Tractor Wheel Research Articles

Design and Simulation of Steering Control Strategy for Four-Wheel Steering Hillside Tractor

Steering control is vital for hillside tractors, and four-wheel-steering technology significantly enhances stability and flexibility. However, existing methods often overlook the slope–stability relationship. In order to address this issue, considering the impact of tractor wheels on the steering characteristics, a nonlinear three-degree-of-freedom dynamic model based on the basic requirements within a 15° range of slope angles was derived. Subsequently, a four-wheel steering control strategy for hillside tractors was designed based on this model, incorporating a fuzzy PID control algorithm. The dynamics model was validated on the high-fidelity Carsim/Simulink co-simulation platform, and relevant experiments were conducted in Matlab/Simulink. Results showed that fuzzy PID control reduced the yaw rate’s average settling time from 0.36 s to 0.1 s and the response value from 0.28 rad/s to 0.038 rad/s. In addition, the lateral velocity and sideslip angle responses closely matched ideal values. Thus, the tractor with four-wheel steering under fuzzy PID control exhibited improved wheel angle flexibility and higher tracking accuracy. Finally, hardware-in-the-loop-experiments were conducted, confirming the algorithm’s effectiveness in ensuring stability and meeting the requirements of semi-physical simulation scenarios. This research provides a foundation for potential applications in tractor manufacturing to improve control performance on hilly terrains.

Determination of the Dynamic Characteristics of Torsional Oscillations of a Multimass System of a Wheeled Agricultural Tractor of Traction Class 1.4

Determination of the Dynamic Characteristics of Torsional Oscillations of a Multimass System of a Wheeled Agricultural Tractor of Traction Class 1.4

Justification of the parameters of tractors with a wheeled crawler for low-volume logging

A mathematical model of the interaction of a semi-tracked mover with a forest soil is presented, taking into account the consistent impact of a wheeled and tracked mover, as well as recommendations for justifying the parameters and effective use of wheeled tractors on a semi-tracked course used in logging and forestry operations in small enterprises.

Optimizing ploughing performance: The role of traction-control cylinder pressure on tractor wheel load

This paper examines the impact of pressure change in the Traction-Control cylinder of a six-furrow semi-mounted reversible plough's on the vertical load distribution among the tractor's wheels. The study's findings indicate that increasing the pressure in the Traction-Control cylinder leads to a more balanced vertical load on the rear wheels of the tractor. This balance is achieved by transferring a portion of the plough's weight to the tractor's rear axle. The combined effect of the plough's weight, the vertical force exerted by its support wheel, and the ploughing forces creates a moment that equalizes the load between the in-furrow and on-land wheels. Adjusting the Traction-Control cylinder pressure significantly altered the lateral rear wheel load distribution, shifting the ratio from 60.8/39.2 to 51/49. Additionally, the Traction-Control cylinder's positive impact on fuel consumption and the overall performance of the ploughing set was demonstrated.

Evaluating the Performance of a Novel Digital Slippage System for Tractor Wheels Across Varied Tillage Methods and Soil Textures

Accurate measurement of slip rate (SR) in agricultural tractors, particularly in Iraq, is essential for optimizing tractive efficiency, fuel economy, and field efficiency. Presently, tractors in Iraq lack sensors for SR detection, posing a challenge. This research addresses the issue by introducing a wireless technology, the novel digital slippage system (NDSS), designed to precisely measure the SR of rear wheels. The NDSS was tested across diverse field conditions, involving six soil textures and various kinds of agricultural tillage equipment (A-TE). Different tillage practices, including conservational tillage (CT) with a chisel plough, traditional tillage (TT) with a moldboard plough and disc plough, and minimum tillage (MT) using disc harrowing and spring tooth harrowing, were examined. Results from the NDSS were compared to traditional techniques, demonstrating the cost effectiveness and overall performance. Silty loam soil exhibited higher SR values, while the silty clay soil showed lower values. SR varied significantly across soil textures, with more cohesive soils leading to reduced SR percentages. Additionally, tillage methods had a marked influence on SR values. The use of CT resulted in higher SR values of 18.35% compared to TT and MT systems, which recorded lower SR values of 13.69% and 6.03%, respectively. SR measurements were also found to be affected by the draft force during the loading of A-TE, emphasizing the role of operational conditions in tractor performance, especially in challenging field environments. Comparison between NDSS and traditional techniques revealed that the NDSS offered high accuracy, flexibility, configurability, and consistent performance. The NDSS demonstrated superior precision, making it an effective tool for assessing SR in agricultural tractors.

A Case Study on The Evaluation of Maturity Class in Potato Breeding Trials Using UAV Imagery

In potato breeding, maturity class (MC) is a crucial selection criterion because this is a critical aspect of commercial potato production. Currently, the classification of potato genotypes into MCs is done visually, which is time- and labor-consuming. The objective of this research was to use vegetation indices (VIs) derived from unmanned aerial vehicle (UAV) imagery to remotely assign MCs to potato plants grown in trials, representing three different early stages within a multi-year breeding program. The relationships between VIs (GOSAVI – Green Optimized Soil Adjusted Vegetation Index, MCARI2 – Modified Chlorophyll Absorption Index-Improved, NDRE – Normalized Difference Red Edge, NDVI – Normalized Difference Vegetation Index, and OSAVI – Optimized Soil Adjusted Vegetation Index and WDVI – Weighted Difference Vegetation Index) and visual potato canopy status were determined. Further, this study aimed to identify factors that could improve the accuracy (decrease Mean Absolute Error – MAE) of potato MC estimation remotely. Results show that VIs derived from UAV imagery can be effectively used to remotely assign MCs to potato breeding lines, with higher accuracy for the potato B-clones (20 plants per plot) than the A-clones (6 plants per plot). Among the tested VIs, the NDRE allowed for potato MC evaluation with the lowest MAE. Applying NDRE for remote MC estimation using a validation dataset of potato B-clones (100 plants per plot), resulted in an MC estimate with a 0.81 MAE. However, the accuracy of potato MC estimation using UAV image-based methods should be improved by reducing the potato canopy’s variability (increasing uniformity) within the plot. This could be achieved by minimizing 1) potato vines bending over the neighboring row, causing vine overlap between plots, and 2) plants damaged by tractor wheels during field operations.

Development of an Anti-rollover Warning and Active Intervention Controller for Wheeled Tractor

Background: Tractor rollover accidents are the most severe problem in agricultural production. According to the statistical analysis of the rollover incidents, some rollover accidents can be avoided by timely anti-rollover warning and active control. There are a few researches on the anti-rollover control for agricultural tractors, although great progress in the research on tractor security has been achieved, such as rollover protective structure design. Objective: The purpose of this patent study was to develop a controller with the function of warning as well as active anti-rollover control employing the power motor installed on the steering column to adjust the front wheel angle and control the rollover index within the safety range. Methodology: The structure block for the hardware of the controller was devised that included data obtaining, rollover risk estimation, rollover warning, and front-wheel steering control sections. The main circuits have been designed in detail by adopting module methods, such as motor control circuit, positioning and transmission circuit, etc. The control scheme has been demonstrated by designing an overview of the overall architecture, including rollover indicator calculation, load transfer ratio (LTR) controller design, and front-wheel steering angle tracking controller design. C language has been used to accomplish the software design. Results: The active anti-rollover controller can calculate and keep the LTR within the stable range by adjusting the front wheel angle in real-time. The fast response and smoothness of the results demonstrate that the controller can fulfill the designed function. Conclusion: The developed controller can meet the control requirement due to several advantageous aspects, such as reliability, effectiveness, and practicability. It is prospective for the developed controller to provide a valuable reference to reduce tractor rollover accidents.

Assessment of the impact of agricultural tractor wheels on soil compaction

Abstract This article presents the results of an experimental study on the impact of leading wheel tires 15.5R38 and 16.9R38 on soil. Specifically, the study analyzed the influence of vertical load on the maximum tire pressure (MTA) and internal air pressure on soil. The variations in maximum soil pressures of 15.5R38 and 16.9R38 tires at different internal air pressures depending on corresponding loads were investigated. The characteristics of changes in permissible pressure and loading of tires on soil are graphically depicted, and the permissible standards for their use in agricultural work are determined. Recommendations are provided for using tires at the minimum and maximum permissible internal air pressures. Using values smaller than the recommended values can lead to a decrease in the useful life of the tire.

Integrated analysis of on-road energy consumption and range optimization in the conversion of an IC engine vehicle to a battery-electric vehicle: a comprehensive research study

Abstract A major goal of this research project was to analyze how energy consumption and range of electric vehicles are affected by a variety of factors. The study includes an analysis of data based on factors such as state of charge, wheel traction power, power due to drag and aerodynamics, potential and kinetic energy changes, elevation, current, voltage, speed, and total loss due to traffic, and their effect on the consumption of energy and range of the electric vehicles. The data was analyzed using statistical methods such as MATLAB, Excel, and Python to find correlations between the various factors mentioned above. This research paper thoroughly explores the intricate relationships governing consumption of energy and range of the electric vehicles. Notably, this paper discovered connections between altitude and state of charge, current and state of charge, and even speed and voltage drop, highlighting the interplay of these elements. This paper also explored how factors like vehicle speed, slope, current, wheel traction power, and power due to gravity collectively shape EV propulsion dynamics. In simpler terms, this paper quantified energy losses due to traffic and emphasized how efficient motors and regenerative systems can significantly reduce these losses. Notably, regenerative efficiency stands out, cutting total energy losses by nearly half compared to scenarios where it is not used. These findings contribute to academic discussions and offer practical insights that undergraduate students can grasp, informing future EV designs and operations and promoting an energy-conscious transportation landscape.

Determination of operation performance indicators of unit for mowing crops with the simultaneous incorporation of their stubble into the soil

When harvesting grain crops and forage grasses using a two-phase method, trailed and/or mounted windrowers are usually used. After their passage, stubble remains on the field, which intensively loses soil moisture under sunlight and wind. To reduce these losses, the stubble, along with the soil, is crushed using disc harrows. Due to the use of two sequentially operating units (harvesting and soil-cultivating), their total operating time increases. This does little to preserve soil moisture in the cultivated field. This article provides an example of a more effective solution to this problem. It consists of using one machine-tractor unit instead of two. The proposed combined unit mows an agricultural crop in one working pass and ensures stubble crushing and incorporation into the top layer of soil. The unit consists of a wheeled tractor with a front hitch linkage, a front windrower and a disc harrow mounted behind the tractor. It has been established that the laboriousness of compiling such a unit, considering the tractor's transformation to reverse, is insignificant and amounts to 1442 person-hours. The use of the new unit assists in reducing soil moisture losses. Over a month, it can reach 4.1–5.2% in absolute terms and 15–45% in relative ones. The combined unit movement velocity should be close to 2.5 m s−1 to ensure such a reduction in soil moisture losses. Combining two technological operations performed by one machine-tractor unit does not impair its reliability. At the same time, there is a reduction in processing time for one field by almost half and a decrease in fuel consumption per unit of performed area by 2.25 times.

Investigating the Impact of Speed and Tire Pressure of a Wheel Tractor on Soil Properties: A Case Study in Northeastern Uzbekistan

In agriculture, machines engaged in various agrotechnical activities and operations have different impacts on the soil. The effect of mechanization is primarily reflected in two indicators: soil density and hardness. At the same time, considering the direct dependence of tractive resistance on soil hardness in processing machines and sprayers, we studied subsequent changes in the soil in the path of wheels affected by the soil after the passage of four-wheeled and three-wheeled tractors. We also examined various atmospheric pressures in the tractor’s tires and the impact of different types of tires on soil compaction and traction. The studies showed that to reduce the compression impact on the soil of four-wheeled tractor working systems during certain technical operations, it is necessary to choose the maximum permissible travel speed and the minimum air pressure in the tires specified in the technical conditions. This approach helps to decrease soil compaction and maintain its structure. Additionally, it was found that three-wheeled tractors exert less pressure on the soil compared to four-wheeled ones, which should also be considered when selecting equipment for different agrotechnical tasks. Optimizing tire pressure and tractor speed is crucial for minimizing negative soil impact and enhancing the efficiency of agricultural operations.

Using individual tractor wheel drive through electric traction

In agriculture, tractors serve as the principal machinery for performing traction and driving operations. They are mainly powered by diesel engines with an efficiency of about 40 percent. Electric motors boast an efficiency of 95 percent, presenting the opportunity to serve as independent drives for tractor wheels. The study review existing individual wheel drive systems, revealing operational efficiency improvements of up to 20 percent. A comparative analysis was conducted between tractors using traditional power units and those equipped with electric drive systems. The study also examined factors affecting tractor traction and explored methods to enhance the traction capabilities of these vehicles. (Research purpose) The study aims to evaluate the feasibility of using electric traction for individual drive systems in tractor wheels. (Materials and methods) A concept for controlling individual wheel drives has been developed, as well as an algorithm specifically for managing electric wheels. Additionally, a method has been proposed for detecting slippage, which triggers the switching of the electric wheel drive to the appropriate mode. Furthermore, a new indicator, the «slip factor,» has been introduced to correlate slip with adhesion coefficients. The value of this parameter is used as a criterion for transitioning the electric drive to a different operational mode. (Results and discussion) Traction tests were conducted on the MTZ-82.1 tractor across various supporting surfaces. The measured slip factors were as follows: 0.71 for a cropped field, 0.86 for stubble, 1.19 for fallow land, and 1.74 for asphalt pavement. To accurately assess the wheel’s performance under real conditions, torque measurements were taken using a specialized locking device. These measurements revealed angular displacements of the shaft by 0.2 degrees when subjected to a tangential traction force of 3 kilonewtons on the wheel. (Conclusions) The slip factor for the MTZ-82.1 tractor has been determined. A mathematical model has been proposed that links the wheel’s adhesion properties with slipping. The model proves to be applicable up to a slip limit of 30 percent. This multifactorial approach enables the creation of an adaptive program to enhance wheel efficiency. Additionally, the capability to measure wheel torque has been established.

Is using combined tillage implements the solution?

The fuel consumption, The energy requirement, the time of prepare seedbed, the tractor wheel slippage and the number of passes in the field, all of this factors make farmer choose more efficient method of plowing. Compound tillage is the solve and the method means that two, three or more different plowing tools are work at one time for plowing soil, pulverization, seeding and fertilize, the aid of this way, reduce the drudgery, number and saving time of the field operation. The primary (conventional) and secondary tillage implements are becoming expensive time, fuel and cost, additional, need several passes to prepare seedbed, which increase compaction and damage of the soil and leads to formation the hard pan in the soil due to tractor and machines movement. The farmer size of the field holdings in Iraq is middle or usually small, the way of increase the the width of tools or speed is less useful and effective, therefore, reduce and shorten the number of traffic or passes by use a combination tillage implements consider better solution. Compound tillage saving cost of 44-55%, time of 50-55% and enable the farmers to reduce the number of trips over the field, also, shortage of farm labor. Carrying out the tillage process by compound tillage with two or more equipment to reduce time, fuel consumption and power requirement foe prepare the best seedbed. In this review, various paper researches on combination tillage implement will be discussion.

Ways to compensate for unloading of locomotive traction wheels during movement along inclined sections of railway tracks

Ways to compensate for unloading of locomotive traction wheels during movement along inclined sections of railway tracks

Estimation of Soil Characteristic Parameters for Electric Mountain Tractor Based on Gauss–Newton Iteration Method

Future field work tasks will require mountain tractors to pass through rough terrain with limited human supervision. The wheel–soil interaction plays a critical role in rugged terrain mobility. In this paper, an algorithm for the estimation of soil characteristic parameters based on the Simpson numerical integration method and Gauss–Newton iteration method is presented. These parameters can be used for passability prediction or in a traction control algorithm to improve tractor mobility and to plan safe operation paths for autonomous navigation systems. To verify the effectiveness of the solving algorithm, different initial values and soils were selected for simulation calculations of soil characteristic parameters such as internal friction angle, settlement index, and the joint parameter of soil cohesion modulus and friction modulus. The results show that the error was kept within 2%, and the calculation time did not exceed 0.84 s, demonstrating high robustness and real-time performance. To test the applicability of the algorithm model, further research was conducted using different wheel parameters of electric mountain tractors under wet clay conditions. The results show that these parameters also have high accuracy and stability with only a few iterations. Thus, the estimation algorithm can meet the requirements of quickly and accurately identifying soil characteristic parameters during tractor operation. A criterion for the passability of wheeled tractors through unknown terrain is proposed, utilizing identified soil parameters.

Design of a Wireless Monitoring System for Vibration Characteristics of the Wheeled Tractor at Idle Speeds

To enhance the precision and efficiency of the tractor-failure-rate and equipment-quality inspection, the present study introduces a wireless rapid detection method for assessing tractor quality. For this study, which was based on the symmetrical structural characteristics of tractors, we designed a magnetic suction accelerometer. The test system was composed of a wireless router, a magnetic suction accelerometer sensor, a data-acquisition terminal, and other components. This test system aimed to test the equipment quality of the tractor at idle speed before leaving the factory. The experiment found that the vibration characteristics of the tractor had a symmetrical pattern on the left and right sides of the front and rear axle at idle. When the idle speed of the tractor was 800 r/min and 1000 r/min, the predominant vibration direction of both sides of the front axle of the tractor was the Y direction, while the predominant vibration direction of the rear axle was the Z direction. The experimental results showed that the proposed wireless rapid detection method of tractor quality and the designed acceleration sensor had good testing accuracy. The present study could provide a novel rapid detection method for the failure detection of power machinery in the agricultural field and for inspection before leaving the factory. The implementation of the method could improve the detection efficiency, and reduce the detection cost and the incidence of failure during actual use.

Mustard production with different tillage practices at Jamalpur

Agricultural farming is a complex system that requires ongoing interactions throughout time between all of its various components. An investigation in the field was carried out in the Jamalpur region to expand the production area under the Charland ecosystem and evaluate the efficiency of various tillage techniques in mustard cultivation. On basis of seeding techniques three treatments were taken. The first one was minimum tillage with BARI seeder in single pass tillage and then sowing (T1), the 2nd one was tillage by BARI seeder and then sowing manually in line (T2) and the 3rd one was conventional tillage operation by two wheel tractor then broadcasting (T3) and each of them was introduced with five replications. BARI Sarisha-14, a promising variety of mustard released by BARI (Bangladesh Agricultural Research Institute) was used as test crop. Tillage practices showed positive effects on yield parameter characteristics and mustard yields. The highest yield (1.5 tha-1) of BARI Sarisha-14 was achieved under least tillage conditions using a BARI seeder in a single pass of tillage and seeding, based on the information collected. Minimum tillage technology in mustard production is acceptable to the farmer. So, this technology should be practiced on broader scale in mustard production in Jamalpur region.

Improving environmental indicators of the wheeled tractor diesel engine by using biofuels

The object of this study is the process of operation of a diesel engine in a wheeled tractor on methyl ether of spent frying sunflower oil. The task being solved is to improve the environmental performance of a diesel engine in a wheeled tractor during the operation of its diesel on such biodiesel fuel and its mixtures with mineral diesel fuel. The characteristics of the diesel D-243 were determined by the experimental method with the measurement of the toxicity of the waste gases during its operation on the methyl ether of the spent sunflower oil, mineral fuel, and their mixtures. A decrease in the content of soot in diesel exhaust gases and a slight increase in the types of nitrogen oxides was registered. The theoretical method using a mathematical model determined the indicators of a wheeled tractor during its movement with a trailer for the accepted driving cycle and the operation of its diesel on different fuels. To that end, the characteristics of a specific diesel engine were described by polynomial models. The adequacy of the mathematical model of the movement of a tractor with a trailer over a driving cycle was tested. By means of a mathematical model, the total road emissions of harmful substances of a diesel engine were calculated when the tractor is running with a trailer over the accepted driving cycle. Calculations were performed for two types of fuel: mineral diesel fuel and biodiesel fuel. Biofuel consumption increases by almost 10 % compared to diesel fuel. The total emissions of harmful substances are 1.1 times lower in a diesel engine running on biofuel than when using mineral fuel. The results could be used in the operation of technological transport in the industry and agriculture provided there is a sufficient volume of raw materials for the production of biofuel

Forced Vibration of Time-Varying Elevator Traction System

This paper proposes a theoretical model for the forced vibration of time-varying elevator traction systems caused by eccentric excitation of the traction machine. Based on the Hamilton principle and a variational principle with variable boundaries, the equations of motion and the complex boundary condition of a time-varying elevator traction system are established. A quantitative formula between the angular velocity of the traction machine, the diameter of the traction wheel, the elevator running distance and the running time is put forward. It is found that when the maximum values of acceleration and deceleration exceed 1.5 m/s², the elevator traction system may undergo resonance.

Regarding Improvement of the Tractor Efficiency

The results of the study on increasing the efficiency of agricultural tractors in production conditions are presented. The authors analyzed the data on the traction performance of wheeled tractors and developed the method of determin-ing the tractor wheels slipping using a single-frequency GNSS receiver and a math-ematical model that allows, under production conditions, to calculate the weight of the tractor which ensures the maximum traction efficiency when performing the current operation.