Synthesis of a system of inertial dynamic stabilization with control according to a set of parameters measured on board a self-propelled vehicle

The work is devoted to the development of the direction of inertial dynamic damping and stabilization of self-propelled transport and technological machines with a mounted working body. The necessity and possibility of improving the previously developed control equations for the stabilization system has been substantiated. The description of the approach for the synthesis of the control system is given and the application of integral criteria for the formation of requirements for the transient processes of the control system is substantiated. A model of optimal control is proposed, for providing the information field of which a set of parameters measured on board the self-propelled vehicle is determined. The algorithm of the control system is adaptive, automatically reconfiguring the gain in the system depending on the change in its inertial parameters. On the example of the kinematic diagram of the drive by the mobility of the adapter of a modern forage harvester, a design diagram is presented for recalculating the values of the required stabilizing moments into the force developed by a hydraulic cylinder or other executive drive. The requirements for the information field of the stabilization system are given in the form of a set of measured parameters, the range of their measurements, the locations of the sensors and the permissible measurement errors. A set of criteria for the effectiveness and efficiency of the stabilization system is proposed. On the basis of numerical experiments, the values of the tuning coefficients of the stabilization system were selected and the transient processes of changes in the angles of the longitudinal inclination and the longitudinal angular velocity of the body were constructed under a single shock loading of the machine. It is shown that the proposed approach provides asymptotic stability of the considered oscillatory system. In order to assess the performance on the basis of simulation modeling, oscillograms of changes in the angles of rotation of the adapter and the forces on the rod of the hydraulic cylinder when the combine moves with the stabilization system turned on on a dirt road and asphalt concrete at different speeds are constructed. The evaluation of the development efficiency is given. The conditions for the modernization of the existing generation of combines for their equipping with the proposed stabilization system are formulated. Conclusions are formulated and directions for further research are determined.