METHOD FOR AUTOMATIC CONTROL OF HINGED DEVICE ON MACHINE-TRACTOR UNIT Russian patent published in 2025 - IPC A01B63/08 A01B63/102 A01B59/42 A01B69/00 

FIELD: agriculture.

SUBSTANCE: method for automatic control of a suspension device on a machine-tractor aggregate involves, before starting work, creating a digital field map using a satellite or by moving around the field with a GPS receiver installed on the machine for tracking the position of the MTU on the agricultural landscape. Then on digital map boundaries of headlands are marked and auxiliary lines are drawn inside headlands at distance equal to distance from GPS-receiver to plough. Obtained digital map is loaded into machine onboard computer. Position of the machine and tractor aggregate on the agricultural landscape is determined using a GPS receiver mounted on the hood of the machine, and the position of the plough is determined using angle sensors in the attachment joints. When crossing auxiliary lines or boundaries of headlands, onboard computer sends control signal to electromagnets of hydraulic control system hydraulic control system electromagnets to lower or raise hydraulic cylinder to preset height. Plough movement speed is controlled by valve opening degree and calculated by formula: where υ_tr is the speed of the machine-tractor unit; H is the height of the plough lifting above the agricultural landscape level; h is ploughing depth; I_s is attachment device gear ratio; L is the distance from the GPS-receiver to the plough, numerically equal to the distance from the auxiliary line to the boundary of the headland, which is calculated by the formula: L=l₁+l₂+l₃+l₄+l₅, where l₁ is distance from GPS-receiver to front wheel axis; l₂ is machine-tractor unit wheelbase; l₃ is distance from rear wheel axis to attachment device attachment; l₄ is the length of the suspension device; l₅ is distance from plough attachment to first body tip.

EFFECT: enabling increase in the machine-tractor aggregate operation efficiency due to increase in the agricultural landscape processing accuracy and the MTU automation.

1 cl, 3 dwg