Integrated Simulation of Agricultural Tractor with Controlled Implement

A comprehensive integrated simulation model of a tractor with hitch mounted, hydraulically actuated, chisel plow is defined and demonstrated. An ideal depth sensor is used in a closed loop control system to maintain desired working depth independent of terrain profile and variation in soil characteristics. Inputs to the system are either from depth commands to the control loop or from the tractor traversing a specified terrain profile.

Emphasis is on the use of a model that combines all major subsystems into a single integrated simulation and on the use of computer graphics for visualization of results.

Typical simulation results are shown in plotted form and a number of frames from an animation made from the simulation data are shown to illustrate this mode of output.