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

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

Global Position Systems Basic GPS Satellite System Only (3 of 24) Low cost – automobiles Error – 100 feet Satellite Constellation

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

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

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

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

Line A – B is base line called Track 0 Guidance provided between points A and B

Example of a Light Bar Located in front of operator All lights on in test mode Green light – acceptable area Yellow light - caution area Red light - unacceptable

Light Bar Middle green light is on- Driving right on target

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

Light Bar First yellow light is on: Caution – corrective steering should be taken

Light Bar Red light is on: Operator needs to make steering correction

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

Another Display System Green rectangle represents front end of tractor and angle of line indicates error (magnitude of error also displayed) Track ErrorTrack 2 ft. No Error Small Error Audio alarm when error occurs

Another Display System Green rectangle represents front end of tractor and angle of line indicates error (magnitude of error also displayed) Track ErrorTrack 2 ft.Track 5ft No Error Small Error Large Error Audio alarm when error occurs

New Special Feature

New Features – automatic headland turn around New Special Feature Automatic turn around on headland

Option with GPS Guidance e.g. lightbar

Option with GPS Guidance Autosteer –Steering wheel control

Option with GPS Guidance Autosteer –Steering wheel control –Steering control system valve

Machine Vision – Non-GPS

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

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

Tractor Engine and Driveline for Two Wheel Drive Single path for the flow of power through transmission Engine Clutch Transmission Differential Axles

Infinitely/Continuously Variable Transmission Power is directed into two paths Planetary gear systems facilitates this Power from the two paths are merged

Basic CVT/IVT Transmission Planetary Gear Set (power split) Carrier Sun Fixed path Ring 2 gears Variable Path Input Output

Basic CVT/IVT Transmission Planetary Gear Set (power merge) Carrier Fixed path Sun 2 gears Variable Path Input Output Ring

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)

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

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

John Deere Active Seat- $3641 Source: Dufner and Shick, Deere

John Deere Active Seat Source: Dufner and Shick, Deere

John Deere Active Seat Source: Dufner and Shick, Deere

John Deere Active Seat Source: Dufner and Shick, Deere

Tractor chassis suspension  More beneficial for the higher speeds  Front axle suspension – Deere  Front and rear axle suspension - Fastrac

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

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

QUESTIONS