In agriculture, tractor is the most fuel-consuming and polluting
machine. Tractors are subject to various agricultural operations:
ploughing, soil tillage, drilling, fertilizing, mowing, transport and
other works. One of the most important indicators is usage of tractor’s
power for useful work. In order to reach maximum economic
efficiency of works performed by agricultural equipment, tractors
with higher draft are unavoidable for usage. Traction power is calculated
by multiplying the speed of the tractor by traction force.
When traction force of the tractor is increased, driving wheels are
slipping even more [9]. Driving wheels lose sufficient grip with
the ground. The result is a reduced possibility to use engine’s maximum
or near to maximum power [10–12]. Different results are obtained
when tractor is working at higher speeds [13]. For example,
when stubble is being tilled at a higher than 15 km/h speed, draft is
limited by engine power. This means that almost all power of the
engine can be converted into the draft (traction force of tractor)
[13,14]. Variations in soil structure and surface roughness affect
the variations in implement resistance and draft [9,15]. In case of
tractors with manual transmission, engine torque reserve helps to
In agriculture, tractor is the most fuel-consuming and polluting
machine. Tractors are subject to various agricultural operations:
ploughing, soil tillage, drilling, fertilizing, mowing, transport and
other works. One of the most important indicators is usage of tractor’s
power for useful work. In order to reach maximum economic
efficiency of works performed by agricultural equipment, tractors
with higher draft are unavoidable for usage. Traction power is calculated
by multiplying the speed of the tractor by traction force.
When traction force of the tractor is increased, driving wheels are
slipping even more [9]. Driving wheels lose sufficient grip with
the ground. The result is a reduced possibility to use engine’s maximum
or near to maximum power [10–12]. Different results are obtained
when tractor is working at higher speeds [13]. For example,
when stubble is being tilled at a higher than 15 km/h speed, draft is
limited by engine power. This means that almost all power of the
engine can be converted into the draft (traction force of tractor)
[13,14]. Variations in soil structure and surface roughness affect
the variations in implement resistance and draft [9,15]. In case of
tractors with manual transmission, engine torque reserve helps to
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