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CAN Bus Technology for Agricultural Machine Management Research and Undergraduate Education

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CAN Bus Technology for Agricultural Machine Management Research and Undergraduate Education Iowa State University Capstones, Theses and Graduate Theses and Dissertations Dissertations 2019 CAN bus technology for agricultural machine management research and undergraduate education Firas Salim Al-Aani Iowa State University Follow this and additional works at: https://lib.dr.iastate.edu/etd Part of the Agriculture Commons, Bioresource and Agricultural Engineering Commons, and the Industrial Engineering Commons Recommended Citation Al-Aani, Firas Salim, "CAN bus technology for agricultural machine management research and undergraduate education" (2019). Graduate Theses and Dissertations. 17635. https://lib.dr.iastate.edu/etd/17635 This Dissertation is brought to you for free and open access by the Iowa State University Capstones, Theses and Dissertations at Iowa State University Digital Repository. It has been accepted for inclusion in Graduate Theses and Dissertations by an authorized administrator of Iowa State University Digital Repository. For more information, please contact [email protected]. CAN bus technology for agricultural machine management research and undergraduate education by Firas Salim Al-Aani A dissertation submitted to the graduate faculty in partial fulfillment of the requirements for the degree of DOCTOR OF PHILOSOPHY Major: Agricultural and Biosystems Engineering Program of Study Committee: Matt Darr, Major Professor Brian Steward Stuart Birrell Thomas Brumm Georgeanne Artz The student author, whose presentation of the scholarship herein was approved by the program of study committee, is solely responsible for the content of this dissertation. The Graduate College will ensure this dissertation is globally accessible and will not permit alterations after a degree is conferred. Iowa State University Ames, Iowa 2019 Copyright © Firas Salim Al-Aani, 2019. All rights reserved. ii TABLE OF CONTENTS Page LIST OF FIGURES ...................................................................................................................v LIST OF TABLES ................................................................................................................... ix NOMENCLATURE ..................................................................................................................x ACKNOWLEDGMENTS ..................................................................................................... xiii ABSTRACT .............................................................................................................................xv CHAPTER 1. GENERAL INTRODUCTION ..........................................................................1 1.1 Background .................................................................................................................... 1 1.2 Problem Context ............................................................................................................ 2 1.3 Objectives ...................................................................................................................... 2 1.4 Introduction ................................................................................................................... 3 1.5 Thesis Format ................................................................................................................ 7 1.6 References ..................................................................................................................... 8 CHAPTER 2. BACKGROUND ON CONTROLLER AREA NETWORKS .........................11 2.1 Background .................................................................................................................. 11 2.2 Introduction ................................................................................................................. 13 2.3 Architecture Layers ..................................................................................................... 15 2.3.1 Physical Layer ..................................................................................................... 16 2.4 Message Frame Structure ............................................................................................ 18 2.4.1 Data Frame .......................................................................................................... 18 2.4.1.1 SOF (Start of Frame) ................................................................................... 19 2.4.1.2 Arbitration Field .......................................................................................... 19 2.4.1.3 Control Field ............................................................................................... 20 2.4.1.4 Data Field .................................................................................................... 20 2.4.1.5 Acknowledgment (ACK) Field ................................................................... 20 2.4.1.6 End of Frame (EOF) ................................................................................... 21 2.4.2 Remote Frame ..................................................................................................... 21 2.4.3 Error Frame ......................................................................................................... 21 2.4.4 Overload Frame ................................................................................................... 21 2.5 How CAN Communication Works .............................................................................. 22 2.6 CAN Communication Standards ................................................................................. 22 2.7 References ................................................................................................................... 26 CHAPTER 3. THE PERFORMANCE OF FARM TRACTORS AS REPORTED BY CAN- BUS MESSAGES, TILLAGE PROJECT ...............................................................................28 3.1 Abstract ........................................................................................................................ 28 3.2 Introduction ................................................................................................................. 30 3.3 Objectives .................................................................................................................... 35 iii 3.4 Literature Review ........................................................................................................ 36 3.4.1 Fuel Consumption ............................................................................................... 36 3.4.1.1 Factors affecting fuel consumption ............................................................. 37 3.4.2 Slippage Percentage ............................................................................................ 38 3.4.2.1 Factors affecting slip ................................................................................... 39 3.4.3 Field Efficiency ................................................................................................... 39 3.4.3.1 Factors effecting efficiency ......................................................................... 40 3.5 Materials and Methods ................................................................................................ 42 3.5.1 Field Equipment and Data Collection ................................................................. 42 3.5.2 Key Performance Indicators ................................................................................ 44 3.5.3 Experimental Design ........................................................................................... 45 3.6 Results and Discussion ................................................................................................ 46 3.6.1 Fuel Consumption Rate ....................................................................................... 46 3.6.2 Slippage Percentage ............................................................................................ 48 3.6.3 Effective Field Capacity ...................................................................................... 49 3.7 Conclusions ................................................................................................................. 50 3.8 References ................................................................................................................... 51 CHAPTER 4. DESIGN AND VALIDATION OF AN ELECTRONIC DATA LOGGING SYSTEMS (CAN BUS) FOR MONITORING MACHINERY PERFORMANCE AND MANAGEMENT- PLANTING APPLICATION ...................................................................56 4.1 Abstract ........................................................................................................................ 56 4.2 Introduction ................................................................................................................. 58 4.3 Literature Review ........................................................................................................ 61 4.3.1 Working on Sloped Land .................................................................................... 65 4.3.2 Sloped Land: Definition and Measurement Techniques ..................................... 65 4.3.3 Tractor (Body Frame) Rotation Angles............................................................... 68 4.3.4 Crawler Type Tractor .......................................................................................... 70 4.4 Materials and Methods ................................................................................................ 73 4.4.1 Experimental Fields ............................................................................................
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