EAEF 6(4) : 160-164, 2013

Research Paper

Study on the Development of the Electric Tractor

－ Specifications and Traveling and Tilling Performance of a Prototype Electric Tractor －

Yuko UEKA*1, Jun YAMASHITA*2, Kazunobu SATO*3, Yoshinori DOI*4

Abstract
To reduce the environmental impacts of agricultural production, an existing 10 kW-class internal combustion
engine tractor was remodeled as an electric tractor with an AD motor. Remodeling the engine tractor to an electric
tractor increased its overall weight. However, it had little damaging effect on the balance of the body. By using
electric-only agricultural machinery, the energy consumption needed for traveling and tillage in the field can be
reduced by approximately 70 %. Moreover, the electric tractor could operate continuously for one hour over a work
area of approximately 1300 m2 on a single charged battery. From the results of the CO2 emissions estimated on the
basis of the above result, it reduced by approximately 70 % rather than the engine tractor.
[Keywords] tractor, low-carbon society, carbon dioxide emissions reduction, electrification, power consumption

I Introduction layout configurations (Arjharn et al., 2001a; 2001b). In this

In 2004, as part of the global trend in recent years toward
developing a low-carbon society, the United States EPA
launched the “TIER 4” emissions standard in order to
establish exhaust gas criteria for non-road diesel engines.
Meanwhile, in April 2004, “2004/26/ES” was added to the set
of European Union regulations on Stage IIIB and IV exhaust
gas emissions. Both 2004/26/ES and TIER 4 set very strict
values on the emission standards. At the same time, Japan
introduced the Act on Regulation, Etc. of Emissions from
Non-road Special Motor Vehicles as well as contributed to the
introduction of low-carbon technologies that can minimize or
even eliminate dependence on oil. As part of this effort,
reduction in the environmental impact of agricultural
production is required. Under the Japanese law, new emission
standards are being phased in from 2011 for non-road special
motor vehicles that use diesel engines, including agricultural
machinery; clean energy use has thus become an agricultural
industry mandate. Among the various types of mobile
agricultural machinery, the agricultural tractor is one of the
most prolific consumers of fuel (MAFF, 2008; NAME, 2009);
as a result, the tractor has become an obvious target for
electrification research.
In the previous research, electric tractors with DC motors
were assessed, with the body of research including the
analysis of the relationship between the drawbar pull
performance and energy consumption, as well as the battery
study, an electric tractor with an AC motor is proposed and
assessed in terms of its torque characteristics, torque variation
control, the number of motor rotation, and water resistance.
A prototype electric tractor with a motorized system
consisting of a motor, controller, and battery, replacing an
internal combustion engine was used to perform actual work
in the field under a variety of terrain and operating conditions.
This study focuses on the driving performance of the tractor
during crop cultivation, rather than on the drawbar pull
performance. Basic data on power consumption and other
factors were collected, and the motor capacity needed for the
practical use of was analyzed.
Finally, the practical aspects of the electric system
performance, such as the attainable continuous work time and
area using a single charged battery, were assessed.
II Materials and Methods
1. Prototype tractor specifications
We have carried out this study as a basic assessment to
determine future directions in the development and use of
electric tractors. For the experiments, a commercially
available, 10-kW-class, 4-wheel-drive tractor with a relatively
simple power transmission and small engine-exhaust levels
was remodeled and used. Retaining the power transmission
unit, we replaced the two-cylinder diesel engine with a
three-phase, 10-kW AC motor. Power from the electric motor

*1 JSAM Member, Corresponding author, Ehime University, 3-5-7 Tarumi, Matsuyama, Ehime 790-8566, Japan;
yueka@agr.ehime-u.ac.jp
*2 JSAM Member, Matsuyama University Junior College, 4-2 Bunkyo-cho, Matsuyama, Ehime 790-8578, Japan
*3 JSAM Member, Ehime Institute of Industrial Technology, 487-2 Kumekubota-machi, Matsuyama, Ehime 791-1101, Japan
*4 JSAM Member, ISEKI & Co., Ltd., 1 Yakura, Tobe-cho, Iyo-gun, Ehime 791-2193, Japan
 UEKA, YAMASHITA, SATO, DOI: Study on the Development of the Electric Tractor
－ Specifications and Traveling and Tilling Performance of a Prototype Electric Tractor － 161

was used, via a reduction gear, to drive the rotary tiller and the equipped with a battery (30 cells of 3.3 V each, totaling 99 V),
front and rear wheels. a controller, a motor, and a 12 V accessory battery, which is
charged from the main battery via a DC-DC converter. The
Table 1 Specifications of the prototype tractor converter output varies on the basis of the state of charge of
Style ISEKI Piccoro the accessory battery, with a maximum output of 8.5 A.
Model TC13 (T0614)
Drive system 4 wheel drive
Length (mm) 1905
Width (mm) 915
Size Height (mm) 1760
Minimum ground
265
clearance (mm)
6 speeds forward
Shift transmission
Traveling 2 speeds back
section Travelling Forward 0.72 - 11.98
speed (km/h) Back 0.90, 5.47
Minimum turning diameter (m) 1.5
Engine Motor
Water cooled 4 Three phase AC
Fig. 2 Photograph of the electric tractor
Type cycle twin cylinder motor (Ohsei,
diesel GLMI10A1)
2. Measurement of weight and the center of gravity
The weight of the tractor before and after remodeling was
Weight (kg) 470 553
measured using a weight measuring device (INTERCOMP,
Rated power
9.6[13.0]/2700 10 SW777PRO). By placing the load meter of the measuring
(kW [PS]/rpm) (kW)
device under each tire, the center of gravity before and after
Input DC 100V
remodeling was also calculated. Each load meter was able to
Output 3φ200A
Controller - measure up to 750 kg; thus, a total weight of 3,000 kg could
(Ohsei, GL
be measured.
CI6008A2)
Lithium battery
3. Measurement of energy consumption during travel
99V (3.3V×30)
Battery - and tilling
(Sky Energy,
This experiment was carried out in two different fields in
SE100AHA)
Ehime Prefecture: in the paddy fields of Tobe town, Iyo-gun,
and in the upland field of the experimental farm of the faculty
ST Key of agriculture, Ehime University. The upland soil used for the
Accelerator test was derived from a residual called decomposed granite
signal
Forward-reverse
soil, which, according to the International Soil Texture
Accessory DC-DC
button battery converter Classification Standards (JSAM, 1996; FUJIWARA et al.,
－
99V

12V
1999), is equivalent to sandy soil. Although an attempt was
made to measure its hardness using a cone penetration test
200A

Fuse
Motor
Motor controller machine, the soil was too soft to measure. The moisture
＋
content of the upland soil was 14 %, while its liquid limit
System main relay Breaker for
switchboard (LL) was 51.0 % and its plastic limit (PL) was 36.3 %. The
paddy field soil had a cone penetration resistance value of
Fig. 1 Schematic diagram of the electric tractor
0.45 MPa with a moisture content of 20.3 %. The LL was
46.4 %, and the PL was 33.2 %.
Table 1 lists the major specifications of the tractor before
The motor had a rotation speed of approximately 2650 rpm
and after remodeling. Fig. 1 shows a diagram of the electric
with a rotational power take-off (PTO) speed of
system of the prototype electric tractor. Fig. 2 shows a
approximately 465 rpm; the running speed and the tillage
photograph of the prototype electric tractor, which has been
depth were set as shown in Table 2. Under each of the
162 Engineering in Agriculture, Environment and Food Vol. 6, No. 4 (2013)

conditions, the motor voltage (V) was measured using a volt The calculated results are shown in Table 3. Although a
meter (GRAPHTEC, GL900), and current (A) was measured weight of 81.0 kg was added by remodeling, the resulting
with a current meter (Sanwa, CL-22AD). Power consumption displacement in the center of gravity was only approximately
(W = A × V) was then calculated. The amount of diesel engine 1 - 6 % of the vehicle’s body size. As displacement in the
fuel consumed was also measured, and calorific consumption position of the center of gravity is the most important factor in
was calculated using the calorific value of diesel fuel (37.7 terms of vehicle body balance, the increase in body weight is
kJ/ml). observed to have no detrimental effect on vehicle balance
The tractor used a 110-cm-wide rotary tillage with 24 after remodeling.
blades on its side driveway. The total traveling distance of the
tractor was 40 m per round trip, based on a one-way travel Table 3 Weight and position of the center of gravity of the
distance of 20 m. prototype tractor
Engine tractor Electric tractor
Table 2 Experimental condition Weight (kg) 473.0 554.0
Field Upland Paddy a 0.45 0.34
Position of the center
Engine Motor Engine Motor b 0.43 0.40
of gravity (m)
0.15 h 0.46 0.48
Travelling
0.30-0.39 0.30-0.33 0.3 0.27-0.29
speeds (m/s)
0.45-0.47 2. Energy consumption of tillage work and travel
12 12 Fig. 4 shows a 1-min-long measurement of the waveforms
Tillage 10
18 18 11 of the motor current, voltage, and power of the tractor with its
depth (cm) 11
0 (not till) 0 (not till) tiller up while it travelled at 0.33 m/s at the upland site. After
the tractor commenced travel, it was observed that the battery
voltage decreased slightly (from 99 to 96.8 V); however, an
III Results and Discussion
average current of 36 A was drawn, and the average power
1. Body weight and center of gravity
output was 3.62 kW.
Before the remodeling, the applied loads were 136.0 kg in
the right front wheel, 132.5 kg in the left front wheel, 100.5
kg in the right rear wheel, and 104.5 kg in the left rear wheel. 160 10
140 Current Voltage Power
The total weight was 473.0 kg. After remodeling, the applied
Current (A) and Voltage (V))

8
loads in the corresponding wheels were 185.0 kg, 188.0 kg, 120
100 6

Power (kW)
95.0 kg, and 86.0 kg, respectively, with a total weight of
80
554.0 kg. From these results, the positions of the center of 4
60
gravity (see Fig. 3) before and after remodeling were 40 2
calculated. 20
0
0
-20 0 20 40 60 -2
Time (s)
front

Fig. 4 Current, voltage, and power in the upland field, with

a the tiller raised
1.05m
G b
Fig. 5 shows a 1-min measured waveform scan of the same
parameters with tractor tilling at an 18-cm tillage depth (TD)
with a speed of 0.33 m/s in the upland field. Given that the
tillage resistance was high in this case, the average current
front wheel pitch:0.8m
(rear wheel pitch:0.75m) drawn was 81.7 A, the average voltage was 94.6 V, and the
average power consumed was 7.2 kW.

Fig. 3 Position of the center of gravity

 UEKA, YAMASHITA, SATO, DOI: Study on the Development of the Electric Tractor
－ Specifications and Traveling and Tilling Performance of a Prototype Electric Tractor － 163

73.6 %.
160 10
140
8
Curent (A) and Voltage (V))

120
motor （upland) engine (upland)
100 6

Power (kW)
motor (paddy) engine (paddy)
80
40

Calorific value (kJ/s)

4
60

Power (kW)
40 2 30
20 Curent Voltage Power 20
0
0
10
-20 0 20 40 60 -2
Time (s) 0
0 5 10 15 20
Fig. 5 Current, voltage, and power in the upland field with a
Tillage depth (cm)
tiller depth of 18 cm
Fig. 7 Power consumption of the prototype and engine
Fig. 6 shows the power use when rotary work was tractors
performed in the paddy field at three travelling speeds (from
0.15 to approximately 0.47 m/s) and with two TD settings (10 As the total weight and corresponding rolling resistance of
and 11 cm). All the values of power shown are the averages an electric-powered tractor are higher than those of a
over a 1-min work segment. Symbols “+,” “×,” and “*” gasoline-powered tractor, the resulting efficiency of more than
denote the corresponding power values obtained from the 80 % of the electric motor represents a two-to-three-fold
upland field case for reference. increase over that of a gasoline (approximately 30 %) or a
diesel (approximately 40 %) engine. As a result, the electric
tractor had a much lower rate of power consumption than the
10.00
9.00 engine tractor.
8.00 At TDs of 12 and 18 cm, the power consumed by the
7.00
Power(kW)

engine tractor was 15.5 and 18.7 kJ/s, respectively. The power
6.00
5.00 consumption of the electric tractor, on the other hand, was
4.00 4.03 and 7.20 kW at 12 and 18 cm, respectively. Thus, power
3.00
TD=10cm TD=11cm consumption was reduced by 74.0 % at 12 cm and 61.5 % at
2.00
TD=18cm(upland) TD=12cm(upland)
1.00 TD=0cm(upland) 18 cm by using the electric tractor.
0.00 In the paddy field at a TD of 11 cm, the engine tractor
0.00 0.10 0.20 0.30 0.40 0.50 consumed 28.6 kJ/s of power, whereas the electric tractor
Travelling speed (m/s)
consumed 8.57 kW, representing a decrease of approximately
Fig. 6 Average power use over a range of operating 70 %. In both the upland and the paddy field cases, deeper
conditions tillage depth led to higher power consumption.
Owing to the greater softness of the soil in the upland field,
As shown in this figure, the tillage power increased with higher running resistance and power consumption were
the travel speed and the tillage depth. The maximum power anticipated; in fact, these factors were found to be higher in
measured was 9.49 kW at 0.45 m/s. From the catalog the paddy field for both the engine and the electric tractors,
specifications given in Table 1, the typical working speed of a which might be a result of the fact that power consumption
stock tractor of this type falls within the range of during cultivation is higher than that during normal operation.
approximately 0.2 - 0.33 m/s, with a power output in this In the paddy field, the continuous work time and the area
speed range at a TD of 11 cm of approximately 7.7 - 8.8 kW. that could be worked upon using a single charged battery
Fig. 7 shows a comparison of the power consumption of the were both assessed. At a speed of approximately 0.3 m/s with
electric and engine tractors at a speed of 0.3 m/s, measured in a TD of approximately 10 cm, the continuous work time was
equivalent units of kW and kJ/s, respectively. approximately 1 h, while the work area was approximately
In the upland field with the tiller raised, the power 1300 m2. During this, the voltage reduced from 105 to 92 V
consumption of the engine tractor was 13.7 kJ/s (i.e., 13.7 and the total energy consumed was 8.09 kWh.
kW), whereas the power consumption of the electric tractor Using a 100 or 200 V power supply, we find that it takes 3 -
was 3.62 kW, representing a decrease of approximately 5 hours to fully charge the battery used in this study.
164 Engineering in Agriculture, Environment and Food Vol. 6, No. 4 (2013)

The biggest advantage of electrification in the case Arjharn, W., M. Koike, T. Kakigawa, A. Yoda, H. Hasegawa and B.
examined here is that the electric tractor motor does not Bahalayodhin. 2001b. Preliminary Study on the Applicability of an
directly emit exhaust gases. The results shown in this paper Electric Tractor (Part2). Journal of the Japanese Society of
indicate that tilling an area of 13 acres for 1 h at 0.33 m/s with Agricultural Machinery 63(5):92-99.
an electric instead of an internal combustion tractor results in Fujiwara, S., Y. Ogawa, T. Kato and T. Anzai. 1999. Dictionary new
a 70 % reduction in CO2 emissions, based on an estimated edition of Soil Science and Plant Nutrition, Tokyo: Institute of
reduction of CO2 emissions from 9.7 kg for an engine tractor Rural Culture Association.
to 2.9 kg for the electric tractor as calculated using Nantan city, Kyoto. 2008. Global Warming Countermeasures
approximate emissions factors of 2619 kg/l and 0.378 kg/kW execution plan in Nantan.
for diesel oil CO2 and grid electricity, respectively (Nantan http://www.city.nantan.kyoto.jp/www/resource/chikyuondankatais
city, Kyoto, 2008). aku.pdf (Accessed 17. September. 2013)
JSAM. 1996. Handbook of biological production machinery, 390-391,
422-423. Tokyo: Corona Publishing Co., Ltd. (In Japansese)
IV Conclusions
MAFF. 2008. Circumstances surrounding the energy-saving
In this study, an existing 10-kW-class internal combustion
performance of agricultural machinery.
engine tractor was remodeled as an electric tractor. Data
http://www.maff.go.jp/j/study/syoene_nouki/01/pdf/data2.pdf
relevant to the performance parameters of the remodeled
(Accessed 17. September. 2013) (In Japansese)
system were gathered, including the change in body weight
NAME. 2009. New technology seminar document energy saving and
and the position of the center of gravity, as well as power
role of the agricultural machine, 41-43. Tokyo: New Agricultural
consumption from both tillage work and traveling. On the
Mechanization Enhancement Co., Ltd.
basis of these data, some conclusions relevant to the efficacy
(Received: 17. July. 2012, Accepted: 18. March. 2013)
of electric powered tractor systems could be drawn:
1. Remodeling the engine tractor to an electric tractor
increased the overall weight. However, the relative
displacement of the center of gravity was only approximately
1 - 6 %. Thus, it could be concluded that the increase in body
weight had little damaging effect on the balance of the body
after remodeling.
2. By using electric-only agricultural machinery, we found
that the energy consumption needed for traveling and tillage
in the field can be reduced by a maximum of approximately
70 %. As the weight of a tractor with an electric motor is
higher, its expected rolling resistance in an upland field will
be greater, resulting in an energy conversion efficiency of
greater than 80 %.
3. The prototype a 10-kW-class electric tractor used in this
study could cover 13 acres by working continuously on a
single charged battery at a speed of approximately 0.3 m/s and
a TD of 10 cm.
4. The biggest advantage of electrification in this case is the
elimination of direct emissions of exhaust gases. On the basis
of the results shown in this paper, it can be concluded that the
proposed electric tractor reduces CO2 emissions by an
estimated 70 % relative to a similar diesel tractor.

References
Arjharn, W., M. Koike, T. Kakigawa, A. Yoda, H. Hasegawa and B.
Bahalayodhin. 2001a. Preliminary Study on the Applicability of an
Electric Tractor (Part1). Journal of the Japanese Society of
Agricultural Machinery 63(3):130-137.