Simulation of dynamics of industrial tractor under low-frequency vibro-excitation from the tracked mover

The article is devoted to the development of a mathematical model of an industrial tractor with a semi - rigid suspension. The model is intended for the computational study of vibrations at the driver's seat caused by low - frequency impact from the caterpillar mover. A review of wel l-known mathematical models describing the dynamics of the system “soil - caterpillar mover - tractor body - cabin - vibration protection seat - driver” is made. Various methods of soil modeling and tractor caterpillars are considered. It is proposed to use the ANSYS Motion software package to simulate the subsystem "soil - caterpillar - track rollers - bogie". The model describes in detail the undercarriage system, taking into account the actual geometry of the tracks, the arrangement of the track rollers, as well as other design features. To describe the deformation of the soil in the software package, are used the relations by Becker and Wong. The article presents the results of modeling the dynamics of the tracked bogie of the industrial tractor T-130 of the Chelyabinsk Tractor Plant when moving on deformable soil. Calculations were made for three types of soil and for different locations of road wheels. The processes of vertical and angular displacements of the bogie are obtained. An analysis of the calculation results showed that the proposed model reveals the influence of soil properties and the design of the running system on the vibrations of a moving tractor. The processes obtained as a result of the simulation will be used as an input for the model describing the subsystem “tractor body - cab - vibration protection seat - driver”. The model will be used for computational studies when optimizing the vibration protection of the tractor operator. Recommendations will be developed to change the arrangement of the road wheels and the elastic-damping characteristics of the vibration protection elements to minimize the vibration impact on the tractor operator