U.P.B. Sci. Bull., Series D, Vol. 84, Iss.

2, 2022 ISSN 1454-2358

RESEARCH ON THE DEVELOPMENT OF A CALCULUS ALGORITHM

TO ESTIMATE THE RESISTANT FORCE OF SELF-VIBRATING
CULTIVATORS USED FOR SEEDBED PREPARATION

Neluș-Evelin GHEORGHIȚĂ1, Sorin-Ștefan BIRIȘ2, Valentin VLĂDUȚ3,

Nicoleta UNGUREANU4, Edmond MAICAN5, Mihai MATACHE6

The paper presents the results of some theoretical and experimental research
on the dependence of the resistant force on functional parameters such as working
speed and working depth. Because soil cultivation requires a large amount of energy,
even a small economy that emerges as a result of this process could be quite valuable.
Seedbed preparation under difficult working conditions, moisture and general
porosity preservation, and a reduction in soil compression degree are all advantages
of using vibro-combinators. Simulated tests on the vibrocultivator unit were carried
out at University Politechnica of Bucharest and National Research - Development
Institute For Machines And Installations Designed To Agriculture And Food Industry
- INMA Bucharest. The experiment aimed to determine the qualitative working indices
on three plots of agricultural soil. Three repetitions were performed for each
determination, and the average values were calculated.

Keywords: tillage, autovibrations, draft force, resistant force

1. Introduction and review

Tillage separates the soil layer from its natural environment, altering its
stability, aeration, and wetting conditions, and throwing biological activities into
disarray [4]. Soil becomes an artificial body as a result of many works, with a
different regime of infiltration and superficial leakage of rainfalls, with direct
repercussions for the washing of superior horizons and erosion production, as well
as significant potential for water loss through evaporation [4].
Agricultural studies have found that designing and developing an effective
tillage system can help in achieving the desired soil behavior while using less draft
1
Ph.D. Stud. eng., Dep. of Biotechnical Systems, Politehnica University of Bucharest, Romania, e-
mail: [email protected]
2
Prof. Ph.D. eng., Dep. of Biotechnical Systems, Politehnica University of Bucharest, Romania
3
S.R. I, Ph.D. eng., National Research - Development Institute For Machines And Installations
Designed To Agriculture And Food Industry - INMA Romania
4
Lect. Ph.D. eng., Dep. of Biotechnical Systems, Politehnica University of Bucharest, Romania
5
Prof. Ph.D. eng., Dep. of Biotechnical Systems, Politehnica University of Bucharest, Romania
6
S.R. I, Ph.D. eng., National Research - Development Institute For Machines And Installations
Designed To Agriculture And Food Industry - INMA Romania
186 N.E. Gheorghiță, S. Șt. Biriș, V. Vlăduț, N.Ungureanu, E. Maican, M. Matache

force and energy [9]. Another study discovered that a 2–5 cm thick pan forms in
sandy soil after a few tillage machine passes [5].
As a result, the primary focus of research is on the use of low-draft
implements that can help farmers save money by reducing soil compaction and
preparing fields efficiently [12]. Both implement designers and farmers benefit
greatly from accurate predictions of tillage implement forces [1]. It is a well-known
fact that oscillation of tillage equipment can help reduce draft and drawbar power
requirements, which can help solve this problem [11]. Several research have been
published on the effect of oscillation angle, frequency, forward speed, and
amplitude on cutting tool draft and power consumption, as well as optimum settings
for effective operation [8].
Because tillage equipment requires a major percentage of the energy used
to produce the crop, reducing the energy required to modify the physical qualities
of the soil is an important factor [2]. Because of the high quantity of energy required
for soil cultivation, even a tiny economy that develops as a result of this process
may be of substantial value [6].
Combinators are agricultural machines featuring a variety of working bodies
(arrows, claws, coulters, stars, and so on) that grind, loosen, and level the top layer
of soil in a sequential manner. These equipments are used in soil tillage to prepare
for sowing [10]. The benefits of using vibrocombinators include: seedbed
preparation under tough working conditions, moisture and overall porosity
preservation, and a reduction in soil compression degree [7].
Two of the most used spring tine options in field and laboratory tests were
the Gamma tine, which is shaped to work the soil to a fine tilth without overturning
the tilled layer, and respectively the Delta tine, which involves a minimal soil
overturning, being useful in controlling weeds that have emerged after the primary
tillage, or for incorporating crop residues into the tilled layer.

a) b)
Fig.1. Vibratory tines mounted on elastic supports [14]
a) Gamma type; b) Delta type
 Research on the development of a calculus algorithm […] used for seedbed preparation 187

The working tools are active when the translational movement of the
machine through the autovibrations generated by the discreetly variable resistance
of the soil to the interaction with the working tools.
The working tool is excited in elastic regime for each position of the
equipment movement so that the variable effect in relation to time generates a
kinematic excitation of the following shape:
𝑥 = 𝑥0 ∙ sin 𝜔𝑡 (1)
In Fig. 2 are presented various technical solutions of working bodies for
vibrocultivator [14].

Fig. 2. Constructive types of working bodies for vibrocultivators [15]

Following the tools, there is a twin crosskill roller, which is aggressive on

the remaining clods, and a levelling bar for the final levelling. The spring tines work
in conjunction with the front and rear crosskill rollers, which minimize the clodding
in the soil, leaving behind levelled soil ready for seeding [15].

2. Theoretical considerations
The draft force of the vibrocultivator presented in Figure 3, Rm,equal to the
draft force of the tractor Ft is obtained from the equation of projections of forces on
the direction of movement.

𝐹𝑡 = 𝑅𝑚 = 𝑅𝑟𝑚 + 𝑅𝑖𝑚 + 𝑅𝑥𝑛 + 𝑅𝑥𝑡 + 𝑅𝑥𝑠1 + 𝑅𝑥𝑠2 + 𝑅𝑥𝑘1 + 𝑅𝑥𝑘2 (2)

Resistant force due to machine inertia is:

𝐺𝑚 𝑑𝑣
𝑅𝑖𝑚 = ∙ (3)
𝑔 𝑑𝑡
If𝑣 = 𝑐𝑡 → 𝑅𝑖𝑚 = 0
188 N.E. Gheorghiță, S. Șt. Biriș, V. Vlăduț, N.Ungureanu, E. Maican, M. Matache

Fig. 3. Projections of forces on thedirection of movement of the vibrocultivator

Where: Mr1, Mr2- rolling resistant moments; Fm1, Fm2- tangential active forces;
Rr1, Rr2- forward resistant forces in translational motion.

From the forces projections of the cultivators parts presented in Figure 4,

can be obtained many formulas for the resistant force of each tool.

a) b)
 Research on the development of a calculus algorithm […] used for seedbed preparation 189

c) d)
Fig. 4. Forces projections on the cultivator parts
a-blade leveller; b-arrow-type active tool; c-roller; d-crosskill roller.

For a levelling blade (Fig. 4a), the resistant force can be calculated with
the following equation:
𝑅𝑥𝑛1 = 𝑘1 ∙ 𝑎𝑛 ∙ 𝑏𝑛 + 𝜀1 ∙ 𝑎𝑛 ∙ 𝑏𝑛 ∙ 𝑣 2 (4)

For the whole leveler equipment, the resistant force is:

𝑅𝑥𝑛 = 𝑛1 ∙ 𝑅𝑥𝑛1 (5)

For the arrow-type vibratory working tool (Fig. 4b), the resistant force is:

𝑅𝑥𝑠1 = 𝑘2 ∙ 𝑎𝑠 ∙ 𝑏𝑠 + 𝜀2 ∙ 𝑎𝑠 ∙ 𝑏𝑠 ∙ 𝑣 2 (6)

𝐹𝑡𝑠1 = 𝑅𝑥𝑠1 ; 𝑅𝑥𝑠 = 𝑛𝑠 ∙ 𝑅𝑥𝑠1 ;

The draft force applied to the roller (Fig. 4c) and crosskill roller (Fig. 4d):
𝐹𝑡𝑣 = 𝑅𝑥𝑡 = 𝑓𝑡𝑣 ∙ 𝑧𝑡 = 𝑓𝑡𝑣 ∙ 𝐺𝑡𝑣 (7)

𝐹𝑡𝑘1 = 𝑅𝑥𝑘1 = 𝑓𝑘 ∙ 𝑧𝑘1 = 𝑓𝑘1 ∙ 𝐺𝑘1 (8)

where: 𝑘1 𝑘2 –specific resistance to tillage [N/m2]; 𝑎𝑠 , 𝑎𝑛 –working depth [m];

𝑏𝑠 , 𝑏𝑛 –working width [m]; 𝜀1 𝜀2 -coefficient that depends on the shape of the
surfaces of the working tools [non-dimensional]; 𝑣–working speed [m/s];
𝑅𝑥𝑛1 , 𝑅𝑥𝑠1 –resistant force of one working tool [N]; 𝐹𝑡𝑠1 , 𝐹𝑡𝑘1 - draft force for one
working tool; 𝑛𝑠 - number of working tools; 𝑅𝑥𝑠 - total resistant force [N].
190 N.E. Gheorghiță, S. Șt. Biriș, V. Vlăduț, N.Ungureanu, E. Maican, M. Matache

3. Materials and methods

Simulated experiments of the vibrocultivator unit were performed both at

University Politehnica of Bucharest and National Research - Development Institute
For Machines And Installations Designed To Agriculture And Food Industry –
INMA Bucharest. The objective of the experiment was to establish the qualitative
working indices.
The experimental model of SANDOKAN 2 vibrocombinator is designed to
carry out the operations of preparing the seedbed, loosening the soil, leveling the
ground, at depths of maximum 12 cm for cereal crops, technical plants and
vegetables. It is equipped with active vibrating tools of Gamma, Delta 1 or Delta 2
type, mounted on 4 modules with a width of 1.75 m. The experimental model used
for the tests consists of two folding sections with a width of 3.5 m, equipped with
leveling blades, roller blades, crosskill rollers and active tool modules.

Fig. 5. Sandokan vibrocultivator in transport position

The tractor used for the tests was a John Deer JD8530, for each
determination, three repetitions being performed, and then the average values were
calculated. The experiments were performed on three parcels (P1, P2, P3),
geographically positioned according to Figure 6.

Fig. 6. Parcels of soil where the experiments were performed

 Research on the development of a calculus algorithm […] used for seedbed preparation 191

The field test conditions are presented in Table 1.

Table 1
Field test conditions
Results
Nr.crt Characteristics
P1 P2 P3
1 Type of soil vertisol vertisol vertisol
plowing performed autumn plowing
at a depth of 25-30 performed at a
2 Previous work scarification
cm followed by depth of 25 - 30
disking cm
3 Previous culture Corn Corn Corn
4 State of soil Flat and smooth Flat and smooth Flat and smooth
5 Slope of field 0.8° 1.7° 2°
Mass of
6 110-120 g/m2 180-190 g/m2 370-380 g/m2
vegetable waste

Software Mathcad was used for the estimated calculation of the value of the
total resistance force required to operate the equipment. Correlation of the resistant
forces with the traction force of the tractor so that the skating of the driving wheels
does not exceed 20%.

Fig. 7. Experimental model of vibrocultivator Sandokan 2

The experimental model presented was tested in dynamic mode with loads
in the form of the real spectrum of stress in transport, in the state mounted on a test
stand according to Figure 7. The structure of the vibrocombinator was excited by
means of a 100 kN hydraulic cylinder, moving and positioned under the front of the
equipment. The reference signal was synthesized based on the signals recorded in
the transport just above the support point of the cylinder piston.
At the in field trials temperature was 20.5 oC, atmospheric moisture of 45%,
atmospheric pressure of 752 mm col Hg and wind speed of 0.2-0.4 m/s. In
laboratory tests, the temperature was 23 oC, atmospheric moisture was 35%, and
the atmospheric pressure was 752 mm col Hg.
192 N.E. Gheorghiță, S. Șt. Biriș, V. Vlăduț, N.Ungureanu, E. Maican, M. Matache

4. Results and discussions

Experimental data, both for the values of input and output parameters
considered and analyzed in this paper are presented in Tables 2, 3 and 4. Data
obtained from the experiments were used to graphically plot the dependence of the
resisting force on functional parameters.
Table 2
Qualitative and energetic indices determined for the Delta 1 active working tool
Average working Average working Average draft Theoretical draft
Nr.crt.
depth, as [cm] speed [m/s] force in field [kN] force [kN]
1 4.6 3.3 63.64 60.33
2 5.98 2.63 64.24 65.17
3 6 4.19 54.27 75.91
4 7.8 3.38 59.04 81.4

Table 3
Qualitative and energetic indices determined for the Delta 2 active working tool
Workind depth, as Working speed Draft force in field Theoretical draft
Nr.crt.
[cm] [m/s] [kN] force [kN]
1 7.75 3.8 61.63 73.27
2 8.25 3.91 61.56 76.91
3 8.55 3.69 62.32 76.54
4 8.63 2.47 74.92 67.92
5 8.8 3.38 62.73 75.16
6 9.2 3.33 64.75 76.71
7 11.5 2.66 82.95 81.7

Table 4
Qualitative and energetic indices determined for the Gamma active working tool
Workind depth, as Working speed Draft force in field Theoretical draft
Nr.crt.
[cm] [m/s] [kN] force [kN]
1 10.8 2.65 62.4 51.41
2 10.85 2.44 57.4 50.72

Fig. 8. Dependence of the resistant force on functional parameters for Delta 1 tool
 Research on the development of a calculus algorithm […] used for seedbed preparation 193

Fig. 9. Dependence of the resistant force on functional parameters for Delta 2 tool

Fig. 10. Dependence of the resistant force on functional parameters for Gamma tool

In Tables 2, 3 and 4, for all three active tools, it can be noticed that the
difference between the theoretical draft force and the actual draft force in field it is
not higher than 13 kN. From the analysis of the values obtained, it was observed
that is a good corellation between data resulted from calculus and those from field
experiments.
From the analysis of Figure 8whichshow the dependence of the resistant
force on functional parameters, it can be observed that the working depth has the
highest influence on the studied process. Below the depth of 0.10 m, at a maximum
speed of 4 m/s, the resistant force registers values of about 75 kN, which can be
considered small enough not to have a significant impact on the optimal operation
of the equipment.
In Figure 9, the resistant force reaches maximum values of 72 kN, which is
the lowest value of all three. As a comparison with the first, at a working depth of
194 N.E. Gheorghiță, S. Șt. Biriș, V. Vlăduț, N.Ungureanu, E. Maican, M. Matache

0.1 m and a speed of 4 m/s, the resistant force has a value of only about 50 kN. By
analysing Figure 10, it can be seen that the values are in the same range.
Skidding of the drive wheelsfalls within the range of 6.3-9.7 % which is
less than the maximum allowable value of 20 %.

5. Conclusions

Because the tillage equipment consumes a significant portion of the energy

utilized to grow the crop, lowering the energy required to change the physical
properties of the soil is essential.
From the data presented in this paper it can be observed the dependence of
the resistant force on functional parameters. The working depth affects the resistant
force the most, more than the working speed. The values collected were analyzed,
and it was discovered that there is a high correlation between the data produced via
calculus and those gained from field investigations. The amount of skidding
resulted on the drive wheels was between 6.3 and 9.7 %, which is less than the
maximum permissible value of 20 %.

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