Development and Laboratory Evaluation of an Online Controlling Algorithm for Precision Tillage

Soil compaction management relies on costly annual deep tillage. Variable-depth tillage or site-specific tillage modifies the physical properties of the soil at the required zones for the growth of crops. In this study, a depth control system was designed for the subsoiler of the tillage at various depths. For this purpose, an algorithm was written to investigate the subsoiler location and soil compaction. A program was also developed to implement this algorithm using Kinco Builder Software to control the subsoiler depth, which was evaluated on the experimental platform. In this study, four compression sensors were used at a distance of 10 cm up to a depth of 40 cm on the blade mounted at the front of the tractor. The data of these sensors were used as the input and compared with the pressure baseline limit (2.07 MPa), and with the priority to select the greater depth, the depth of subsoiler was determined. At all three modes of sensor activation (single, collective, and combined), this system was able to operate the hydraulic system of the tractor and place the subsoiler at the desired depth through the use of the position sensors.