DINAMICA GENERAL A COMBINELOR AUTOPROPULSATE FR BUNCRE THE GENERAL DYNAMICS OF SELF-PROPELLED COMBINES WITHOUT BUNKERS

Lecturer Gheorghe POPA, Ph. D. student Professor Alexandru-Grigore PISOSCHI, Ph. D. Lecturer Augustin CONSTANTINESCU, Ph. D. student University of Craiova, Faculty of Mechanics, Department of Road Vehicles, Equipments and Machines for Agriculture Abstract: This paper is a study of the general dynamics of self-propelled agricultural combines without bunkers, both when these combines work solo and when they have a towed semitrailer, in case of moving on plane ground or on a transversal steep incline (on the level curve). The study has been made in order to determine the factors which influence stability, manoeuvrability and maniability, for improving these dynamic characteristics. Key words: Self propelled combines, general dynamics. 1. SELF-PROPELLED COMBINES WITHOUT BUNKERS

1.1 Self-Propelled Bunkerless, Solo Combine The group represented by this type of combines includes the combines used to harvest beet and those used to harvest fodders. With such combines, the harvested material is collected in means of transportation which move in parallel with the combine. The forces and the moments which actuate are those mentioned in figure 1.1, except for the traction force Ft . The combine movement speed is considered constant (v = ct). The driving axle is at the back of the combine. The soil reactions on combine axles are determined from the equations of moments related to points B and A: Z1 (L + r1 f1 r2 f 2 ) (G + G ) b = 0 which implies

L + r1 f1 r2 f 2 where b = L r2 f 2 a

Z1 =

(G + G ) b

(G + G )(L r2 f 2 a )
L + r1 f1 r2 f 2

(1) (2)

Z 2 (L r2 f 2 + r1 f1 ) (G + G )(a + r1 f1 ) = 0 (3) L r2 f 2 + r1 f1 The reaction of the driving wheel Z2 is equal to the static adhesive weight Gad. The traction sum for the movement on horizontal plane will be: Fm = Z1 f1 + Z 2 f 2 (4) or, considering the maximal driving force determined by the adherence: Fm max = Z 2 = Z1 f1 + Z 2 f 2 Z2 =

(G + G )(a + r1 f1 )

The traction sum for the movement on a longitudinal inclined plane at the angle will be: Fm max = (Z1 f1 + Z 2 f 2 ) cos (G + G )sin (5) The power sum will be: M e m M p p 1 M R R 1 1 = p + tr [kW] (6) 103 103 103

Figure 1.1 The schemata of the forces and moments which actuate on a bunkerless combine with semi-trailer

1.2 Self-Propelled Bunkerless Combine with Towed Semi-Trailer The forces and moments which actuate on the combine are presented in figure 1.1. Compared to the previous case, now there appears the traction force Ft . When the moving speed is constant (v = ct) the equation of the traction sum is: Z 2 = R1 f1 + R 2 f 2 + Ft , where (7) Ft = Z3 f 3 = (G r Zc ) f 3 when the unit moves on horizontal plane Ft = Z3 f 3 = (G r cos Zc ) f 3 when the unit moves on a longitudinal inclined plane. Zc is part of the semi-trailer weight and of the load supported by the towing hoop, respectively: G r = Z3 + Zc (8) The reaction Z1 will result from the equation of moments related to point B:

Z1(L + r1 f1 + c) (G + G)(b + r2 f2 + c) + Zc (c + r2 f2 ) + Ft hc = 0
Z1 =

(9) L + r1 f1 + c The reaction Z2 will result from the equation of moments related to point A:

(G + G )(b + r2 f 2 + c ) Zc (c + r2 f 2 ) Ft h c

Zc (c + L + r1 f1) Z2 (L + r1 f1 r2 f2 ) + (G + G)(a + r1 f1) Ft hc = 0

from which: Z2 =

(10) L + r1 f1 r2 f 2 The reaction Z3 will result from the equation of moments related to point C: Z3 (L1 r f 3 ) G r a1 = 0 , from which: G r a1 (11) Z3 = L1 r3 f 3 The reaction Zc will be calculated from the equation of moments related to point D: Z c (L1 r f 3 ) G r (b1 r3 f 3 ) = 0 from which: G (b r f ) Zc = r 1 3 3 (12) L1 r3 f 3 We do the checking: Z c + Z 3 = G r (13) G (b r f 3 ) G (a + b1 r f 3 ) G r (L1 r3f 3 ) G r a1 + That is r 1 = r 1 = = Gr L1 r3 f 3 L1 r3 f 3 L1 r3 f 3 L1 r3f 3 where a1 + b1 = L1 . The power sum will be: M e m M p p 1 M R R 1 1 = p + tr [kW] (14) 3 3 3 10 10 10 The power at the driving axle must ensure the movement of the combine as a unit together with the semi-trailer. The power necessary to tow semi-trailer will be: F v [kW] (15) Pt = t 103 where v is the working speed in m/s. The working speed v = v t (1 ) (16) where vt is the theoretical speed in m/s and is the slipping.
2. THE COMBINE MOVEMENT ON A TRANSVERSAL INCLINE AT AN INCLINATION ANGLE

(G + G )(a + r1 f1 ) + Zc (L + c + r1 f1 ) + Ft h c

2.1 Self-Propelled Combine Equipped with Bunkers Without Towed Trailer It is considered that the combine movement on the transversal incline is rectilinear and it is made at a constant speed (v = ct). Soil reactions Zd and Zs on combine wheels are determined from the equations of moments related to points B and A according to the schemata in figure 2.1:

Zd B V sin h v V cos from which:

B B (G + G ) sin h g (G + G ) cos = 0 2 2

Zd =

(G + G ) sin h g + cos B + V sin h v + cos B

2 B 2 (17) B B + V sin h v V cos = 0 2 2

Zs B + (G + G ) sin h g (G + G ) cos from which:

or

B B (G + G ) sin h g cos V sin h v cos 2 2 Zs = B

(18)

Zs =

(G + G ) cos B sin h g + V cos B sin h v

2 B 2

2 2 + B (G + G ) cos B sin h g V cos B sin h v 2 2 = + + B B B B 2(G + G ) cos + 2 V cos 2 2 = cos [(G + G ) + V ] = B or Z d + Zs = (G + G ) cos + V cos (19) Z d + Zs =

(G + G ) sin h g + cos B + V sin h v + cos B

Figure 2.1 The schemata of the forces which actuate on the combine during its movements on a transversal incline at an inclination angle

Combine harvesting has a maximal working incline of 120, the movement direction being identical to the general direction of level curves. According to the calculation schemata in figure 2.1 the combine overturn towards the base of the incline (round the point A) is possible if Zs = 0 (the stability limit). So, (G + G ) cos B sin h g + V cos B sin h v 2 2 =0 (20) Zs = B from which it results that: (G + G ) cos B sin h g + V cos B sin h v = 0 2 2 or (G + G ) cos B sin h g = V cos B sin h v 2 2 or B B cos sin h g tg h g V V 2 2 = = B B G + G G + G cos sin h v tg h v 2 2 B V B tg h g = tg h v 2 G + G 2 V V B tg h v + h g = 1 + G + G 2 G + G V 1+ B G + G tg = (21) 2 h +h V g v G + G If hg = hv then: B B or = arctg (22) tg = 2h g 2h g The above relation represents the limit angle in case of overturn when hg = hv . The condition of maintaining transversal stability to slipping, according to figure 2.1 is: Y1 = y Z1 - for the front axle (usually driving)

Y2 = y Z 2 - for the back axle, where y is the transversal coefficient of adherence. Z1 + Z 2 = Zd + Zs (23)

2.2 Self-Propelled Combine without Bunker with Towed trailer In case of trailer towing, on the bunkerless combine on horizontal plane, there also actuates the traction force Ft inclined at an angle related to the longitudinal symmetry axis of the combine. Ft can be decomposed into the following components: Ft cos - on the longitudinal direction; Ft sin - on the transversal direction. The condition of maintaining transversal stability to lateral slipping is: Y1 = y Z1 - for the front axle (usually the driving axle)

Y2 = y Z 2 + Ft sin - for the back axle, where y is the transversal coefficient of adherence. Soil reactions Zs and Zd dont change compared to the previous case and the expression of the limit angle in case of transversal overturn remains the same. To maintain stability to trailer lateral slipping there must be fulfilled the next conditions: Y1r = y Z1r - for the trailer front axle; Y2r = y Z 2r - for the trailer back axle.
3. CONCLUSIONS

3.1. For all the studied cases we have determined the stability conditions both on a horizontal plane and on inclined plane; 3.2. We have determined the power sum both for the solo combine and for the situation when it tows a semi-trailer; 3.3. The data established by this study are necessary to improve stability, manoeuvrability and maniability.
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