Transporter Control for Grain Handling in Granaries and Loading on Vehicles

The paper substantiates the possibility of dropping grain at a given range by creating an appropriate ballistic flight trajectory by adjusting the rotational speed of the electric motor of the transporter when powered from the frequency converter. The mathematical model of the electric drive is made, which allows to carry out research of dynamic regimes at frequency start with linear frequency scanning. The synthesized astatic system with the PI controller of speed provides compensation for static and stabilization of the rate of throwing grain for various grain crops, regardless of its mass. The practical application of the proposed control system will reduce the loss of grain when damaged. The tasks of further research are formulated.