MATLAB/Simulink 2D model of a compact battery electric agricultural robot pulling a tine harrow
You can select from 5 models in the first section of the .m script:
- Rear-wheel drive (RWD) with 40/60 weight distribution
- RWD with 30/70 weight distribution
- Front-wheel drive (FWD) with 60/40 weight distribution
- FWD with 70/30 weight distribution
- All-wheel drive with 50/50 weight distribution
Two soil types available:
- Sandy loam
- Clayey loam
The included efficiency map is a generic map for an electric motor. The original map used in the journal article is not included due to copyright.
If you utilize this model of parts of it in your work, please cite the following publication: Kivekäs, K.; Lajunen, A. Effect of Soil Properties and Powertrain Configuration on the Energy Consumption of Wheeled Electric Agricultural Robots. Energies 2024, 17, 966. https://doi.org/10.3390/en17040966