Methodological foundations of directional stability of a machine-tractor unit in sloping agriculture

The article describes a method for holding a tractor unit (MTA) on a slope when performing technological operations by changing the angles of the tractor wheels and the mounted machine. The variants of the MTA movement trajectories are considered, graphs of wheel deflection angles are presented, and an algorithm for calculating compensation for the total displacement of the MTA with excessive turning on the slope is presented. Calculations have shown an 11% reduction in the reaction time of the unit to changes in landscape characteristics with operational adjustment of the angle of withdrawal of the “equivalent” wheel, carried out by varying the pressure exclusively by the support and transport wheels of the mounted gun.