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Abstract
Čupera J., Bauer F., Severa L., Tatíček M., 2011. Analysis of force effects measured in the tractor three-point
linkage. Res. Agr. Eng., 57: 79–87.
The work is focused on description of tractor individual axels and wheels loading during ploughing. A combination of
tractor inclination with force and momentum effects need not always result in marked differences in the load of driving
wheels. This paper documents the relationship existing between forces working in the upper drawbar Fh of the three-
point linkage and the momentum MTx. It was also demonstrated that with the increasing value of MTx the difference
between loads of both rear wheels reduces. The described algorithm enables to evaluate output parameters of ploughing
aggregates for different variants of forces changing in the tractor three-point linkage due to various ways of suspension
and adjustment of individual plough types. When using data recorded in the course of ploughing operations it is possible
to demonstrate the effect of plough adjustment/attachment on the efficiency of the whole ploughing aggregate.
The development of tractors and tools directed (1992). Problems associated with force effects of
to system with either attached or trailed machines ploughs on tractors ploughs kinematics were stud-
resulted in certain discrepancies between the man- ied by many authors (Kazzaz, Grečenko 1968;
ner of operation of tractors and the methods of Upadhyaya, Kemble 1985; Sloboda et al. 1997;
measuring their tractive properties. Attached and/ Mouazen et al. 2009). Also other factors affect-
or trailed sets of machines are characterised by the ing drawbar characteristics such as tire inflation
fact that the tools are connected with the tractor by and others were deeply studied (Novák et al. 2009;
means of a three-point linkage so that their result- Šmerda, Čupera 2010).
ing force effect on tractor is usually markedly dif- The objective of this paper is to describe forces
ferent from effects of simple tractive forces, which influencing wheels of a ploughing tractor and to
typically exist in each tractive test of tractors. find out which of them put a concrete load on driv-
Measurements of forces existing in the three- ing wheels because the driving wheels are of cru-
point linkage of a tractor and the projection of cial importance for the tractor’s tractive efficiency.
measured force effects into its centre of gravity were Concerning tractive efficiency, there is a concern
described by Bauer et al. (1989). Results of the first to reach the maximum values of this factor but, re-
experiment with the determination of effects of the garding effects of an undesirable compaction of soil
ploughing operation on soil compaction were pre- (and subsoil), the adhesion load of driving wheels is
sented in a paper published by Mišun and Bauer in conflict with this requirement above all in case of
Supported by the Ministry of Education, Youth and Sports of the Czech Republic, Project No. MSM 6215648905 and
Internal Grant Agency TP1/2011.
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Vol. 57, 2011, No. 3: 79–87 Res. Agr. Eng.
ploughing aggregates, with right wheels moving in was 60 ha and the measurements were performed
the furrow. As far as these ploughing aggregates are on a plot 50 m long. Prior to the measurements the
concerned, many authors refer to the compaction plough and its linkage were adjusted in such a way
of subsoil due to the movement of tractor wheels that it was possible to observe effects of different
in the furrow (Upadhyaya, Kemble 1985; Renius lengths of the upper bar on selected parameters of
1987). The analysis of forces influencing the three- the ploughing aggregate. During all measurements
point linkage of a ploughing tractor was performed it was strictly controlled that the plough was cor-
due to the fact that, as compared with tractor trac- rectly adjusted and that the ploughing result met all
tive tests, the load of a ploughing tractor shows agrotechnical requirements.
characteristic differences. When ploughing, the This paper presents results of those measurements,
tractor wheels move on one side in the furrow so which demonstrate problems associated with the load
that it is inclined. In combination with power ef- of driving wheels of a tractor when ploughing either
fects of the plough this inclination causes a different on its right or the left side with an attached reversible
load of individual wheels and changes in the load of plough. As during nearly all tests not only the forces in
both axles. This results in significant changes not drawbars of the three-point linkage but also the trac-
only in the grip of driving wheels but also in an in- tive force existing in the traction rope (the ploughing
creased compaction of soil. Performed analysis can tractor was pulled by another tractor by means of a
be used for further studies on dynamic properties rope), the measured force Fts could be used as an in-
of tractor units or other vehicles as described e.g. in put value not only for the estimation of the momen-
Chalupa et al. (2006, 2009). tary average coefficient of the rolling resistance fv but
also of the momentary average coefficient of adhe-
sion µ. However, this could be performed only on the
Material and methods assumption that also another input value – resistive
force Fw (required for the surpassing of the resistance
Field measurements were performed on the farm in gearings of the pulled tractor) would be exactly
Agroservis Višňové (Znojmo district, Czech Re- measured. Measurements of gear resistance were
public), on a field with sandy-loamy soil (the av- performed on a roller dynamometer in laboratories
erage moisture content W h was 17 vol. % and the of Mendel University in Brno, Brno, Czech Republic.
measured specific resistance of plough was 69 kPa). Measurements of forces influencing the plough-
All measurements were performed under identical ing tractor were performed by means of five tenso-
conditions. The total area of the experimental field metric sensors fitted to drawbars of the three-point
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Res. Agr. Eng. Vol. 57, 2011, No. 3: 79–87
linkage and also to the pulling rope (Fig. 1). When is the matrix of transformation of binding effects
analysing the measured values, we have calculated from points AL, AP, DL, DP, and H (Fig. 2) into the
average sectional values of axial forces occurring in tractor’s centre of gravity; x, y, z are coordinates of
drawbars and the average sectional value of the force corresponding points AL, AP, DL, DP and H and
Fts existing in the rope; these forces occurred as a
response to the ploughing, i.e. as a set of values f = [fAL, fAP, fDL, fDP, fH]T (kN) (4)
{Fld, Flz, Fpd, Fpz, Fh, Fts} (1) is the vector of force effects in the aforementioned
binding points. It is also obvious that
where:
Fld, Fpd – average sectional values of axial forces working fAL = [FALx, FALy, FALz]T (kN) (5)
in the lower drawbars (kN)
Flz, Fpz – average sectional values of axial forces working fAP = [FAPx, FAPy, FAPz]T (kN) (6)
in the lifting drawbars (kN)
Fh – average sectional values occurring in the upper fDL = [FDLx, FDLy, FDLz]T (kN) (7)
drawbar (kN)
Fts – average value of the traction force existing in fDP = [FDPx, FDPy, FDPz]T (kN) (8)
the rope (kN)
fH = [FHx, FHy, FHz]T (kN) (9)
The average sectional forces were transformed
into the gravity point of the tractor within each If the product of Eq. (2) is, among others, also the
time interval i = 1... n using the relationship force FTx, it is obvious that the difference
Af = [FTx, FTy, FTz, MTx, MTy, MTz]T (2) Fvm = Fts – FTx = Fv + Fw (kN) (10)
where:
ª 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 º
« 0
« 1 0 0 1 0 0 1 0 0 1 0 0 1 0 »»
« 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 »
A « »
« 0 zAL yAL 0 zA P y A P 0 zDL yDL 0 z Dp y Dp 0 zH yH » (3)
« zAL 0 x A L zA P 0 xA P z D L 0 xD L z Dp 0 xDp z H 0 xH »
« »
¬« y A L xA L 0 y A P xA P 0 y D L xD L 0 y Dp xDp 0 y H xH 0 »¼
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Vol. 57, 2011, No. 3: 79–87 Res. Agr. Eng.
–
is equal to the sum of the Fv force of rolling resist- measurement, then the arithmetic midpoint F w of
ance of wheels of the pulled tractor with the resist- Fw values can be expressed by the equation
ance force Fw of freely rotating tractor’s parts. It
– – – – –
results from Eq. (10) that the resistance is the force F w = F ts – F Tx – f v(F Tz + Gcos α) (kN) (14)
of rolling resistance
The statistical analysis of measurements of
Fv = Fts – FTx – Fw (kN) (11) ploughing operations at the measured concrete
– –
value f = 0.08 produced F w values ranging from
If α is the tilt angle of the tractor driving with 1.8–2.4 kN (Eq. 14).
left wheels in a furrow then the total vertical force When modelling the tractor’s drive, the front
affecting the tractor in its centre of gravity is ex- wheels were replaced by a single wheel with a dou-
pressed by the equation bled reaction 2 × F Cz (Fig. 3) and with the total side
effect F Cy, which influences both front wheels. Due
FTzc = FTz + Gcos α (kN) (12) to the tractor’s inclination such a single wheel fol-
lows an imaginary pathway but has the same prop-
and the average momentary sectional value of the erties ( f v, µ) as rear wheels.
coefficient of rolling resistance The transformation of binding reactions and re-
actions of soil to the tractor’s movement (as pro-
f Fv Fts FTx Fw (–) (13) jected into its centre of gravity) and the equation of
v
FTzc FTz G cos D the balance of actions and reactions in this centre
where: of gravity is expressed by the equation
α – oriented angle of the tractor’s inclination
is the matrix of transformation of binding reactions 640 mm, 665 mm, and 695 mm, respectively. The
of the plough into the tractor’s centre of gravity, measured values indicate that in Group A (with
where x, y, and z are coordinates of points L, P, and the shortest drawbar) a marked tractive force was
C of the tractor; r and R represent radius of wheels recorded in all measurements and that its average
and value was 11.93 kN. In Group B the length of up-
per drawbar was 665 mm and it was found out that
fR = [fC, fL, Fp] (kN) (17) due to the elongation by 25 mm the tractive force
decreased to 5.01 kN. In Group C the length of the
is the vector of the binding reactions of soil to the upper drawbar was 695 mm and the point M moved
tractor’s movement. freely within the oblong opening of the plough (see
As the modelling of this problem was based on an a detail in Fig. 1). Theoretically, there should not be
assumption that both the front double wheel and any force measured in the upper drawbar. However,
the rear wheels are driving wheels with differential the bumpiness of the field surface caused that the
locks, then average values of measured forces were not zero
but fluctuating about zero values.
fC = [–2F Cz(μ – f v), F Cy, –2F Cz]T (kN) (18)
Table 1. Average force values measured for different
fL = [–FL(μ – f v), F S, –FL]T (kN) (19) lengths of upper drawbar
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MTx (kNm)
Results of these measurements were analysed sta- the obtained results are presented in Table 2. These
tistically by means of the regression analysis. The results indicate that the calculated coefficients were
measured values were plotted along a straight line statistically highly significant.
using the results of linear regression. The statistical Dependencies presented in Figs 4 and 5 were
significance of the regression function was tested calculated by means of regression analysis. The de-
by F-test. Test results presented in Table 2 indicate pendence of the linear course of the moment MTx
that the tested regression was statistically signifi- on the force working in the upper drawbar of the
cant (this was also documented by the calculated three-point linkage of a tractor is presented in Fig. 4.
significance levels). The significance of the regres- Increasing negative values of the moment MTx (as
sion function coefficients was tested by t-test and related to the orientation of the x-axis indicate
MTx (kNm)
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Res. Agr. Eng. Vol. 57, 2011, No. 3: 79–87
Table 3. Average force values measured for different justed to 665 mm (i.e. +25 mm) and its length was
lengths of upper drawbar the same as in experiments with ploughing on the
left side of the moving tractor. The obtained results
Measurement
Fh (kN) MTx (kNm) FPz – FLz (kN)
indicate that the ploughing operation on tractor’s
series right side was subjected to the same rules as in a
10.708 1.418 5.459 series of measurements performed on the left side
of ploughing tractor.
11.068 1.140 5.451
A This analysis indicates that the moment MTx in-
11.417 1.298 5.265 creased with the increasing force working in the
11.694 1.262 5.307 upper drawbar; this means that the load of wheels
Average 11.222 1.279 5.370 moving in the furrow is reduced. This is quite logi-
6.330 0.098 4.469
cal because the increasing tracking force in the up-
per drawbar always causes a deloading of plough’s
8.555 0.174 3.822
supporting wheel. The centre of gravity of a four-
7.047 0.100 4.117 furrow mounted plough used in these experiments
B 6.774 0.073 4.341 was situated on the left side of the tractor’s longi-
1.317 –0.179 4.403 tudinal axis. In case that the supporting wheel is
deloaded, the mass of the tractor influences more
3.093 –0.042 4.249
the opposite driving wheels, which moves on the
1.684 –0.280 4.629
field surface (i.e. the left one when ploughing on the
Average 4.971 –0.008 4.290 right side of the tractor and vice versa).
Ploughing on right; for abbreviations see Table 1
Discussion
that with the increasing force working in the upper
drawbar the wheel moving in the furrow is de facto Renius (1987) mentioned that (under conditions
deloaded (Fig. 2). of 20% slippage) the ploughing aggregate consisting
If the difference in forces influencing the left and of a tractor and a four-furrow reversible mounted
the right rear driving wheels (FLc – FPc) is denoted plough showed 45% and 25% of load on the wheel
as a value dependent on the moment MTx (Fig. 5), moving in the furrow and on the field surface, re-
then it is possible to say that the length of the upper spectively.
drawbar influences the load of wheels in the furrow Results presented in this paper were obtained
and on the field. As far as the pulling characteristics also in experiments with attached four-furrow re-
of a tractor are concerned it is possible to conclude versible plough. The average slippage was 15%.
that the length of the upper drawbar of the three- Results of regression analysis of measured and cal-
point linkage influences the load of wheels moving culated data are presented in Figs 4–7. The linear
in the furrow and on the field surface. With regard dependence of the course of MTx moment on the
to the pulling characteristics of tractors this obser- force working in the upper drawbar Fh of the three-
vation is significant. point linkage is illustrated in Figs 4 and 6. It can
The series of measurements presented in Table 3 be concluded that the greater the force working in
refer to ploughing performed on the right side the upper bar, the lower the load of the rear sup-
of the moving tractor. The upper drawbar of the porting wheel and the higher the moment MTx. This
three-point linkage was adjusted to two different means that when ploughing on the left side of the
lengths. For the measurements marked in Table 3 tractor the negative moment MTx increased with
as Groups A and B the upper drawbar was adjusted the increasing value of the force Fh. As shown in
to the same lengths as in experiments with left-side Fig. 2, the x-axis is oriented against the direction of
ploughing, i.e. to 640 mm and 665 mm for groups tractor’s movement and for that reason the nega-
A and B, respectively. The measured data indicate tive moments operating along the x axis deload the
that in Group A with the shortest upper drawbar wheel moving in the furrow.
marked tractive forces were registered in all cases This is quite logical because when ploughing with
and that their average value was 11.22 kN. Group B the deloaded supporting wheel of the plough the
involves measurements performed on drawbars ad- moment MTx must be absorbed in lifting drawbars
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Vol. 57, 2011, No. 3: 79–87 Res. Agr. Eng.
MTx (kNm)
MTx (kNm)
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Res. Agr. Eng. Vol. 57, 2011, No. 3: 79–87
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orbě s nesenám pluhem (Load of powered wheels at plough- at the ploughing. Transactions of the Technical University
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Mouazen A.M., Maleki M.R., Cockx L., Van Meirvenne Šmerda T., Čupera J., 2010. Tire inflation and its influence
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soil phosphorus measured using an on-line visible and near Upadhyaya S.K., Kemble L.J., 1985. Accuracy of mounted
infrared sensor. Soil & Tillage Research, 103: 144–152. implement draft prediction using strain gages mounted
Novák, P., Šmerda, T., Čupera, J., 2009. Impact of semi- directly on three-point linkage system. Transactions of
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Corresponding author:
Doc. Ing. Libor Severa, Ph.D., Mendel University in Brno, Faculty of Agronomy,
Zemědělská 1, 603 00 Brno, Czech Republic
phone: + 420 545132093, email: severa@mendelu.cz
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