Dynamic model of a harvester equipped with a rope anchor system during logging operations on a steep slope

The efficiency of using logging machines for work in mountainous or hilly areas characterized by the presence of steep slopes depends on many factors, among which the quantitative parameters of the dynamic state of both the harvester itself and the anchor system play a priority role to ensure the safe operation of these technological machines. This article considers a complex spatial dynamic model that combines into a common interconnected system all the main components of the simulated phenomenon, including directly a harvester with a hydraulic manipulator mounted on it, a movable assortment in space, an anchor system consisting of an anchor rope and a winch, an anchor tree for attaching an anchor rope and the soil of the support surface. The dynamic mathematical model of such a six-component system includes 35 generalized coordinates that determine the linear and angular displacements of the mass centers of the listed system components. A system of 35 differential equations constructed using the Lagrange's equation was solved by the 4-th-order Runge-Kutta method. For this purpose, a computer program has been developed, the description of which is contained in the article. In relation to the basic version of the simulated system with quantitative initial characteristics focused on the characteristics of a three-axle wheeled harvester with a 6K6 wheel formula, calculations of oscillatory processes for dynamic parameters determining the loading of the anchor system and the safety of harvester operation in the process of assortment manipulation were carried out.