Precision Agriculture Science and Technology ISSN:2672-0086(Print) 2713-5632(Online) 정밀농업과학기술

Analysis method using simulation can save manpower, time and cost, and it has more reliable advantages than field test. Therefore, research on dynamics simulation is being actively conducted in the automobile and construction machinery field. In this study, a simulation model was developed for the multibody dynamics of autonomous tractors using commercial software RecurDyn. The simulation tractor was consisted of a front axle, vehicle body, knuckle arm, rear three-point hitch, and four tires. Simulation verification was carried out by comparing and analyzing the load data of off-road driving, and load data was measured by installing torque meter on each axle. Simulation input data for model development was given as axle rotation speed, and tractor speed and axle torque according to axle rotation speed were simulated. As a comparison of the field test and simulation results, the error rate was 2.55, 7.49, 11.62, and 5.58% at the front wheel left, front wheel right, rear wheel left and rear wheel right, respectively. And the error rate for the tractor speed was simulated at about 3.22%. In this study, we developed a simulation model that can analyze the dynamic characteristics of a tractor, and it is necessary to develop a simulation model that can reflect the tractor's agricultural load characteristics.