Integrated control of agricultural tractors and implements: a review of potential opportunities relating to cultivation and crop establishment machinery

The quality of work and the output of a tractor-implement combination relies heavily upon the concentration and skill of the operator. Electronic systems are used increasingly to control tractor sub-systems, i.e. engine, transmission, implement hitch, external hydraulics, and driveline, and to monitor or control certain implements. However, current systems operate autonomously, relying entirely upon the operator for coordination. An integrated hierarchical control system could potentially monitor operating parameters pertinent to both the tractor and attached implements and use this information to control relevant tractor and implement sub-systems in a coordinated manner, thereby improving machine performance. Potential opportunities for the application of real-time, integrated, hierarchical control techniques to certain cultivation and crop establishment implements currently in use on European farms are reviewed. Specific implements (and their parameters) considered include primary cultivation machinery (control of working depth and working width), secondary cultivation machinery (control of working depth and seedbed quality) and crop establishment machinery (control of seeding depth and seed rate). Outline control strategies are proposed for these applications, and sensors and other hardware required to implement the control systems are identified. It is speculated that the agronomic and economic benefits which are likely to result from the implementation of the proposed technology, will enable economic justification of the proposed control systems in two to four operating seasons. These savings are likely to result from greater operational efficiency and more precise control of agronomic inputs.