Development of mathematical model of plane-parallel movement of trailer harvesting machine

  • 1 National University of Life and Environmental Sciences of Ukraine, Kyiv, Ukraine
  • 2 Institute of Mechanics and Automation of Agricultural Production of NAAS, Kyiv, Ukraine


This paper presents the basic principles of building a mathematical model of trailer harvesting, for which an example of a trailed combine harvester is considered. To develop this mathematical model, all the components are given, starting with the assembly of an equivalent scheme of plane-parallel movement of this harvesting unit, which consists of a wheeled aggregate tractor of classic layout and trailed behind the combine. And behind the combine is attached a cart for the harvest. Differential equations of relative motion of the collecting unit are compiled and solved on the basis of the Lagrange equation of the second kind.



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