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Pulling force required for operations such as tillage is a result of the interaction between the tractor’s wheel drive and soil surface limited by various factors, such as the rolling resistance and slip of the wheel drive. In this research, the traction performance of tractors with different driving systems (four-wheel drive, rear wheel drive, and front wheel drive) was investigated. Test parameters included different tractor forward speeds (1.26, 3.96, and 6.78 km·h −1 ), tire inflation pressures (170, 200, and 230 kPa), ballast weights (0, 150, and 300 kg), and aforementioned driving systems, as well as required drafts (2, 6, and 10 kN). For each experiment, two indices of slip and rolling resistance were measured. The results of this study showed that the four-wheel-driving system indicated a low slip at similar pulling forces. In order to achieve a low slip, the four-wheel driving system did not necessarily need to add the ballast weight or to reduce the inflation pressure. The four-wheel driving system showed lower rolling resistance than the other two systems. Slip and rolling resistance of wheels were predicted using an adaptive neuro-fuzzy inference system (ANFIS). It was found that ANFIS had a high potential for predicting the slip ( R 2  = 0.997) and rolling resistance ( R 2  = 0.9893).

The Effect of Tractor Driving System Type on its Slip and Rolling Resistance and its Modelling Using Anfis