Modeling and Optimal Control of Motion of cotton harvesting machines MX-1.8 and hitching systems of picking apparatus under vertical oscillations

Abstract

Equations of motion of cotton harvesting machines (CHM) MX-1.8 and hitching system of harvesting devices under vertical oscillations are derived in the paper. On the basis of obtained equations of motion the models and algorithms of optimum control of cotton harvesting machine CHM MX-1.8 are developed. The necessary conditions for optimal control of CHM MX-1.8 motion are investigated by applying the Pontryagin maximum principle. The values of vertical oscillation of CHM MX-1.8 and vertical and torsion oscillations of the hitching system of harvesting machines in the process of motion over the roughness on the headland of cotton fields are determined. The drawbacks of the design of hitching systems of CHM MX-1.8, i.e. the non-uniform distribution of force in the shaft of the swinging mechanism of the hitching are revealed.