Saved in:
| Main Authors: | , |
|---|---|
| Format: | Preprint |
| Published: |
2026
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2604.17991 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866913047203807232 |
|---|---|
| author | Hefele, Ruben Oksanen, Timo |
| author_facet | Hefele, Ruben Oksanen, Timo |
| contents | Tillage operations account for a large share of on-farm diesel consumption, yet the fuel efficiency of the combined tractor-implement system is not optimised in current practice. Modern continuously variable transmission (CVT) tractors minimise engine fuel consumption internally, but they treat the implement as an unknown load and do not account for the effect of vehicle speed on implement draft force. This paper presents EcoTIM, a distributed fuel-optimisation concept in which the tractor and tillage implement cooperate through the extended ISO 11783 (ISOBUS) Tractor Implement Management (TIM) interface to minimise fuel consumption per hectare in real time. In the EcoTIM concept, the tractor Electric Control Unit fuses its internal engine, transmission, and traction efficiencies into a single combined efficiency value and its derivative with respect to vehicle speed, and broadcasts both to the implement at the standard 100 ms CAN bus cycle. The implement ECU combines these two received scalars with its own analytically known draft force model to evaluate the fuel-consumption gradient, and commands the optimal speed, and as a novel TIM extension, the desired acceleration, back to the tractor. Because only two scalar values are exchanged and neither party discloses proprietary subsystem models, the architecture is inherently multi-brand and plug-and-play. The required data exchange is realised with three new messages and one backward-compatible byte-level extension to the standard TIM speed command, and this paper proposes that these messages are standardised within ISO 11783. The acceleration command enables feed-forward torque and CVT ratio planning on the tractor side, improving transient response compared with speed-only TIM commands. This paper also contains a proof-of-concept simulation with six tillage scenarios and a spatially varying 1km test track for initial concept validation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_17991 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | EcoTIM: Fuel-saving multi-brand tillage with ISO 11783 TIM Hefele, Ruben Oksanen, Timo Systems and Control Tillage operations account for a large share of on-farm diesel consumption, yet the fuel efficiency of the combined tractor-implement system is not optimised in current practice. Modern continuously variable transmission (CVT) tractors minimise engine fuel consumption internally, but they treat the implement as an unknown load and do not account for the effect of vehicle speed on implement draft force. This paper presents EcoTIM, a distributed fuel-optimisation concept in which the tractor and tillage implement cooperate through the extended ISO 11783 (ISOBUS) Tractor Implement Management (TIM) interface to minimise fuel consumption per hectare in real time. In the EcoTIM concept, the tractor Electric Control Unit fuses its internal engine, transmission, and traction efficiencies into a single combined efficiency value and its derivative with respect to vehicle speed, and broadcasts both to the implement at the standard 100 ms CAN bus cycle. The implement ECU combines these two received scalars with its own analytically known draft force model to evaluate the fuel-consumption gradient, and commands the optimal speed, and as a novel TIM extension, the desired acceleration, back to the tractor. Because only two scalar values are exchanged and neither party discloses proprietary subsystem models, the architecture is inherently multi-brand and plug-and-play. The required data exchange is realised with three new messages and one backward-compatible byte-level extension to the standard TIM speed command, and this paper proposes that these messages are standardised within ISO 11783. The acceleration command enables feed-forward torque and CVT ratio planning on the tractor side, improving transient response compared with speed-only TIM commands. This paper also contains a proof-of-concept simulation with six tillage scenarios and a spatially varying 1km test track for initial concept validation. |
| title | EcoTIM: Fuel-saving multi-brand tillage with ISO 11783 TIM |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2604.17991 |