An adaptive approach to the processes of execution of technological operations by earth-moving and loading machines

Abstract

Since most often when designing a machine, its operation with the basic type of working equipment is considered, a change in working bodies with a simultaneous change in the loading mode can lead to a decrease in efficiency. One of the possible solutions is the adaptation of machines to changing operating conditions. Methodology. The synthesized adaptation system is based on structural and parametric approaches. The evolutionary changes in the structure of the object are considered by means of transition from one alternative model to another. The synthesis of corrective structural adaptive actions is taken through a heuristic search. The proposed methodology was tested experimentally on a motor grader when cutting and moving the processed surroundings. Results. The detailed experimental studies have shown the main stages of the formation of the movement trajectory, depending on the resistance arising on the blade of the motor grader. The analysis of the obtained results showed that the angle of the lateral tilt and the grip coefficient are destabilizing factors, and the variation of the angles of the front wheels allows keeping the motor grader on the planned trajectory of movement. Originality. The originality of the research lies in the development of a synthesized adaptation system for a motor grader, which, unlike traditional static models, is based on a combination of structural and parametric approaches. This is achieved by considering evolutionary changes in the object's structure through a transition between alternative models and the synthesis of corrective adaptive actions using heuristic search methods. The originality is further confirmed by identifying the synergistic influence of the lateral tilt angle and the grip coefficient as key destabilizing factors, and by establishing regression dependencies that allow for real-time adjustment of front wheel angles to maintain the planned motion trajectory under changing operating conditions. Practical value. The obtained regression dependencies allow for assessing the simultaneous influence of multiple factors on the motion stability indicators in graphical and numerical form and, consequently, adapting the machine parameters to changing operating conditions. Based on the research, the system of automatic wheel load adjustment for a motor grader was developed and patented.