned off by turning the beam 51 and the working width) and gearbox 52. Communication spring 53 of the brake of the three-link planetary gear with sun gear 55 and satellites 56 make up a load sensor - a clutch controlled by rods 57 and 58 of the lever 59. Hinges 60 of the levers, communication fork 61, a movable scale 62 arrows 63 power indicators, the engine of which is connected with a regulator, they can adjust the gear ratio of the transmission, the working width, the depth of tillage and vertical loads. In this case, the signal is transmitted and implemented with or without amplifiers, and the communication elements can be mechanical, electrical and hydraulic. The tuning and communication elements 37, 38, 40, 41, 43, 45, 46, 64, 65, 66, 67, 69, 70, 71 of the mechanical type do not require energy converters. Without these connections, the method is implemented manually using information 0 power 1, the position of the rack 38 and the engine. This embodiment of the method is an alternative to manual control without information and assessment by ear and eye. On a scale of 39, the pointer provides information about the deviation Δ ω from a given speed. The implementation of this signal by the gearbox, KVN and the engine eliminates the deviation. Therefore, on a scale 39, an error is measured for manual correction. With one unchanged position of the lever 37, the signal Δω - >> ω characterizes the speed and can be entered into the power indicator. At other positions of the lever 37, the readings must be calculated. Therefore, when evaluating the lever 37 is fixed in the designated place and on the scale get ready-made values.

 To measure power without mechanical connections, use the speedometer signal. The signal Δω can be obtained for implementing the control method from the constant excitation generator by turning off the voltage regulator, and when the excitation current is regulated by the torque load sensor, the generator voltage characterizes the power, since the magnetic flux is equivalent to the load M, and the rotational speed n is the shaft speed, i.e.

 N = c n M, where c is the generator constant characterizing the number of pole pairs, the shape and length of the windings. The balancer (rotary) installation of the generator allows an assessment of the control flow. It is advantageous to use electrical signals with a large distance of the controls and in the microprocessor, to the input of which signals ω, M are supplied to multiply, obtain a signal about the value of N at the output, facilitate the storage of information in memory and the image on the screen. Signals about the load are used to adjust it and the resistance of the gun. The close arrangement of the controls facilitates the use of mechanical coupling, including a fork 61, a pin 64 and a rod 65 (Fig. 7), a pin 66 (Fig. 8) in a comb 67 with a retainer 68 in the form of a spring and a comb 69 with teeth 70 for the valve 71 of the valve 48 (72). Other regulation of the length of rods 41 and 45 is also possible.

 A variant of a mechanical power indicator includes a lever 44, a rod 73 (Fig. 9), a guide 74 on a fork 61, a scale 62, an engine 75 with an arrow 63. During operation, this indicator gives information in the form of a product of the load moment M and speed ω, i.e. . power N.

 The method is implemented by determining the power (Fig. 10) and the values of energy flows during setup, maintenance, diagnostics, testing and evaluation of the elements of the unit and environmental conditions. It provides for taking power indicators before and after turning on the desired stream (element), using, as necessary, rectilinear and curvilinear movement on the plain and rise during acceleration and after with and without load on the hook, PTO and hydraulic drive, with and without KVN with 2 and 4 driving wheels, if provided on the tractor, determination of estimated indicators and coefficients, correction of modes to the optimum value during operation.

Transmission servicing costs are determined by 76 according to the indicator before and after inclusion in the form of the difference of these two readings N _o1 , N _o2
N _o = N _o1 -N _o2 .

The power loss in the transmission N _tr 77 is equal to the difference in the readings of the pointer when the transmission is switched on N _t1 and N _{t2 off}
N _Tr = N _t1 -N _t2 . In this case, the wheels must be raised.

The power lost on slipping is determined by 78 in one of the ways
N _b = N _b1 -N _b2 -N _cr -N _f = ΔVP _cr ;
N _b = N _count b; N _count = NN _o -N _Tr , where N _b1 , N _b2 - readings of the device when moving with and without load;
P _cr - traction force on the hook.

The power spent on self-propulsion in specific conditions is determined by disconnecting the load on the hook and PTO in the plain after acceleration and in a rectilinear motion 79 N _b = N _α = N _j = N _CR = N _p = N _PT = N _p1 = N _qv = N _cr = N ₁ = 0; N _f = NN _o -N _Tr

The power spent on overcoming the ascent 80 is N _α = N _{α 1} - N _{α o} = (N _α - N _{α Y} ) / 2 where N _α , N _{α o} , N _{α Y} are the readings on the rise, plain and slope.

The power lost in overcoming the inertia forces is defined as 81 the difference between the readings during acceleration and after it (with steady motion) with speed V or along the path S with an estimation of adhesion coefficients φ and traction efficiency φ _e or without them
N _j = N _j1 -N _jo = G φ V = G φ _e S b.

The power 82 lost by the drive of the power take-off shaft (PTO) is determined without load and switching on
N _p.vom = N _in1 -N _in .

The power consumed through VOM 83 is defined as the difference of measurements with and without load (turning it off)
N _in = N _int -N _in .

The power spent turning 84 is defined as the difference in readings when turning and rectilinear movement N _straight
N _p = N _p ¹ -N _straight .

The power lost by the hydraulic actuator 85 is determined by the readings when the hydraulic actuator is turned on and off without load
N _m = N -N _{SG1 SG2.}

The power of the hydraulic actuator 86 is determined by the assessment with N _g1 and without N _th power take-off
N _g = N _g1 -N _go , where N _g1 , N _go - power with and without load.

The power spent on correcting the vertical loads 87 is equal, N _kvn = N _k1 -N _k o, where N _k1 , N _ko - power with and without KVN.

Power lost on slipping when turning on and off KVN 88
N _bq ^' = N _bq1 -N _bq .

The power loss for its circulation in the transmission 89 (parasitic power) is determined when working with one N _{φ 1} and two N _{φ 2} drive axles, taking into account slipping and hook load and increment ΔN _b of power loss per slipping from changing the wheel formula 4K2 to 4K4
N _ct -N = N _{u1 u2} + ΔN _b.

Hook power 90 can be determined in two ways.
N _cr = N _k1 -N _k2 ; N _cr = VP _cr, where V, P _cr - speed and force on the hook;
N _k1 , N _k2 - readings with and without load, taking into account other flows.

The coefficients of beneficial and harmful effects of 100, 101, 102, 103, respectively, are determined by the formulas
η _k = N _cr.kvn / N; η = N _cr / NN _vom ; η _t = N _cr / N; η _B = 1-η, where η _k characterizes the efficiency of the wheel scheme (formulas) and KVN when optimizing the operating mode, here η _k is the efficiency of the KVN; η ₁ η _t - tractor efficiency; η _B - HPC coefficient of harmful effect.

 Adjust (K) 104 operation (P) 105 based on current information and operating conditions.

Starting power N _PU 106 is measured during the starting period from the tug.

The recovery power N _at 107 is determined by turning on and off the utilizer N _у1 , N _уо :
N _y = N _y1 -N _yo .

Braking power 108 corresponds to the indication when driving in braking mode with the utilizer turned on
N _t = N _y + N _p .

Compression power 109 is measured by turning off N _ko and turning on N _to 1 decompression mechanism
N _k = N _k1 -N _ko .

 Reactive power 110 is equal to the hook power if the sign is negative.

Braking transmission T _t and T _{to the} wheels 111 permit limited power when the recovery for the destruction of surplus power in emergency conditions.

The coefficients of the beneficial and harmful effects of reactive working bodies 112, 113, 114, respectively, are equal
η '= N _p / N; η _Y = N _y / N; η _B = 1- η '.

When working with reactive working bodies, the hook load is reduced to zero and changes sign. Therefore, the efficiency is η = N _cr / N.

N _p ->0; N _cr ->0; η = N _floor / N; η = A _floor / A = P _floor V / N, where N _floor - net power; And _gender is useful work; A - all work; P _gender - useful power. Similarly
η _B = N _bp / N; N _BP = NN _floor , where η - HPC in the mode of operation with jet weapons; N _in - harmful power.

dt; _]
η_B = 1- η , где А_в - вредная работа, P_p,S_p - сила и путь рабочих органов;
t - время.Usefulness and harmfulness are evaluated as follows: η = A _floor / A; And _gender = P _p S _p ; A = A _floor + A _in = (N _o + N _mp + N _in + N _f + N _α + N _j + N _pr + N _in + N _pg + N _g + N _p + N _qv + N _ct + N _cr )

dt; _]
η _B = 1- η, where A _in - harmful work, P _p , S _p - the strength and path of the working bodies;
t is time.

 From here it is easy to determine the usefulness and harmfulness of large masses and costs, the desirability of reducing the number of passes - the mileage and movement of the working bodies relative to the tractor and wheels along the bottom of the furrow when plowing.

 Tracking 115 (Fig. 11) for slipping, comparing 116 current values with permissible, increasing 117 of the additional loading of the drive wheels and reducing the load if slipping is higher than the permissible value of 118 of the additional loading, if the clutch is improved by transitions 119, 120 when tracking the coupling conditions by entering part of the output A negative control signal input improves machine communication with the soil.

 In real operating conditions, tracking 121 (Fig. 12) for power and speed involves taking into account the 122 turning radius, the formation of the path 123 of movement in the first place, and then the load mode 124. When optimizing the load mode, the gear ratio of the transmission is controlled, the engine is controlled, the vertical loads and the resistance of the implement in the block are adjusted, 125 is stopped at a zero turning radius, and transition 126 is determined when adjusting to the turning radius.

The formation of the trajectory and the kinematic assessment of the unit during the implementation of the method includes tracking the angle of rotation with a course of 127 (Fig. 13), which is a function of f differences Δ of the thrust forces P, slipping coefficients δ, adhesion φ, fluid pressures in the cavities of the volumetric energy divider P ^' , moments M load, gravity G, traction R _k , radii r of wheels, drop δ ', paths S, speeds V, angle of rotation of the guns α _p , angular velocities ω, comparison of 128 heading angle α _k to zero, comparison 129 of this signal with the command human and correction (K) 130 courses and regimen taking into account om the results of the target values of the functions, the patterns of changes of which are shown in FIG. 14, where for the speed V of the angular speed of the wheel ω, efficiency, sliding (slipping) δ, wear And depending on slipping, the patterns of change in traction I, braking without slipping II and with braking III with sliding when changing slipping and sliding from (- 1) to (1), including the zero value δ = 0; P = 0; ΔV = 0. Efficiency and traction efficiency coefficient φ _e indicate the area of optimal operation, ω _t - to reduce the angular speed of the wheel to zero during braking and stopping.

 A person uses information about changes in energy flows and minimizes the costs of slipping, adjusting reactions, coordinating wheel operation (circulation in a parasitic power transmission), forming a course (regulating airborne forces and speeds), turning at the end of the headland, reducing idling, and then closes the circuit engine control, transmission, control mechanism of the working machine and controls the execution of the process. The signal about the load and speed is passed to the executive elements of the pump, gearbox, power regulator, implemented by adjusting the fuel, gear ratio and traction resistance. At the same time, part of the output signal is fed into the control input with a negative sign: a decrease leads to an increase in the parameter, an increase from external influence, a decrease to normal (preset mode), as a result of which the modes and parameters are stabilized.

When slipping and sliding, regardless of radius, the point of contact of the tire with the soil, the machine moves backward relative to the supporting surface when slipping and forward when sliding in the brake mode (Fig. 14). In braking mode, the speed of the point of contact with the soil reaches the speed of the axis
ΔV _ → _V; δ = ΔV / V _ → -1. As the load increases in traction mode ΔV _ → V; δ _ → 1. In each case, the swing radius changes negligible. Therefore, the speed consists of the speed of pure swing and glide or gobbling
V _n = ω r ± Δ V. The plus sign is taken when driving in braking mode, minus - in traction. Similarly, the path traveled by the unit consists of a rolling path and a sliding or slipping path
S _n = S ± Δ S; S = r ω t;
Δ S = Δ Vt; δ = Δ S / S. The work and power of pure rolling and slipping or sliding, respectively, will be
A _p = A ± ΔA; N _n = N ± ΔN; A = PS;
ΔA = PΔS; N = Prω; Δ N = P ΔV. From here it is easy to understand the energy losses in the traction mode and increments in the braking mode, energy recovery, the range of changes in the kinematics of the rolling wheel and determine ways to optimize the work, since
δ = Δ V / V = Δ S / S = Δ A / A = Δ N / N varies exactly within the unit or 100% and in sign Δ A - >>A; Δ N - >> N.

dt
Когда мощность утилизатора исчерпана, некорректированная утилизатором скорость регулируется тормозами. Это допустимо в случае технологической необходимости. С учетом изменений параметров во времени E=ηr

dp_т

dω

dt;

dp_т=r

dG, где G - сила тяжести в контакте колес с почвой. Если мощность торможения близка к мощности, теряемой на скольжение колес, эффективность утилизации близка к нулю. В этом случае износ и снижение ресурса сравнимы с классической схемой, но технологический процесс выполняется агрегатом малой металлоемкости.The power acquired during braking is
N _t = R _t rω = M _t ω = R _t V (1-b), where R _t , M - force and braking moment;
ω, v are the speeds of rotation and displacement of the axis. Realized by the energy utilizer E = N

dt
When the capacity of the utilizer is exhausted, the uncorrected speed of the utilizer is regulated by the brakes. This is permissible in case of technological need. Taking into account changes in parameters over time, E = ηr

dp _t

dω

dt;

dp _t = r

dG, where G is the force of gravity in the contact of the wheels with the soil. If the braking power is close to the power lost on sliding wheels, the recycling efficiency is close to zero. In this case, wear and tear and resource reduction are comparable to the classical scheme, but the technological process is carried out by a unit of low metal consumption.

. Подставляя значения параметров в режиме утилизации, можно найти экономию топлива G_т=g Р_кр· V/1000= N_тg η / 1000, кг. Расход топлива определяется известным способом, например, по ходу рейки.Increasing gravity to reduce wheel slip requires taking into account the cost of transporting additional mass, which creates the need to use soil reactions in a vertical plane, i.e. loading of driving wheels by soil gravity during cultivation. Specific fuel consumption
g = 1000 G _t / N _cr = G 1000 / P _cr V at P _cr _ → 0; V _ → 0, g _ → ∞ does not make sense. When acquiring energy g = G _t 1000 / R _cr ^. V; P _cr _ → _P

. Substituting the parameter values in the disposal mode, you can find the fuel economy G _t = g P _cr · V / 1000 = N _t g η / 1000, kg. Fuel consumption is determined in a known manner, for example, along the rail.

An electric embodiment of a power sensor - a speedometer of a tachogenerator 131 (Fig. 15) with a potentiometer 132 in circuit 134 with a switch 133 and a pointer 135 gives information about the power
N = ECM; E = Cn Φ; N = CnM, where E is the tachogenerator voltage; n is the rotation frequency; M is the electrical signal of the potentiometer of the load torque sensor; Φ is a constant magnetic flux. A simple version of the power sensor is performed in the form of a tachogenerator-speedometer 131, the field winding of which is connected to a potentiometer 132. In this case, N = E = Cn Φ. Here, the magnetic flux is proportional to the load moment.

 Measurement of power and torque without removing the engine from the unit and without installing it on the stand is possible by passing the signal of the tachogenerator 131 (Fig. 15) through the potentiometer 132 of the load torque sensor. A potentiometer in the tachogenerator circuit is connected to the lever of the load torque sensor. This reduces the voltage in proportion to the product of torque and speed, i.e. power. When calibrating, one should take into account the possibility of obtaining power on the torque scale if the voltage satisfies the condition n = 1000 / k, where k is the lever length coefficient. To obtain a signal in the form of speed, the potentiometer 132 is turned off by a switch 133 in the circuit 134 of the wires of the pointer 135 with power scales 136 and speed 137 or speed.

 After evaluation, the information is used for management and control.

 The method for controlling the moment of loading (Fig. 16) includes tracking 138, comparing 139 moments with zero, controlling 140 engine (D), utilizer (Y) 143 and brake (T) 146 on a YES signal or switching NO to 142 frequency comparison П with the target value, control 147 of the engine 140, utilizer, brake 146 and transmission 145, KVN 144 and the resistance of the gun 141 until the signal is eliminated, after which part of the output signal is introduced with the opposite sign to the input, these processes continue, stabilize the operating modes, optimize the work.

The power balance of the unit in traction and braking modes is described by the equation
N = N _o + N _ck + N _{b + N f ± N α ± N} j + N + N _{pr tion} + N _p + N _{m r} ++ N + N + N _{kvn ct} + N _Cr; N = N _mp + N _k + N _y The turning power is equal to the product of the resistance force to the rectilinear movement by the speed of the point of application of this force when turning
N _p = P V.

 The power of hydraulic drives, KVN is determined by turning them on and off. Other components are defined similarly.

When working with a jet gun, the power take-off shaft 148 (Fig. 17), the drive 149 of the working body 150 mounted on the linkage mechanism 151 of the frame 152, the transmission 153 of the wheels 154 constitute a closed loop of energy supply N _{p of the} pushing force P _p minus the losses N _{φ of} interaction with a soil force G φ proportional to the force G of gravity coefficient of adhesion φ, and the speed of movement V and rotation ω, ω = v / r. In this case, the engine power minus losses 155 (Fig. 18) is supplied to the power take-off shaft 156 N _in = N _i + N _y and spent 157 on obtaining N, performing the technological process N _etc. and overcoming the resistance N _{io of the} gun. The received power N _p 161 is transmitted by the linkage mechanism 151, the frame 152 and the wheel 154 to the soil, from which 158 are disposed of in contact with the wheel and in the transmission 159 with a loss of power N _φ 160, i.e. fed to the power take-off shaft, and this is repeated.

The power on the hook in the traction mode P _cr V, in the brake P _p V from the reactive force P _p (Fig. 17 and 18) is fed to the input of the power take-off.

преодолевая сопротивление орудия N_io и т.д., процессы повторяются.The utilized power N _y and the engine power at the input of the power take-off shaft, minus losses in the drives, are consumed by the working bodies, receiving more reactive power N _p 161, performing the technological process N

overcoming the resistance of the gun N _io , etc., the processes are repeated.

At constant speed, a change in the load moment characterizes a change in power, and at a certain radius it also characterizes a change in forces: M = M _o + M _Tr + M _f + M ₈ + M _α + M _j + M _α + M _pr + M _in + M _by + M _pg + M _g + M _qwn + M _ct ± M _cri,
P = P _o + P _tr + P _f + P _α + P _j + P _in + P _n + P _m + P _r + P + P _{q kvn} ± P _cr = P _m + P _a + P _ut.

 You can attribute a negative sign on a slope, during braking and when working with jet weapons. Here the moments and forces have indices similar to those for power balance components.

 On a scale of speed and turning radius, a power balance in the form of balances of torques and forces facilitates machine evaluation.

The familiar relationships of forces and speeds are violated in the contact of tires with the soil, unrealized moments arise from forces M _b , P _b increments of speeds Δ V and slipping power flow.

Energy, economic and environmental indicators are estimated when rolling the movers of one side along the bottom of the furrow, and the offset Y (Fig. 19) of the plane of the mover from the wall of the furrow, in units of the working width of one plow body, shows the possibility of optimizing the trajectory taking into account the energy assessment when shifting by one housing capture width at which the energy distribution efficiency (E), adhesion coefficients φ ₂ compared to φ _{1 of the} field mover reach a maximum, and power costs for slipping N _b , self-transmission the movement of N _{f, the} twists of N _p during the formation of the trajectory, the lateral force P _b and the increment of the adhesion coefficient Δ φ reach a maximum. Proportional to the depth of the furrow displacement from the wall, the coefficient of adhesion changes.

Efficiency is assessed by using the information of the chassis of the ICC 162 (Fig. 20) when forming 163 heading and trajectory by controlling the heading angle, turning radius and speed difference Δ V of the sides, position 164 of the difference in the controversial reactions Δ G and the roll Δ β, and the power difference Δ N 165 to the sides and shear stresses Δ τ of soil 166, soil stresses and hook force P _cr in traction mode and speed 167 in the presence of reactive force P _p utilization (U) and braking (T) of the unit, correction of 168 of these parameters according to the signal of comparison unit 169 and consistency checks and processes in normal (N) 170 functioning if the energy flows are compatible.

Taking into account the requirements of various technological principles, the model of the aggregate load regime formation (Fig. 21) is based on taking into account the load 171, turning radius R 172 and loading moments 173 and utilization 174, turning radius 175, load sign 176 and torque values 177, 178 and their correspondence signals H 179. With a zero turning radius, the shaper at the YES output has a brake control signal 180 for the transmission. A different radius value gives out a NO signal for control taking into account the load moment 171 and its comparison in blocks 176-178 with the optimal value and sign. At the YES output of these blocks, a signal arises for controlling the wheel brake 181, the gearbox 182, and the engine 183 according to the following principle with feedback 18 for inputting the output signal by the opposite sign to the control input. From the outputs of NO blocks 177 and 178, the signaling device provides information on the normal functioning of 179. It is possible to work without such a signal, as shown in relation to the brakes. Control errors at the moment of loading accumulate and form a signal about a change in speed 184 (Fig. 22). When controlling by the speed change signal, the radius 185, critical speed V _to 186, optimal speed V _about 187, technological speed V _t 188 are taken into account, signals are generated in blocks 189-192 for comparing and controlling the brakes 194 and 195 of the gearbox 196, engine 197 the following principle with negative feedback 198 for monitoring and control in rotary, traction and technological modes with the issuance of information on the normal functioning of 193 from NO outputs or continuous correction under alternating load. From the output of the YES unit 189, the signal brakes the transmission until it is completely rotated to the desired angle. From the output NO signal is given to control the engine, gearbox and brakes. Similarly, from the NO output, the block 190 is controlled. The variation of the power balance components depending on the radius in a graphical interpretation is given in FIG. 23.

On a slope, the height and width of the guns are evaluated and limited (Fig. 24)
h '≥ 0.5 B' tg β, B '≅ 2 h' / tg β. When forming the trajectory of the movement of the unit, the connection between the rotation of the frame 199, the wheels 200 and the tools 201, the mutual influence of the tilt angles β and the rotation α _to the sensor wheel (Fig. 25) are evaluated and characterized by the equalities:
tan α _k = tan β / π; tan α _k = π (r ₁ - r ₂ ) / b
tg β = (r ₁ - r ₂ ) b.

Evaluation of the propulsion system involves reducing the influence of differences in rolling radii across the width of the tire
Δr = r ₁ - r ₂ = b tg β = π b tg α _к ,
Δ V '= 2 π Δr, where r ₁ , r ₂ are the rolling radii of the layers separated by 0.3 b from the sidewalls; b - tire profile width; ΔV ^' is the change in speed in width, since the number of wheels of one side is limited by the total width of the support
b ≅ Δ r / tg β.

 The change in the rolling radius along the width of the tire relative to its middle plane and the angle of inclination (slope steepness) is evaluated and limited, respectively, by the values Δ r = 0.5 b tg β; β = arctan r Δr / b.

When driving on a slope and when curving, the hook power
N _cr = P _cr V = P _p V _i V = (V ₁ + V ₂ ) / 2.

When turning a zero radius V ₁ = -V ₂ ; N _cr = 0.

 The power of the engine and each cylinder individually is checked by turning them off one by one, the unevenness of the fuel supply, the moment of fuel supply, the timing of the gas distributor, the violation of the tightness of the combustion chambers are assessed, gives an idea of the technical condition.

 When the work of expanding the functionality and changing the technology repeats the energy assessment.

Actual wheel speed at
r _k = 0; c = Δ r / r = -r / r = -1; V _g = r ω (1 + c) = 0. Obviously, when the wheel completely glides, the speed loses its connection with the radius and speed of rotation, as it turns into a runner. Due to the fact that the slipping coefficient varies within 0-1, and the slip - within 0 (-1), the unit equally evaluates and characterizes a complete violation of the rolling kinematics. When the axis stops in the first case and the movement without wheel rotation in the second, the energy of the engine and the utilizer is completely lost. Moreover, the slide is naturally not related to the radius of the wheel. Wheel slip can be reduced or eliminated by adjusting the resistance of the utilizer and known techniques for improving traction and changing tangential forces.

The pushing force is limited by the capabilities of the wheels and the utilizer, just as the traction force is determined by the engine and clutch. The pushing force on the clutch wheels and the utilizer, respectively, will be P _t = φ _t G; P _ut = M _ut η _UT i _tr / r _k . Compared to skidding that evenly wears the tire, sliding accelerates local wear by 2 π r / l ₁ times, where l ₁ is the length of the contact area of the tire with the soil. Therefore, the power of the energy utilizer of the pushing force is limited
Nу = P ₁ Q; P = P _ut η / F, where P ₁ is the pressure of the working material; Q ₁ - feed; F is the piston area of the utilizer; η- efficiency. Since energy is lost in proportion to the load in the circulation circuit of the utilized power, it is advisable to evaluate the speed of movement. The range of regulation of the power of the utilizer, speed and pushing force is estimated taking into account the allowable slip and the coefficient of efficiency of disposal. In the absence of a utilizer, a pushing force equal to the resistance to movement excludes slipping and slipping.

Wheel efficiency in recycling mode
η _ku = η _fk ˙ η _t = η _fk / (1 - C), where η _fk - rolling efficiency; η _t - braking efficiency during energy recovery.

;
N_кр= ±PV/1000, где N^' - мощность привода рабочих органов; N - мощность двигателя. Знак мощности определяется знаком силы. Очевидно, что тяговая сила снижает КПД, а толкающая повышает. При этом мощность двигателя может быть дополнена мощностью утилизатора. Это снижает расход топлива. Толкающая сила рабочих органов облегчает движение по контуру поля без нарушения агротехнических требований. Это объясняется тем, что облегчается оборот пласта вверх толкающей силой тяжести на уклоне и движение вверх и поперек склона - силой почвы. Это снижает чувствительность обработки почвы к направлению движения, обеспечивает свободу выбора траектории и движение вверх для обработки узких полосок на пересеченной местности.Total efficiency η =

;
N _cr = ± PV / 1000, where N ^' is the drive power of the working bodies; N is the engine power. The sign of power is determined by the sign of strength. Obviously, traction reduces efficiency, and pushing increases. In this case, the engine power can be supplemented by the power of the utilizer. This reduces fuel consumption. The pushing force of the working bodies facilitates movement along the field contour without violating agrotechnical requirements. This is due to the fact that the upward rotation of the formation by the pushing gravity on the slope and the movement up and across the slope by the force of the soil is facilitated. This reduces the sensitivity of the tillage to the direction of movement, provides freedom of path selection and upward movement for processing narrow strips on rough terrain.

The accumulation of energy on a slope and the flow rate on a hill stabilizes the engine load if the heat recovery capacity
N _y = V η Gsin β / 1000. When the unit moves horizontally along the slope, the additional resistance (Gpsin β) to the movement and the component of gravity Gр of the second working body provide dynamic balance and stabilize the movement. The effect of the soil on the working bodies of the right and left burs is evaluated and balanced in a similar way, when the need arises, the use of the working body to compensate for lateral force, stabilize the course and braking. The flow of power to the chassis on the lift and incline will be
N _α = (P _f ± P _cr ± Gsin β) V η / 1000. Here the minus sign is taken for bias. The difference in power on the rise and slope
ΔN = 2V η Gsin β / 1000
Power from gravity and soil reactions when treating a formation up and down
N _p = (P _f ± P ± Gsin β) V η β / 1000. In this case, also the power difference 2N _p = 2Vη G sin β / 1000. This coincidence of power differences in traction and braking conditions characterizes the equation
N _α -N _p = (P _f + P _cr -P) V η / 1000. The mode is characterized as follows:
P _f + P _cr >P; N _α > N _p - traction;
P _f + P _cr <P; N _α <N _p - inhibitory;
P _f + P _cr = 0; N _α = N _p - neutral. The lack of power in the wheel drive circuit in neutral mode indicates the transfer of all power to the working bodies.

 The patterns of changes in the engine load and power flow to the chassis do not coincide, since changes in the pushing force of the driving moment determine the regulation of the braking (utilization) power in proportion to the speed and negative moment with the transfer of a part of the output signal by the opposite sign to the control input of the utilizer. In this case, a change in the gear ratio of the transmission increases the adaptability of the utilizer to a change in load, and expands its regulation range. The laws of regulating the gear ratio of the transmission in the traction and braking modes are the same, therefore, the sensor operation on a slope and ascent does not require human intervention, proportionality of the gear ratio to the negative moment is ensured taking into account the settings in the same way as in the traction mode. It appreciates auto braking.

 Due to the fact that the drive of the working bodies is rigidly connected to the wheel drive, the speeds of the relative and translational movements of the working bodies are synchronized. Speed control by the engine equally affects these speeds of the working body. Outside of such regulation, a change in the gear ratio of the transmission expands the limits of the permissible parameter change. This facilitates the use of a load sensor and anticipatory information in alternating modes to control the engine, the utilizer and the transmission, as well as evaluating the efficiency of the unit.

In the neutral mode of operation of the wheels, the driving force of the unit is created by the working bodies. The leading moment of the working bodies increases with the transition of the wheels from the neutral mode to the driven and braking ones and creates a negative (driven) moment on the wheel drive
M _k = M _g i _tr η _tp -P _t r _k η _tp , where M _g is the engine torque; _{I mp} i, η _TP - gear ratio and the transmission efficiency; R _to , r _to - tangential force and radius of the wheel.

 When assessing energy flows, it is necessary to take into account the bio-cybernetic properties of the influence of control circuits, the effect of low energy consumption, the transformation of communication circuits with the external environment and balancing forces in a machine, without a field board. A nodal point with a partially inhibited link gives information about the energy flow passing through this point. An inhibited flow of energy can control and utilize energy by returning to the point of selection, a regular change in the flow of information can affect the parameters of other flows.

 The wheels receive energy from the working bodies and the engine, they compare forces and resistances and perceive the absence of difference as free rolling.

 If, by turning on the drive of the reactive working bodies, to load them, the pushing force facilitates movement, reduces the flow of energy from the engine to the wheels and increases the flow from the wheels to the drive of the working bodies. The presence of inhibition, elasticity, clearance near the back of the working body to interrupt the working body - soil circuit and balancing soil reactions and drive forces reduce energy costs for the implementation of the technological process of tillage.

In the well-known methodology for evaluating a technological tool - a plow, the efficiency factor takes into account dead resistance and dullness of the share. The friction losses of the field board and the blade should also be considered and their negative effect on the soil affects the energy, economic and environmental assessment of the efficiency of the unit
η _a = 1- (fG _a + P _mp + P _α + P _p + P _k ^' ) P =
= 1- (N _f + N _tr + N _α -N _p + N _ko ) / N _vom , where P _k is the resistance force to the movement of the carriage along the track of the frame; P _to ^' - thrust force of the working body back; N _tp - the power of friction of the working bodies on the soil; N _ka - power of the carriage.

The efficiency of the reactive type plow η _p = 1- (fG _a + P _Tr + P _p ) / P, where P _Tr is the friction force of the working bodies on the soil; G _p - the gravity of the plow.

η = 1- (fG _p -Р _Tr ) / P - - the efficiency of a conventional plow, taking into account friction.

The resistance force of a conventional plow is the resistance to the movement of the unit, and the reactive plow is the resistance to the drive of the working bodies. If the pushing force provides the self-movement of the plow η _p = 1-P _Tr / P; fG _p = P _p. When P _p > fG _{a, the} excess pushing force is expended on the self-movement of the unit
η _p = 1- (P _tr + P _f + P _α ) / P.

 When implementing the assessment method, the principles of researching the machine system - terrain - people, training and management measure the load moment, information about the change in the load value is fed to the control input of the vertical load corrector, power regulator of the working implement, transmission, engine and utilizer are displayed on the pointer, multiplied and used to estimate energy costs by the elements of the unit, measure the power flux in the presence and absence of the measured parameter when changing the sign of the load and radius of rotation, as a result there the measurements calculate the coefficients of the useful and harmful effects of the unit, the speed mode is determined according to the course, the sequence of control of the transmission, engine, vertical load corrector and working tool is observed, the interaction of the propulsion and soil is evaluated in the range of the slip from 0 to -1 and the wheel angular speed decreases from zero, when optimizing the trajectory of the tillage implement, the processes are repeated, the mover is allowed to roll along the bottom of the furrow when the frame and implement are aligned, the cutting alignment angle They measure the working width and the height of the tire along the width of the tire from the inclination and evaluate when measuring the power spent on self-movement and turning up during the formation of the trajectory, the energy of the pushing force of the gun is fed to the input of the drive of the working bodies and the reactive power of the gun and the efficiency of the unit are determined. The energy flows to the wheels, hydraulic systems, working bodies of the guns, service elements are determined by turning them off alternately during rectilinear and curvilinear movements on the plain, rise and slope; the processes of forming the course, engine speed, regulating the gear ratio of the transmission, loading the drive wheels, the width and depth of tillage are adjusted based on the assessment of power flows and coefficients of useful and harmful effects, changes in the sign of the load and the value of reactive power.

 At the beginning, a course control program is formed, the speed control program is determined by it, the sequence of control of the transmission, engine, vertical load corrector, wheel loader and working tool is observed; information on changes in energy flows is used to reduce soil compaction, wheel rolling along the bottom of the furrow.

 The moment load sensor is connected to the linkage mechanism with the possibility of additional loading of the drive wheels and power regulation of the resistance of the guns in proportion to the load. If the load is excessively increased, when the transmission and engine control capabilities are exhausted, the tillage depth is adjusted by supplying oil to the lift cavity, when the load is reduced, the oil is released and the implement lowered until the depth is restored, if necessary, the depth is kept constant, using the clutch signal to lift one housing to raising and lowering on a slope. The method of evaluating the machine and the conditions of real work is used in the formation of the trajectory, including rotation, regulation of loads and speeds, support reactions, energy distribution between the sides and other consumers, control of braking by the utilizer, limitation of soil stresses and coordination of all these processes, determination of these indicators and as the principle of their research. All other processes proceed, determine and evaluate by known methods and means.

 When using the proposed method for evaluating and the principle of studying the efficiency of machines, energy flows of an aggregate, energy intensity of technologies, kinematics, dynamics and other indicators during real work without complex equipment and high qualifications, the inclusion of the desired parameter reduces the cost of the time and the complex solution of problems of developing a human-machine-soil system , electronicization, diagnostics of operation and adaptation of equipment to the terrain and user requirements, a radical change in the level of knowledge and application is small energy-consuming processes.

Claims (3)

 1. METHOD FOR EVALUATING AGRICULTURAL MACHINE PARAMETERS, including measuring the load and speeds of the agricultural machine, its wheels and determining the wheel slip coefficient, characterized in that, in order to increase information content, including and disabling the energy flows of the agricultural machine and its parts, energy flows are determined for each combination of these parameters and the power of the agricultural machine and its parts, while in the regime of energy utilization of the pushing force, the wheel slip coefficient is estimated from zero to minus one.  2. The method according to claim 1, characterized in that when evaluating the real work, the reactive moment of the clutch and its rotation speed are recorded, and the power is determined as the product of these values.  3. The method according to claim 1, characterized in that when working on a slope, the angular parameters of the tilt of the wheels and the mounted implement are recorded, each of which, when calculating the parameters of the agricultural machine, is reduced in proportion to the width of the corresponding specified node.

Images