NEW DEVELOPMENTSIN AGRICULTURAL EQUIPMENT TRACTORS

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NEW DEVELOPMENTSIN AGRICULTURAL EQUIPMENT TRACTORS
R. T. Schuler National AgrAbility
Project University of Wisconsin - Madison
November 14 , 2006
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Tractors

• Guidance and Auto-Steer
• Global Positioning System
• Guidance
• Auto-Steer
• Autonomous
• Transmissions
• Number of gears/speeds
• CVT - Continuously Variable Transmission
• IVT - Infinitely Variable Transmission
• Suspension
• Tractor Chassis
• Cab
• Seat

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Global Position Systems
Basic GPS Satellite System Only (3 of 24) Low
cost automobiles Error 100 feet
Satellite Constellation
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Global Position Systems
Basic GPS Satellite System Only (3 of 24) Low
cost automobiles Error 100 feet Satellites
plus free beacon Intermediate cost Error 2 to
3 feet
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Global Position Systems
Basic GPS Satellite System Only (3 of 24) Low
cost automobiles Error 100 feet Satellites
plus free beacon Intermediate cost Error 2 to
3 feet Satellites plus geostationary
satellite More costly Error 3 to 5 inches
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Global Position Systems
Basic GPS Satellite System Only (3 of 24) Low
cost automobiles Error 100 feet Satellites
plus free beacon Intermediate cost Error 2 to
3 feet Satellites plus geostationary
satellite More costly Error 3 to 5
inches Satellites plus base station
nearby Costly (18,000 in 2006) One inch or less
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Guidance and Automatic Steering Adoption

• Most systems use GPS
• Payback
• Improve productivity
• Increased forward speed
• Reduced crop inputs
• Reduced operator fatigue
• Ability to operate longer hours (darkness)
• Simple installation 30 minutes
• Lower cost in recent years

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Line A B is base line called Track 0 Guidance
provided between points A and B
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Example of a Light BarLocated in front of
operator

• All lights on in test mode

Green light acceptable area Yellow light -
caution area Red light - unacceptable
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Light Bar

• Middle green light is on-
• Driving right on target

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Light Bar

• Right most green light is on
• Driving to right of center but acceptable
• (error increment can be adjusted)

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Light Bar

• First yellow light is on
• Caution corrective steering should be taken

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Light Bar

• Red light is on
• Operator needs to make steering correction

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Another Display System

• Green rectangle represents front end of tractor
• and angle of line indicates error (magnitude of
  error also displayed)

Track Error
No Error
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Another Display System

• Green rectangle represents front end of tractor
• and angle of line indicates error (magnitude of
  error also displayed)

Audio alarm when error occurs
Track Error
Track 2 ft.
Small Error
No Error
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Another Display System

• Green rectangle represents front end of tractor
• and angle of line indicates error (magnitude of
  error also displayed)

Audio alarm when error occurs
Track Error
Track 2 ft.
Track 5ft
Small Error
Large Error
No Error
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New Special Feature
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New Features automatic headland turn around
New Special Feature Automatic turn around on
headland
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Option with GPS

• Guidance e.g. lightbar

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Option with GPS

• Guidance
• Autosteer
• Steering wheel control

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Option with GPS

• Guidance
• Autosteer
• Steering wheel control
• Steering control system valve

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Machine Vision Non-GPS
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Transmissions for Mobile Equipment

• Gear
• Speed changes in steps
• Single power transmission path
• Efficiency at part loads dependent on the number
  of gears
• Hydrodynamic
• Automotive transmission
• Infinitely variable
• Not adaptable to high torque
• Hydrostatic
• Infinitely variable
• Inefficient
• Infinitely/continuously variable
• Power split in the transmission
• Electronic control of transmission and engine for
  most efficient operation

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Background-Gear Transmissions

• Early Tractors had one or two forward speeds, one
  reverse
• More forward speeds were added
• Speed change without clutching-torque amplifier
• Synchronized transmission
• Shifting on the go
• Infinitely/continuously variable transmission

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Tractor Engine and Driveline for Two Wheel
Drive Single path for the flow of power through
transmission
Transmission
Engine
Axles
Clutch
Differential
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Infinitely/Continuously Variable Transmission
Power is directed into two paths Planetary gear
systems facilitates this Power from the two paths
are merged
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Basic CVT/IVT Transmission
Sun Fixed path
Planetary Gear Set (power split)
Carrier
Output
Variable Path
Ring
Input
2 gears
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Basic CVT/IVT Transmission
Carrier
Fixed path
Sun
Planetary Gear Set (power merge)
Output
Variable Path
Input
Ring
2 gears
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IVT/CVT Characteristics

• Hand control for forward, reverse, speed changes
  and stopping
• Smooth, seamless shifting
• Unlimited speeds from 0.03 to 26 mph (Deere)
• Improved fuel economy at reduced load
• Reduced load-maintain forward speed with changing
  engine speed
• Need for feet only to start the tractor engine
• Cost 9780 (right side), 10,490 (left side)

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Suspension System Goals

• Improve operator comfort and reduce long term
  health issues
• Reduce vibration from traveling over rough
  terrain
• Reduce vibration due engine and drive train
  vibration
• Improve tractor performance
• Reduce the potential for power hop on FWD and FWA
  
• Improve contact between wheels and soil surface

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Background on seat suspension

• First tractor operators had to stand
• Seats rigidly attached to tractor chassis
• Spring supported seats-passive
• Spring plus shock absorbers -passive
• Air suspensions seats-passive
• Active suspension seats

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John Deere Active Seat- 3641 Source Dufner and
Shick, Deere
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John Deere Active Seat Source Dufner and Shick,
Deere
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John Deere Active Seat Source Dufner and Shick,
Deere
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John Deere Active Seat Source Dufner and
Shick, Deere
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• Tractor chassis suspension
• More beneficial for the higher speeds
• Front axle suspension Deere
• Front and rear axle suspension - Fastrac

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• Tractor chasis suspension
• More beneficial for the higher speeds
• Front axle suspension Deere
• Front and rear axle suspension - Fastrac
• Reduces potential for power hop
• Improved performance with FWA tractor

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Concluding remarks

• Guidance and auto-steer
• IVT/CVT
• Fuel saving
• Automatic shift up-throttle back
• Suspension Systems
• Seat
• Cab
• Chassis

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QUESTIONS