THEORETICAL JUSTIFICATION OF A MANIPULATOR FOR AUTOMATED REMOVAL OF PLANTS IN SEED PRODUCTION

The development of machines and equipment for laboratory and field work is relevant for potato breeding. This is due to the fact that the methodology for conducting breeding work and the first stages of seed production provides for the comparison of numerous plants of different origin, the selection of the best for further propagation and further work up to the development of a new variety or the transfer of seeds for propagation in production conditions. The aim of the study is to develop a manipulator of an automated machine for removing infected potato and vegetable plants from the soil, ensuring the exclusion of seed contamination when breeding new varieties and hybrids. Scientific novelty – justification patterns of the manipulator for automated removal of infected plants in seed production. Theoretical justification of the drive control system of the executive electric cylinders of the manipulator of the automated machine for removing infected potato and vegetable crops from the soil has been performed. During the theoretical studies it has been established that the main disturbing effect causing a change in the feed of the infected plant is a change in the yield of potato plants in the field G, which has a statistical nature. A functional diagram of the drive control system of the executive electric cylinders of the manipulator of the automated machine for removing infected potato and vegetable crops from the soil has been developed and it has been established that the amplitude of the useful signal of the manipulator position control controller φmax=10° and the frequency ωφ=10²c¹, the interference amplitude γmax=5°, the signal frequency ωγ =8 c¹. It has been determined that in order to obtain a given accuracy of reproduction of the useful signal of the actuator electric cylinders of the manipulator, it is necessary to have values of the time constants of the sensor and actuator, at which the error in reproduction of the useful signal ∆φ would not exceed 1.5°, and the interference signal would be weakened by at least 20 times. A manipulator of an automated machine for removing infected potato and vegetable crops from the soil has been developed, ensuring the extraction of infected plants by digging up the soil layer.