Digital Twin Modeling of a Highly Automated Agricultural Tractor

2026-07-22

AI Summary

This study presents a high-fidelity digital twin system for agricultural tractors, developed on the Mevea simulation platform, to enhance research efficiency and accessibility. For the first time, the system integrates the ISOBUS protocol with a virtual CAN channel (Kvaser CanKing), enabling ISOBUS-compliant communication simulation implemented in Python. Synchronized straight-line driving and steering tests demonstrate strong agreement between the virtual model and the physical tractor in lateral dynamic behavior, with deviations of only 5–10%, thereby establishing a solid foundation for future extensions to hydraulic systems and implement dynamics. Longitudinal characteristics remain unoptimized due to limited data availability. This work significantly advances the protocol compatibility and control simulation capabilities of tractor digital twins.

Abstract

In efforts to increase research efficiency and availability, a digital twin of our research tractor (AMX G-trac) is created, focusing especially on the CAN communication for data reading and actuation command following the ISOBUS protocol. Mevea Simulation Software is utilized as the foundation, providing the kinematic model and visuals, while Python is used to read and write CAN messages over a Kvaser CanKing virtual CAN channel. Various performance tests involving straight line and turning behavior are performed in both the digital twin simulation and in the real world to measure similarity. Results indicate that the Mevea model behaves very comparable in its lateral dynamics, often within 5-10 percent, but requires better data to fully capture the longitudinal aspects like acceleration. The final model described in this paper sets the table for a second iteration to include more tractor functions such as hydraulics and tractor-implement dynamics.

Problem

• Digital Twin
• Agricultural Tractor
• CAN Communication
• ISOBUS Protocol
• Simulation

Innovation

• Digital Twin
• ISOBUS
• CAN communication
• Mevea Simulation
• Agricultural Automation