Comprehensive lumped parameter and multibody approach for the dynamic simulation of agricultural tractors with tyre–soil interaction

Modern agricultural tractors are complex systems, in which multiple physical (and technological) domains interact to reach a wide set of competing goals, including work operational performance and energy efficiency. This complexity translates the dynamic, multi-domain simulation models implemented serve as digital twins, for rapid prototyping effective pre-tuning, prior bench on-field testing. Consequently, suitable framework should have capability focus both on vehicle whole individual subsystems. For each latter, options be available, with different levels detail, properly address relevant phenomena, depending specific focus, an optimal balance between accuracy computation time. The methodology proposed here by authors is based lumped parameter approach integrates following subsystems modular context: internal combustion engine, hydromechanical transmission, body, tyre–soil interaction. model completed load cycle module that generates stimulus time histories reproduce under real operating conditions. Traction affected vertical wheels, even more if travelling uncompacted soil subject variable drawbar pull force it when ploughing. is, turn, heavily dynamics, can accurately modelled via full multibody implementation. presented intended powerful tool evaluate tractor performance, terms fuel consumption traction considering cascade phenomena from wheel–ground interaction passing through dynamics bodies their mass transfer. Its capabilities numerical results realistic ploughing operation.