Mathematical modeling and optimal motion control of horizontal spindle apparatuses of cotton pickers

Abstract The paper presents differential equations of the movement horizontal spindle drum compiled using 2nd kind Lagrange equations. task was set on how to control a drum. speed Pontriyagin maximum principle set, and requirement for optimal guidance based quality criteria studied. Through formation Hamilton-Pontryagin function, conjugate functions were composed. These made it possible obtain solution algorithm. Pontryagin boundary value questions articulate basis formed mathematical models. Using Runge-Kutta methods in solving problems, figures subject transient operation identified predetermined criterion, as result, moments inertia rotating masses horizontal-spindle drum, coefficients viscosity elasticity shaft determined through given resistance forces.