Controlling Trencher Rotor Position Along with Disturbing Effect Correction

The issues of controlling the position of a trencher rotor and adjusting the speed of its movement are considered. The synthesis of such system is based on kinematic analysis of the mechanical part of the working body drive and the solution of the inverse kinematics problem taking into account the longitudinal tilt angle of the trencher. The control system features the consideration of the disturbing effect, i.e. the longitudinal angle of the terrain slope and its derivative, i.e. the vertical component of the speed of the machine's working body movement. A relation is obtained that provides control over the speed of the rotor vertical movement depending on changes in the longitudinal angle of the terrain slope. The algorithm of the module for controlling the speed of the working body movement is offered.