Mathematical modelling and numerical methods for studying the dynamic stability of the movement of cotton harvesters on slopes

The article deals with the issues of modelling and stability of the movement of semi-mounted cotton harvesters on slopes. To solve this problem, the work has compiled the equations of motion of a cotton harvester (CH), using the example of the MX-2.4 brand, using the Lagrange equations of the second kind. The numerical method Runge-Kutta solved the equations of vertical oscillations of the machine when driving on slopes. Taking into account the uneven distribution of mass between the front driving and back steered wheels, an equation was drawn up and the reaction of the sides, the distribution of mass on the wheels, the coefficients of stiffness and viscous resistance of the tires of the wheel on the slope, the dynamic radii of the wheel, the pressure on the tire tires, the power of the vibration of the machine and the wheels, the resistance rolling of the left back steered wheel, maximum angles of inclination in the front and back parts of the wheels of the machine, tipping moments of the front and back axles, stabilizing moments of the machine, moments of overturning and withdrawal of the machine on slopes