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Ingeniería agrícola y biosistemas

versión On-line ISSN 2007-4026versión impresa ISSN 2007-3925


GARCIA-RIVERA, Gerónimo et al. Agricultural tractor slippage measurement system using encoders. Ing. agric. biosist. [online]. 2021, vol.13, n.2, pp.261-271.  Epub 25-Jul-2022. ISSN 2007-4026.


Slippage is usually measured with a standard manual method, however, if it is required slippage information inline in extensive areas of cropland, mechanical and electronic equipment have to be developed.


To design, assemble and evaluate (in laboratory and under field conditions) an encoder-based slippage measurement system.


The system was integrated and tested in the laboratory, where equations were generated to calculate the slippage. The system was installed in an agricultural tractor and its performance was evaluated on an asphalt track and working with tillage implements on various soil conditions.


The values obtained with the manual method and the encoder-based method showed very small differences. The results of field evaluation of the system are in congruence with the type of implement and with the moisture content in the soil. This indicates that the measurement of distances by the wheel turns and the calculation of the percentage of slippage are correct.

Study limitations:

The system was tested in short runs (up to 100 m). Still to be tested in at least 1 ha.


Automated slippage measurement in extended crop areas.


The slippage measurement system based on encoders is reliable for automatically measuring the slippage of agricultural tractor in different field conditions.

Palabras llave : traction; tillage; automation; soil moisture.

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