International Scientific Journals
of Scientific Technical Union of Mechanical Engineering "Industry 4.0"

This paper proposes to estimate the mathematical model of the DC motor coupled with a reaction wheel in two ways: open-loop identification and closed-loop identification. For open-loop identification, the experimental curve is approximated with the model of object with inertia first order, and inertia second order. In the case of closed-loop identification, it was obtained the model with inertia third order, that approximates the dynamic of the process, where the coefficients are calculated based on the simple analytical expressions according to the values that are extracted from the undamped step response of the closed-loop system with P controller. The results of the experimental model estimation were compared with the results obtained using the System Identification Toolbox from MATLAB. In addition, to the identified object model, it was proposed to tune a PID controller based on the maximum stability degree criterion.

The article proposes a classification based on the method of movement of the working parts of the planting apparatus, which identifies three groups of transplanting machines: with the movement of the working parts in a vertical plane, a horizontal plane, and a combined method. The speed of planting seedlings depends on the following main factors: the frequency m of seedling supply, the planting step l, the design of the planting apparatus with seedling holders, the condition of the planting material, as well as the experience and skill of the planting operators. Feeding seedlings into seedling holders or cups of the planting apparatus is limited by the physical capabilities of a person, namely the number of seedlings fed per minute or frequency m. Thus, in order to increase the speed Vm of seedling planting, it is necessary to increase the frequency m of seedling supply. The speed of planting seedlings into cups or seedling holders (the frequency m) actually determines the maximum operating speed of the transplanting machine.
The study of the technological process of operation of a transplanting machine, as well as a phase analysis of the working process of a carousel-type transplanting machine, makes it possible to better understand ways to improve the design of the machine and its working parts and will make it possible to obtain important decisions on increasing the speed. As a result of a theoretical study of the technological process of a carousel-type transplanting machine, a relationship was obtained between various factors on which the maximum operating speed of planting seedlings depends.

The main disadvantages of transplanting machine are presented in the article and the mathematical modeling of the operating system of the carousel type transplanting machine with a new method of calculation of the design parameters of the system is proposed. As a result of theoretical research of the operating system of carousel type transplanting machine the rule of motion of the point F and the mathematical model for determining initial velocity V0 of the falling seedling have been obtained.

In this paper, it was proposed the experimental identification of the mathematical model of the DC motor, coupled with a reaction wheel. It was proposed to approximate the experimental curve with the mathematical model of order 2 inertia, identified by Genetic Algorithm. To estimate the mathematical model of the control object it was proposed to use the Genetic Algorithm method, the results obtained were compared with the Strejc methods and the results obtained using the Process Models module from System Identification Toolbox from MATLAB.