IMITATION MODEL OF ORIENTATION OF THE WORKING BODY ON THE ROOT SYSTEM OF FRUIT PLANTS
The cutting and digging of fruit plants is always associated with a certain percentage of their damage due to inaccurate positioning of the working body of machines for industrial gardening. A system for positioning working organs and plants was developed. AnyLogic simulation tool was used, which supports all approaches to creating models: discrete-event, system-dynamic and agent, as well as any combination of them. Electromagnetic positioning was used. A metal conductor installed in the root system of the plant was used as a base label. The magnitude of the electromagnetic signal emitted by the base mark is proportional to the distance from the mark to the receiving sensors. It is proposed to use three receiving sensors at a given distance from each other. A simulation model that allows, based on data from the receiving sensors, to orient the working body relative to the plant in automatic mode, was developed. The coordinates of the base mark and the working body are set for this. An algorithm and a mathematical model of the orientation of the working body relative to the base label were proposed, which suggest the presence of three receiving sensors, a random generator unit for input parameters. A program for implementing the working body orientation algorithm relative to the root system of fruit plants in the AnyLogic system is presented.