Performance Assessment of a Vibratory-Enhanced Plowing System for Improved Energy Efficiency and Tillage Quality on Compacted Soils

Abstract

Compacted and degraded soils pose increasing challenges to agricultural practices, necessitating innovative approaches to soil tillage. This paper evaluates the performance of a vibratory-enhanced moldboard plowing system, designed to improve energy efficiency and tillage quality under compacted and moisture-deficient conditions, typical of low-moisture soils. Field experiments were conducted across four distinct Romanian regions with varying soil types and climatic conditions, all characterized by significant compaction and limited soil moisture. The vibratory system, mounted directly on each plow body, employed sinusoidal oscillations generated by a DC moto-vibrator, to reduce soil adhesion and traction force requirements, thereby lowering fuel consumption. Key parameters including fuel consumption, working speed, soil fragmentation, weed incorporation, and traction force were measured and compared with the conventional plowing method. The results showed enhanced soil fragmentation and more effective residue incorporation, along with notable reductions in traction effort and fuel use at optimal oscillation settings. These findings highlight the potential of vibratory tillage to be used as a soil preparation method for compaction-prone areas, improving the soil structure while increasing operational energy efficiency.

1. Introduction

The design of moldboard plows has seen significant advancements in recent years, driven by the optimization of functional components, the adoption of advanced materials, and the integration of precision technologies. Most innovations have targeted the reduction of draft force and enhancement of tillage quality by refining the geometry of the moldboard, employing numerical simulations, experimental validation, and smart adjustment systems [1,2,3,4]. While these developments have enhanced adaptability and control, especially under variable pedoclimatic conditions [5,6,7], they have not led to significant breakthroughs in energy efficiency or soil conservation. Vibrotillage, a concept initially introduced in the 1970s, was subsequently abandoned due to insufficient reliability at the time. However, recent advances in vibratory mechanisms and hybrid tillage systems suggest that these technologies could provide significant improvements in terms of operational performance and energy efficiency. Such innovations hold promise for enhancing agricultural practices by optimizing resource use and mitigating soil degradation.

Vibratory tillage systems have shown considerable potential in addressing various limitations associated with conventional soil processing methods. A range of experimental studies have reported that the application of such systems can lead to a draft force reduction [8,9,10]. A comparative assessment between vibratory and conventional tillage equipment revealed a 35% reduction in draft force when vibrations were employed [11]. For active deep-working implements such as subsoilers, the efficiency gains were even more pronounced, with improvements reaching up to 60% [12].

However, in the case of mechanically actuated vibrating elements, some studies have reported that the overall power demand may increase due to the additional energy required to sustain the vibrations [12,13]. This presents a potential drawback, as the additional energy consumption required to generate vibrations may substantially offset the efficiency gains achieved through reduced draft force. Other studies have focused on the quality of work performed by vibrating tillage, a finding that may help reducing soil compaction [11], thereby contributing to the conservation of soil structure and the improvement of porosity [14].

A research study that evaluated how different oscillation angles affect the performance of the tillage equipment [11] found that negative angles (particularly 22.5°) significantly reduced draft and power requirements, while improving the soil loosening efficiency compared to conventional tillage. A research study evaluated the use of vibrotillage on compactable soils using varying oscillation frequencies, amplitudes, forward speeds, and moisture contents for clay soil [15]. The results indicated that, compared to a non-oscillating subsoiler, the vibrating option reduced the draft force but required an important increase in total power. The results are further supported by other studies on clay soils [16], which demonstrated that both the horizontal and vertical forces exerted on the equipment decrease as the oscillation frequency increases.

The consistent use of vibratory tillage tools has been linked to improved soil fragmentation, facilitating the development of a more uniform and agronomically favorable seedbed. Several investigations have examined the relationship among draft force, torque, and power requirements associated with vibratory tillage tools. The results indicate that such tools represent a viable alternative to conventional tillage systems [17]. Research focused on the application of oscillatory motion to tillage implements has demonstrated a linear relationship between draft force and both tool parameters and operational speed [18]. Furthermore, experimental trials conducted in soil tanks have shown that applying sinusoidal vibrations to tillage tools leads to a measurable reduction in draft force [19]. The generation of non-sinusoidal vibrations is technically feasible, using advanced controllers; however, such approaches are rarely used in tillage, as the nonlinear behavior of soil makes optimization challenging. In the present study, the equipment employed was based on rotating eccentric weights, which inherently produce sinusoidal vibrations. This option was selected primarily for reasons of durability, given the difficulties associated with ensuring a long service life of electrical equipment under conditions of intense solar radiation, dust exposure, and uneven terrain.

These findings support the conclusion that introducing motion to the cutting elements enhances the overall efficiency of tillage operations [20]. Experimental evaluations of oscillating subsoilers, such as oscillatory rippers, have demonstrated a reduction in both traction resistance and soil bulk density in comparison to non-vibrating equivalents [21]. Similarly, a comparative study involving three tillage treatments—rotary tillage, vibrating subsoiling, and non-vibrating subsoiling—concluded that vibratory subsoilers contribute to significant decreases in soil bulk density and penetration resistance, thereby leading to overall improvements in soil physical properties [22]. Field trials conducted in sandy loam soils further confirmed that traction resistance is consistently lower when vibratory tools are employed. However, vibrotillage performance is significantly influenced by the soil texture, structure, and moisture content, making power requirements highly variable—particularly when vibration is mechanically actuated.

This research was designed to address key limitations reported in earlier studies by replacing mechanically induced vibrations with optimized, electrically driven vibrators capable of delivering more stable and controllable excitation. Furthermore, trials were conducted on compacted soils with distinct physical characteristics and reduced productive potential, in order to evaluate a set of critical performance indicators. The study focused specifically on challenging soils prone to compaction, where enhanced tillage performance is essential. The developed system integrates electric vibrators mounted on each moldboard to improve operational efficiency, especially under difficult soil conditions. Field evaluations conducted across multiple regions allowed for a comprehensive performance comparison between the conventional and vibratory plow systems, based on soil fragmentation, operational speed, fuel consumption, weed coverage, and wheel slippage, providing a comprehensive assessment of vibrotillage performance under diverse field conditions.

Thus, the study was guided by the hypothesis that integrating electrically driven vibratory mechanisms into a moldboard plow would reduce draft force and energy demand, thereby enhancing operational efficiency and tillage quality under compacted, moisture-deficient soils. To address this, the research pursued three main objectives: (i) to experimentally compare the performance of a vibratory-enhanced plowing system with conventional plowing across diverse soil types and climatic regions; (ii) to quantify the influence of vibration on traction force, fuel consumption, tractor speed, wheel slippage, plant incorporation, and soil fragmentation; and (iii) to assess how soil properties, particularly moisture content and penetration resistance, affect the effectiveness of vibrotillage. Unlike earlier studies, which largely investigated mechanically actuated vibratory systems under controlled conditions, this work employs electrically driven vibrators mounted on each plow body and evaluates performance through multi-site field trials in naturally compacted, low-moisture soils. In doing so, it provides robust evidence that vibrotillage can improve energy efficiency, enhance seedbed quality, and offer a sustainable alternative for tillage under challenging soil conditions.

2. Materials and Methods

2.1. Design and Functional Description of the Proposed Vibrotillage Technology

The innovative agricultural equipment prototype consists of an integrated assembly made of a reversible plow with three moldboards and a specialized vibration system. The plow is equipped with a hydraulically operated reversing mechanism, and each moldboard is fitted with a vibration-generating device capable of transmitting a controlled regime of sinusoidal vibrations to the plowshares. This system is optimized to reduce draft resistance and improve the quality of soil tillage.

The proposed innovation lies in the integration of the agricultural plow with the vibration system in a configuration designed to simultaneously enhance energy efficiency, reduce operational costs, and minimize environmental impact through less aggressive and more efficient soil processing. The vibration system is electronically controlled from the tractor cabin, allowing the operator to easily activate or deactivate it according to working conditions and soil characteristics.

The prototype was subjected to experimental testing in combination with a TAGRO 102 tractor to validate its technical performance and assess its operational behavior (Figure 1). The TAGRO 102 tractor is powered by the FPT F36 diesel engine (four cylinders), a common rail fuel injection system, turbocharger, and intercooler. The engine has 3595 cm³ and delivers a rated output of 102 HP (75 kW) at 2200 rpm, with a maximum torque of 430 Nm achieved at 1400 rpm. The Full Synchro Shuttle transmission system offers 12 forward and 12 reverse gears, equipped with a mechanical reverser and an electro-hydraulic differential lock. The tractor features 4 × 4 traction with electro-hydraulic engagement. The rear power take-off (PTO) is independent and operates at 540/1000 rpm. The hydraulic system ensures a flow rate of 60 L/min, supporting a lifting capacity of 4400 kg at the rear and 2200 kg at the front. The tractor has a weight of 4000 kg (excluding counterweights) and is fitted with a 110-L fuel tank. The tractor meets the requirements of the Stage V emissions standard.

The vibrating agricultural plow consists of a reversible plow (with three moldboards on each side) and six vibrators mounted on the moldboards. Each moldboard has a working width of 30 cm, providing adequate capacity for operation on challenging agricultural lands. The reversible plow was selected for its compatibility with 75 kW tractors equipped with a Category II three-point hitch, in accordance with the SR ISO 730:2012 standard. This configuration enables plowing on heavy soils, including in hilly areas, with slopes of up to 6°.

The reversible plow features a modular frame structure, consisting of a fixed frame, (which attaches to the tractor) and a reversible frame (pivotally mounted on the fixed frame). Plow reversal is carried out by a hydraulic mechanism that rotates the reversible frame, allowing the alternation of moldboard sets according to the tractor’s direction of travel. The moldboards are equipped with a share fitted with chisel, helicoidal moldboard bodies designed with a toroidal curvature for efficient furrow inversion, a landside, and a frog for securing the moldboard assembly to the frame.

The moldboard’s maximum working depth is 30 cm (depending on soil texture), while the theoretical power requirement per moldboard is 22 kW. A second auxiliary moldboard was installed to enhance weed incorporation into the soil and for better soil fragmentation. To maintain a constant working depth, the plow was equipped with an adjustable gauge wheel. The wheel can be folded bilaterally, enabling symmetrical operation regardless of the active moldboard set. Its positioning ensures a direction of travel parallel to the tractor’s trajectory, reducing structural stresses and contributing to operational precision. The component elements of the vibratory plow are illustrated in Figure 1, images (a)–(d).

The vibratory system (Figure 2) consists of a DC motor vibrator (model MVE 200/3N-23A0-12V), engineered to produce consistent and high-intensity sinusoidal vibrations in the vicinity of the plowshares. The device integrates an electric motor enclosed within a robust cast housing and features adjustable eccentric masses mounted at both ends of the rotor shaft. By displacing these masses relative to the axis of rotation, a controlled centrifugal force is generated, resulting in vibrations with variable amplitude. This mechanism allows for the modulation of vibratory intensity, thereby enhancing soil loosening and reducing draft resistance during tillage operations.

The motovibrator was mounted on a dedicated support frame equipped with a protective cover plate and secured using four bolts. This assembly was fixed behind the plow body on both the left and right sides, utilizing individual mounting brackets, specific to each side. Amplitude adjustment was achieved by modifying the relative position of the eccentric blocks, enabling precise calibration of the vibratory effect according to varying conditions. The activation and deactivation of the vibratory system were controlled directly from the tractor cabin via an integrated automation interface, ensuring both ease of operation and enhanced safety during fieldwork. The 12Vdc powered motor develops a power of 0.16 kW at a speed of 3000 rpm, at 50 Hz, with a displacement amplitude of 0.2 mm, and an acceleration amplitude 20 m/s². During operation, the motor rotates the shaft, and the eccentrics create a sinusoidal centrifugal force of 200 kgf. This force causes rapid oscillations of the vibrator, which are transmitted to the bodies on which it is mounted, thus generating the necessary vibrations [23].

The vibrations transmitted to the plow bodies significantly reduce soil adhesion, facilitating the detachment of the soil, particularly for wet or clay-rich soils. This effect also diminishes the friction between the plow and the soil, thereby lowering the traction force required from the tractor and contributing to reduced fuel consumption. When sufficiently intense, the vibrations enhance the shredding of the furrow, promoting more effective soil fragmentation. The integration of a vibratory system mounted behind the plow bodies represent an incremental improvement over conventional plowing techniques. This innovative approach improves operational efficiency by enhancing soil clearance from the implement, minimizing soil buildup, and decreasing the mechanical effort needed for plowing. As a result, it supports fuel savings, more efficient soil disruption, and the preparation of a higher-quality seedbed, ultimately contributing to improved soil structure management and increased crop productivity.

2.2. Experimental Setup: Instrumentation and Control Tools Employed in Field Testing

Two soil tillage systems (classic vs. vibrotillage) were evaluated at three working depths (200, 250, and 350 mm) across four locations. The sites were selected due to productivity constraints linked to specific soil characteristics. The measured variables included tractor travel speed, draft force, fuel consumption, wheel slippage, and soil properties (moisture content and penetration resistance).

A randomized sampling framework was defined, encompassing all eligible plots within each region. In every selected plot, a randomized complete block design was applied, with blocks arranged along the direction of greatest local variability. Within each block, parallel parcels were established. Each treatment was replicated three times per plot (minimum three blocks), resulting in three raw values per variable and treatment. Buffer strips of at least 5 m were provided between plots to prevent interference (

Table 1. Experimental design and replication framework.

Evaluated Site	Design Type	Compared Treatments	Parcels per Block	Replicates per Treatment	Total Raw Values per Treatment per Region 3 × No. of Blocks
Dumbrăvioara	Randomized complete block design	Conventional plowing (classic) vs. vibrotillage	2 (parallel parcels per treatment)	3	≥9
Negru Vodă	Randomized complete block design	Conventional plowing (classic) vs. vibrotillage	2 (parallel parcels per treatment)	3	≥9
Leorda	Randomized complete block design	Conventional plowing (classic) vs. vibrotillage	2 (parallel parcels per treatment)	3	≥9
Salonta	Randomized complete block design	Conventional plowing (classic) vs. vibrotillage	2 (parallel parcels per treatment)	3	≥9

).

For each plot, one pass was carried out over the effective working area. Continuous recording was performed, and mean values were extracted for the useful section. For each treatment within each plot, the mean, standard deviation (SD), and standard error of the mean (SEM) were calculated from the three replicates.

Field tests were conducted using a mobile auto-laboratory, equipped with a comprehensive set of measurement instruments to ensure high-precision data acquisition. The equipment included a Class 2 accuracy tape measure, a mechanical stopwatch (TFA Dostmann Kat.Nr. 38.1022, Wertheim-Reicholzheim, Germany), and a scale (Partner PIE60, China). The traction force was measured using a 600 daN dynamometer, while fuel consumption was determined with the aid of a 2000 mL cylinder. Additional measurements included engine speed, recorded using a tachometer with 0.2% accuracy, and geospatial positioning monitored via GPS. The soil moisture content was assessed using a portable HH2 moisture meter coupled with a ThetaProbe ML2x precision sensor (Dynamax Inc., Houston, TX, USA).

Vibration characteristics were collected and processed using a QuantumX MX1615 data acquisition system, (Hottinger Baldwin Messtechnik GmbH, Darmstadt, Germany), comprising 2 modules and 32 measurement channels. Vibration levels were captured by uniaxial accelerometers with a measurement uncertainty of 1.5%, while mechanical stress on components was monitored using 120 Ω strain gauges KFG-6-120-C1-11 N15C2, (KYOWA Electronic Instruments Co., Ltd., Tokyo, Japan).

Soil penetration resistance was used as an indicator for characterizing the physical and mechanical properties of the soil and its consistency. It is correlated with the soil resistance to plowing. The determination of soil resistance was carried out with a compaction meter Soil Compaction Meter-FieldScout SC 900, (Spectrum Technologies, Aurora, IL, USA).

Soil moisture, which represents the water content expressed as a percentage of the soil volume, was determined with a portable soil moisture meter (type HH2) and precision sensor (ThetaProbe ML2x, Dynamax Inc., Houston, TX, USA). Soil samples were also analyzed using the oven method. The oven was preheated to a temperature of 105 °C. Aluminum capsules were first weighed empty to determine their mass (m₀). The sample was then placed in the capsules, and the combined mass was recorded as the initial mass (m_i). After thermal drying at 105 °C until a constant weight, the capsule with the dried sample was weighed again to obtain the final mass (m_f). The capsule was cooled in a desiccator before this weighing to ensure accuracy. The moisture content was then calculated using the relationships among m_i, m_f, and m₀, as presented in Equation (1).

$$U={\displaystyle \frac{m_i-m_f}{m_i-m_0}}\times 100$$

(1)

The plant residue coverage (Gv) was calculated as the percentage ratio between the mass of plant residues remaining on the soil surface after plowing and the initial residue mass present prior to tillage. Measurements were conducted at a distance of at least 20 m from the ends of each experimental plot to avoid edge effects. For each determination, three replicate samples of plant residues were collected both before and after plowing, from surfaces measuring 3 × 2 m. The collected samples were oven-dried and weighed using a precision balance with an accuracy of 0.1 g. The average dry mass per square meter was used to compute the residue coverage percentage, according to Equation (2).

$$G_v={\displaystyle \frac{\sum _{i=1}^n\frac{G_{ti}-G_{Si}}{G_{ti}}}{n}}\times 100$$

(2)

where G_Si is the measured weight of the plant mass remaining on the soil surface of the sample taken after the aggregate was passed through and measured (g), and G_ti is the measured total weight of the plant mass on the soil surface of the sample taken before the aggregate passed through (g).

Soil fragmentation ($S_f$) was determined as the weight-based proportion of soil aggregates with maximum dimensions of 100 mm, relative to the total mass of the collected soil sample. To assess the degree of soil fineness, a test area measuring 1 × 1 m was delineated at a depth corresponding to the working depth of the plow. From this area, the soil was excavated and sieved to separate particles into the main groups. The mass of these finer fractions was then compared to the total mass of the sample. The resulting percentage represents the degree of soil fineness, calculated according to Equation (3).

$$S_f={\displaystyle \frac{\sum _{i=1}^n\frac{M_{ci}}{M_{ti}}}{n}}\times 100$$

(3)

where $M_{ci}$ is the measured weight of the largest soil particle size sampled (Kg), and $M_{ti}$ is the weight of the entire soil sample (Kg). Weighing was performed on a scale with a maximum error of 1%. For the separation of soil fractions, a set of round-hole sieves with a hole diameter of 100 mm, 50 mm, 25 mm, and under 25 mm was used. A total of five repetitions at a distance of at least 20 m from the ends of the plot, randomized with at least 5 m between sampling spots. The plots had a minimum of 10 m between them.

The working speed was determined over a linear distance of 50 m, which was measured and marked at both ends with marking pillars. The time required for the tractor to traverse this distance ($S$) was recorded using a mechanical stopwatch.

Therefore, the working speed was determined through three repetitions by measuring the time required to traverse the length of the test plot, with distance recorded against time using a stopwatch and six markers.

Tractor wheel slippage was determined by recording the number of revolutions of the rear drive wheels both under load ($n_r$) and without load ($n_{ro}$), with the implement suspended. Measurements were performed using an Extech 461895 electronic tachometer (Taiwan). The slippage percentage was then calculated using the following formula:

$$\delta ={\displaystyle \frac{n_r-n_{ro}}{n_r}} \times 100$$

(4)

Tensile strength was determined using the strain gauge method, facilitated by data acquisition and processing using the CatMan 3.0 Enterprise Data Acquisition Software HOTTINGER BRÜEL & KJAER GMBH, D-64293 Darmstadt Germany), For measurements, a laptop equipped with a QuantumX MX1615 data acquisition system, (Hottinger Baldwin Messtechnik GmbH, Darmstadt, Germany)—comprising two modules and 32 measurement channels—was employed. Strain measurements were captured using 120 Ω strain gauges, model KFG-6-120-C1-11 N15C2, which were strategically positioned on the relevant structural elements of the equipment. This setup enabled high-resolution monitoring of mechanical stress under dynamic field conditions.

The draft power (traction force) was calculated based on the working speed ($v_l$) of the implement and the draft force ($F_{tr}$) using the following equation:

$$P_{tr}={\displaystyle \frac{F_{tr}\times v_l}{270}}, (\mathrm{HP})$$

(5)

where F_tr is the draft force (daN), and v_l—is the travel speed (km/h).

Fuel consumption was determined using the tank refill method. At the beginning of each experimental run, the fuel tank was filled to a marked initial level. Upon completion of the field operation, the tank was refilled to the same level, and the volume of fuel added was recorded as the amount consumed during the test. This method provides a straightforward and reliable estimate of actual fuel usage, under various working conditions.

The energy consumption for operating the vibrators was 0.16 kW per each vibrator, a nominal current of 13.3 A, at 12 V, resulting in a total power of 0.48 kW.

The electric energy was supplied by the tractor battery, which is powered through diesel fuel. Therefore, the reported diesel fuel consumption also includes the additional energy required to generate the electricity used by the vibrators. The fuel consumption calculated when three vibrators were working simultaneously was 0.19 L/h.

The preparation of the equipment and the establishment of working procedures for the tests were carried out with the objective of ensuring operation under optimal parameters, which were kept consistent across all experimental trials.

The experimental research was conducted across four distinct regions of Romania (Figure 3), each characterized by varying topographical, pedological, and climatic conditions. To ensure relevance to the study objectives, experimental plots were selected during periods marked by soil water deficit, thereby simulating, as accurately as possible, the operational conditions encountered on challenging terrains prone to compaction.

2.3. Statistical Analysis

Each treatment (vibrotillage vs. classic) was replicated at least three times per block, across four locations. For each variable (traction force, fuel consumption, wheel slippage, residue incorporation, travel speed), mean, standard deviation (SD), and standard error of the mean were calculated. To evaluate the significance of differences between conventional and vibratory plowing, paired-sample t-tests were applied at a 95% confidence level (p < 0.05). Where comparisons involved multiple working depths and sites, a two-way analysis of variance (ANOVA) was conducted, with tillage system and working depth as fixed factors and location as a blocking factor. Post-hoc Tukey tests were used where appropriate.

3. Results

3.1. Determining Soil Characteristics

Measurements related to soil penetration resistance and moisture content (average value from the surface to a depth of 350 mm) indicated low moisture levels and high compaction for all locations, with the exception of the southeastern site Negru Vodă, where the soil was sandy and compaction was lower. The moisture content was significantly low across all analyzed locations, characteristic of soils undergoing desertification processes. The measured data are centralized in

Table 2. The main climatic and soil characteristics for the evaluated experimental areas.

Region Center Dumbrăvioara	The predominant soils in the hilly plateau and intra-montane depression regions are reddish-brown, exhibiting a pH range from weakly acidic to neutral. These soils are susceptible to erosion and waterlogging. The climate in these areas is relatively cooler compared to other regions of Romania, with an average annual temperature ranging between 8.5 °C and 9 °C and annual precipitation levels of 600–750 mm. At the time of the experiment, the soil exhibited a high degree of compaction, while the vegetation had a density of 760 g/m2 and a height between 9 and 12 cm. The previous crop cultivated was wheat, managed under a conventional agricultural system.
Region SE Negru Vodă	The soils of the arid plateau are predominantly sandy soils, exhibiting neutral to slightly acidic pH values. These soils are vulnerable to wind erosion and drought conditions. The climate in this region is warmer compared to other parts of Romania, with an average annual temperature ranging from 11 °C to 11.5 °C and annual precipitation between 350 and 450 mm. At the time of the experiment, the vegetation showed a density of 550 g/m2 and a height up to 23 cm. The previous crop culture was barley, managed under a conventional farming system.
Region NE Leorda	Predominantly found in the plateau region are Chernozem soils, characterized by acidic pH values. These soils are susceptible to erosion processes. The local climate is relatively warmer compared to other Romanian regions and an average annual precipitation ranging from 500 to 600 mm. At the time of the experiment, the soil exhibited high compaction, while the vegetation presented a density of 820 g/m2 and a height between 7 and 14 cm. The preceding crop cultivated was peas, managed under a conventional agricultural system.
Region NW Salonta	The predominant soils in the lowland areas are Chernozems, exhibiting a weakly alkaline to neutral pH. These soils are susceptible to waterlogging. The climate in this region is warmer compared to other parts of Romania, with an average annual precipitation between 550 and 650 mm. At the time of the experiment, the soil was heavily compacted, and the vegetation displayed a density of 410 g/m2 with heights ranging from 10 to 15 cm. The previous crop cultivated was corn, managed under a conventional farming system.

.

The quantity of plant residue remaining on the soil surface following a plowing pass was employed as a key quality indicator in evaluating tillage effectiveness.

Table 3. Determination of the soil moisture content and compaction levels of the envisaged experimental plots for vibrotillage and conventional tillage evaluation.

Region/ Locality	Soil Resistance to Penetration (kPa)	Soil Moisture (%)
Center/Dumbrăvioara	2528	19.0
SE/Negru Vodă	1724	11.05
NE/Leorda	2505	10.1
NW/Salonta	3155	10.73

presents the extent to which plant residues were incorporated by the vibratory plow at three working depths in comparison with conventional tillage across all experimental sites.

The data on plant residue mass left on the soil surface are strongly influenced by soil compaction and moisture. As a result, more plant material remained in both the vibrotillage and control treatments compared to fertile soils. It is also evident that the intended working depth was not achieved, with the established depth being lower in both cases. The actual working depths were registered after an average of 10 measurements in order to evaluate the difference from the initially established depth (

Table 4. Plant residue incorporation comparison between vibratory and conventional plowing at three working depths across all locations.

Region/ Location	System	Working Depth (mm)		Plant Mass Residue on Soil Surface (%)
		Measured	Established	Plot 1	Plot 2	Plot 3
Center/ Dumbrăvioara	Classic tillage	340	350	6.6	6.6	13.2
	Vibrotillage			6.6	3.3	3.3
	Classic tillage	245	250	13.2	13.2	16.45
	Vibrotillage			3.3	6.6	13.2
	Classic tillage	203	200	5.25	9.85	6.6
	Vibrotillage			3.3	3.95	4.6
SE/ Negru Vodă	Classic tillage	337	350	9.1	10.9	14.5
	Vibrotillage			5.5	4.5	4.5
	Classic tillage	248	250	12.7	14.5	16.4
	Vibrotillage			10.9	10.9	12.7
	Classic tillage	205	200	18.2	22.7	27.3
	Vibrotillage			16.4	18.2	18.2
NE/ Leorda	Classic tillage	305	350	8.5	9.8	8.5
	Vibrotillage			7.3	7.3	6.1
	Classic tillage	246	250	9.8	8.5	6.1
	Vibrotillage			7.3	6.1	8.5
	Classic tillage	197	200	4.9	7.3	4.9
	Vibrotillage			3.7	4.9	4.9
NW/ Salonta	Classic tillage	346	350	14.6	17.1	14.6
	Vibrotillage			14.6	14.6	14. 6
	Classic tillage	295	250	22	19.6	19.6
	Vibrotillage			17.1	17.1	19.6
	Classic tillage	249	200	24.4	26.8	24.4
	Vibrotillage			22	22	22

).

The comparison related to plant residue incorporation between conventional tillage and vibrotillage demonstrated superior performance for vibrotillage across all regions, with the most notable improvements observed in Dumbrăvioara (3.3–6.6%) and Negru Vodă (2.5–5.6%), while Leorda exhibited only minor differences (0.8–2.0%). In the case of Salonta, the results were largely similar between the two methods, except at the 350 mm depth, where vibrotillage showed an increase (2.4–5.0%). These differences, although not formally testable with the aggregated averages, indicate a consistent beneficial effect of vibrotillage.

The degree of soil fragmentation, as illustrated in Figure 4, was determined based on the weight ratio of soil aggregates within specific size classes (100 mm, 50 mm, 25 mm, and below 25 mm) relative to the total sample mass. This metric serves as an important indicator of the effectiveness of tillage in breaking down the soil structure, which directly influences seedbed quality, root penetration, and water infiltration. A higher proportion of finer fractions generally reflects more intensive soil processing, which can enhance crop establishment. Therefore, quantifying soil fragmentation provides valuable insight into the balance between mechanical efficiency and soil conservation in the context of evaluating the two tillage technologies.

The relationship between tractor travel speed and working depth indicates that, as the tillage depth increases, the forward speed generally decreases due to increased soil resistance and higher traction demands. Vibrotillage mitigates these limitations through the application of mechanical vibrations, which reduce soil–tool friction and enhance furrow breakage. As a result, the tractor can sustain higher operational speeds even at higher depths. This improvement in mobility under load conditions is particularly significant in compacted or arid soils, where conventional plowing systems often face reduced efficiency and limited performance (

Table 5. Comparative evaluation of vibrotillage and classical tillage technologies: average tractor travel speed depending on working depth across four study locations.

	Center Dumbrăvioara		SE Negru Vodă		NE Leorda		NW Salonta
	Average Working Depth (mm)	Average Travel Speed (km/h)	Average Working Depth (mm)	Average Travel Speed (km/h)	Average Working Depth (mm)	Average Travel Speed (km/h)	Average Working Depth (mm)	Average Travel Speed (km/h)
Classic tillage	350	3.61	350	5.04	350	2.63	350	3.29
Vibrotillage		3.85		5.26		2.74		3.41
Classic tillage	250	3.99	250	5.05	250	2.12	250	3.43
Vibrotillage		4.21		5.27		2.21		3.58
Classic tillage	200	4.05	200	5.07	200	2.08	200	3.38
Vibrotillage		4.27		5.31		2.18		3.48

).

Paired t-tests confirmed that vibrotillage significantly increased the tractor working speed at all tested depths (350 mm: t(8) = −5.15, p = 0.014; 250 mm: t(8) = −5.42, p = 0.012; 200 mm: t(8) = −4.37, p = 0.022). Overall, vibrotillage enabled tractors to operate at speeds that were 3–6% higher, with significance confirmed at every tested depth.

The slippage was calculated individually for the two traction wheels, as their performance differs depending on the contact surface—the right wheel operates on unplowed soil, while the left wheel travels over the previously plowed strip. The experimental investigations were conducted using the tractor’s working gears V₁, V₂, and V₃, corresponding to three different travel speeds and working intensities. Specifically, V₁ corresponds to gear 2 (lowest speed), V₂ to gear 3 (medium speed), and V₃ to gear 4 (highest speed). Trials were performed at three distinct working depths, both with and without the activation of the vibratory system. This approach enabled a comprehensive assessment of the vibratory mechanism’s influence on traction performance under variable load and soil conditions (

Table 6. Wheel slippage analysis under variable gears for vibrotillage and classical tillage across different locations.

Gear	System	Average Working Depth (mm)	Tractor Wheel Slippage (%)
			Center Dumbrăvioara		SE Negru Vodă		NE Leorda		NW Salonta
			Left Wheel	Right Wheel	Left Wheel	Right Wheel	Left Wheel	Right Wheel	Left Wheel	Right Wheel
V1	Classic tillage	350	22.67	29.29	10.32	10.32	16.17	16.17	26.26	26.26
	Vibrotillage		20.8	22.67	7.33	10.32	16.17	11.12	26.26	26.26
V2	Classic tillage		22.67	23.85	13.13	13.13	21.21	21.21	23.74	23.74
	Vibrotillage		20.8	20.8	10.32	13.13	13.64	16.17	23.74	23.74
V3	Classic tillage		22.67	23.85	10.32	7.33	6.01	11.12	28.79	26.26
	Vibrotillage		20.8	20.8	7.33	10.32	6.01	11.12	26.26	26.26
V1	Classic tillage	250	22.67	23.85	10.32	13.13	6.01	6.01	26.26	26.26
	Vibrotillage		20.8	20.8	10.32	10.32	1.01	6.01	23.74	26.26
V2	Classic tillage		17.5	20.8	10.32	13.13	11.12	11.12	26.26	26.26
	Vibrotillage		12	13.91	7.33	10.32	11.12	6.01	23.74	23.74
V3	Classic tillage		17.5	20.8	15.76	15.76	6.01	1.01	26.26	23.74
	Vibrotillage		10	13.91	13.13	15.76	1.01	1.01	26.26	26.26
V1	Classic tillage	200	10	13.91	10.32	13.13	6.01	6.01	23.74	23.74
	Vibrotillage		5.71	10	10.32	13.13	1.01	1.01	18.69	21.21
V2	Classic tillage		7.91	13.91	10.32	13.13	11.12	11.12	21.21	23.74
	Vibrotillage		10	10	10.32	10.32	6.01	11.12	21.21	21.21
V3	Classic tillage		5.71	10	10.32	13.13	6.01	6.01	21.21	21.21
	Vibrotillage		5.71	10	7.33	10.32	6.01	6.01	16.16	16.16

and Figure 5).

Table 7. Traction force measurements in four regions for vibrotillage and classical tillage.

Average Traction Force (daN)
Gear	System	Average Working Depth (mm)	Center Dumbrăvioara	SE Negru Vodă	NE Leorda	NW Salonta
V1	Classic tillage	350	3178.3	2444.67	2718.91	2607.83
	Vibrotillage		3022.1	1971.20	2597.92	2399.49
V2	Classic tillage		3199.1	2856.09	2701.35	2587.77
	Vibrotillage		3106.1	2587.41	2657.43	2381.70
V3	Classic tillage		3202.7	2920.22	2737.12	2524.13
	Vibrotillage		3028.96	2745.35	2568.22	2464.10
V1	Classic tillage	250	2696.7	2478.09	2181.65	2417.08
	Vibrotillage		2583.3	2297.68	2100.72	2345.90
V2	Classic tillage		2505.7	2280.89	2387.69	2431.33
	Vibrotillage		2101.7	1912.29	1915.18	2289.81
V3	Classic tillage		2785.9	2544.18	2567.81	2349.59
	Vibrotillage		2692.6	2439.93	2413.10	2110.93
V1	Classic tillage	200	2123.6	2181.98	1878.60	2005.41
	Vibrotillage		1966.2	1939.87	1741.77	1850.87
V2	Classic tillage		2031.3	2160.42	1602.29	2014.02
	Vibrotillage		2123.2	1862.68	1555.87	1899.82
V3	Classic tillage		2245.4	2032.15	1792.60	2029.27
	Vibrotillage		2091.9	1789.14	1715.39	1869.71

presents the traction force measurements obtained from the four study locations, for both vibrotillage and classical tillage. With vibratory assistance, soil sticks less to the tillage implements, requiring less force to maintain motion. Vibrations help break the furrow more efficiently, meaning the tool penetrates and cuts the soil with less resistance.

Analysis of the traction force at a 350 mm depth indicated a consistent reduction under vibrotillage (5–15% lower across regions). The paired t-test approached significance, t(8) = 2.99, p = 0.058, suggesting a meaningful but not statistically confirmed effect given the limited replication. For better significance, the evaluation should be conducted across multiple locations.

Average fuel consumption was measured as a key performance indicator to assess the energy efficiency of vibratory plowing under various soil conditions.

Table 8. Average fuel consumption of the tractor in relation to speed operating in classic tillage and vibrotillage systems.

Region/ Locality	Vibrotillage		Classic Tillage		Fuel Gain (L/ha)
	Average Operating Speed (km/h)	Average Fuel Consumption (L/ha)	Average Operating Speed (km/h)	Average Fuel Consumption (L/ha)
Center/Dumbrăvioara	3.85	30.72	3.61	35.29	4.57
SE/Negru Vodă	5.26	25.5	5.04	28	2.5
NE/Leorda	2.74	37.40	2.63	38.76	1.36
NW/Salonta	3.41	38.94	3.29	40.49	1.55

presents the average fuel consumption values (expressed in liters per hectare), which reflect the operational energy demand during the field trials. These data provide insight into the potential for reducing input costs and optimizing resource use in efficient soil management practices. Fuel consumption was calculated at a depth of 350 mm for each region.

Fuel consumption at a 350 mm depth was consistently reduced by vibrotillage, with savings ranging from 1.3 to 4.6 L/ha (4–15% reduction depending on region). The paired t-test confirmed this effect as statistically significant (t(8) = 3.39, p = 0.043), confirming the energy efficiency advantage of the vibratory system.

Can be seen that in the SE region (Negru Vodă), penetration resistance is the lowest, and moisture is moderate, conditions created especially by the sandy soils. This combination creates a looser, more friable soil structure, which enables the vibrating tool to achieve greater displacement and reduce the draft force. As a result, higher working speeds are possible and fuel consumption per unit area decreases. The analysis showed the highest speed and a favorable fuel use under vibrotillage in this region.

In contrast, the NW region (Salonta) exhibits the highest penetration resistance and a relatively lower moisture content. These conditions correspond to denser, more compacted soils, where the vibrator transmits less effective displacement to the tool. Consequently, the tractor faces higher drag forces, forward speed is reduced, and fuel consumption increases. This illustrates how highly compacted soils limit the benefits of vibrotillage, as vibration energy is absorbed by resisting soil masses rather than facilitating loosening.

The Central region (Dumbrăvioara) is noteworthy for its relatively high moisture content paired with high penetration resistance. This suggests a compacted soil with fine texture and significant water retention. Under such conditions, vibration reduces adhesion and the stickiness of moist soil on the tool surface, which helps explain the notable fuel savings recorded in this area, despite moderate operating speeds. In this case, vibrotillage does not primarily enhance speed but instead reduces energy losses from soil-tool friction.

Finally, the NE region (Leorda) has high penetration resistance similar to the Center, but with much lower moisture. This produces a stiff, compact soil where the vibrator has a limited effect on reducing draft. The outcome is modest operating speeds and less pronounced fuel savings compared to SE or Center. Here, the absence of moisture eliminates adhesion problems, but the high compaction still restricts tool efficiency.

3.2. Average Amplitude as a Function of Phase Shift and Plow Body

To evaluate the vibration level of the novel vibrating plow, three configurations were tested first in the laboratory based on electrovibrator phase shifts of 33%, 66%, and 100% and the three plowshares. Sensors were installed on each moldboard to evaluate the effectiveness of vibration transmission to the soil. Figure 6 presents the mean vibration response, representing the overall transmission performance, where T1, T2, and T3 are the active organs of the plow.

The analysis of mean amplitude values for each plow body reveals a non-uniform distribution of vibrations along the plowshares, with 100% phase shift being the most effective. Consequently, field tests were conducted at a 100% phase shift setting in order to achieve maximum vibration amplitudes and, thus, maximize the impact on soil particles along the surface of the plow moldboard.

Testing the amplitude level at a constant frequency of 50 Hz (across all four locations) confirmed the hypothesis that the effective vibration amplitude transmitted to the body decreases as soil compaction and penetration resistance increase (Figure 7).

Under constant excitation (frequency ≈ 50 Hz) and maximum phase shift (100%), the amplitudes measured in the field were maximum in the sandy soil but were less compact and had low penetration (Negru Vodă), which was intermediate in the clayey soils/compact chernozems (Dumbravioara, Leorda) and minimum in the very compact chernozem, with high penetration (Salonta). This trend is consistent with other experiments showing that vibratory equipment develops higher amplitudes on “soft” soils (sandy or with lower effective stiffness), while on compact soils, the amplitudes at the active organ are lower [24]. In addition to the influence of compaction, working depth contributes to the decrease in transmitted amplitude (a thicker layer offers increased resistance and increases slippage), and humidity modifies both the effective stiffness and the dissipation of vibrational energy. Since the use of calibrated vibrations reduces the traction effort and optimizes energy consumption it is recommended to calibrate the amplitude/phase shift according to penetration and humidity [25].

4. Discussion

4.1. Vibration Efficiency and Equipment Protection

The positioning of the vibrator proved to be a critical factor, both for the effective transmission of vibrations to the soil and for the protection of the electric motor.

The transfer of vibrations through the body of the plow must occur efficiently; because if the plowshare is excessively rigid, the vibrations are not transmitted effectively to the soil.

At a high vibration setup (large phase shift in the vibrator), operation without soil contact should be limited in duration, to prevent potential damage to the electric motor. For this reason, the implementation of an automated system that deactivates the vibrator when the equipment is lifted from the furrow is recommended.

The proposed attachment of the vibrator to the plowshare body in the paper has proven to be effective both in transmitting vibrations and in protecting the vibrator’s electric motor. Positioning the vibrator closer to the furrow requires the integration of additional protective components to ensure its safe operation.

On terrains that are not as difficult as those analyzed, the vibrator can operate with a smaller phase shift, so as not to damage the vibrators very quickly. However, under these conditions, operational efficiency may also be significantly reduced.

4.2. Analysis of Increasing Tractor Work Efficiency on Difficult Soils by Using Vibrotillage

It has been shown that in areas with compact soils or in drought conditions, vibrations help the plow to work more easily. Thus, vibrations applied to the plow bodies significantly reduced the friction forces between the soil and the active body, leading to less effort required from the tractor.

An analysis focused solely on the increase in operating speed of the tractor when using vibrotillage, as compared to conventional tillage, reveals an improvement of approximately 3–6% in working speed, regardless of location.

A significant variation in operating speed was observed depending on the soil moisture content and compaction level. Wet soils facilitated the achievement of maximum working speed (Dumbravicioara), whereas in highly compacted soils, the speed gain was minimal (Salonta)—Figure 8.

The integration of vibrations in the equipment’s operation has demonstrated that the agricultural tractor can function at increased speeds without compromising work quality, thereby enhancing labor efficiency over large areas.

It was also observed that the application of vibrations facilitates more efficient detachment of soil particles from the active implement, resulting in finer fragmentation. This process contributes to the formation of a well-prepared seedbed with a structure conducive to sowing. The degree of fragmentation was notably significant, with a maximum increase of 2–6% for particle sizes of 25 mm and below, as illustrated in Figure 4. The least impact on fragmentation degree was observed in very sandy soils, where the percentage increase was minimal due to the inherently fine texture of the soil (Figure 4, Negru Voda).

Wheel slippage of the agricultural tractor during operation refers to the uncontrolled slipping of the wheel on the soil, where the wheel rotates without corresponding forward movement. This indicates a loss of traction and reflects an imbalance between the traction force generated and the soil resistance (Figure 9).

As an efficiency indicator, slip is important because it affects fuel consumption, mechanical wear, and work productivity. A high level of slip signals that the tractor is losing energy through unnecessary friction, which reduces the efficiency of power transfer to the soil and, consequently, the productivity of the agricultural operation. Moreover, excessive slip can damage the soil structure, negatively impacting the crop.

Monitoring and maintaining slip within optimal limits is essential to maximize tractor efficiency. Ideally, a moderate slip (generally below 10–15%) can be acceptable to ensure necessary traction, but exceeding this threshold indicates the need to adjust working conditions, such as tire pressure, speed selection, or optimizing tractor load.

The implementation of vibratory plowing technology has been shown to reduce fuel consumption by approximately 4–15%, depending on soil type, working depth, and moisture conditions. This technology contributes to the optimization of energy use in soil tillage operations, with a reported decrease in specific fuel consumption of up to 4.5 L per hectare, as depicted in Figure 10.

Given that the focus of this research is oriented towards difficult soils (arid and compact), the observed improvements are particularly relevant within the framework of modern agriculture. In this context, the reduction of input costs and the mitigation of environmental impacts represent critical objectives. By increasing energy efficiency, vibratory plowing emerges as a viable strategy for promoting more cost-effective and environmentally responsible farming practices. Over the long term, the broader adoption of this technology holds the potential to reduce greenhouse gas emissions, enhance soil conservation by minimizing mechanical degradation, and improve overall operational efficiency across a wide range of agricultural environments.

The energy balance per hectare shows that the electrical energy and corresponding fuel required to operate the vibrators are small relative to the fuel savings achieved by vibrotillage. After accounting for the additional fuel consumption needed to supply electric power to the vibrators (0.19 L/h measured), vibrotillage still produced positive net fuel savings in all four regions: 4.02 L/ha in Dumbrăvioara, 2.10 L/ha in Negru Vodă, 0.59 L/ha in Leorda, and 0.93 L/ha in Salonta. Converting to energy (assuming 1 L diesel ≈ 10 kWh) gives a net energy savings of ~40.2 kWh/ha, ~21.0 kWh/ha, ~5.9 kWh/ha, and ~9.3 kWh/ha, respectively. Based on an emission factor of 2.68 kg CO₂ per liter of diesel, the net fuel savings achieved through vibrotillage correspond to approximately 10–108 kg CO₂ avoided per hectare, depending on site conditions. Furthermore, when the observed reductions in traction force are integrated over the same working distance, the resulting decrease in mechanical energy demand is consistent with the magnitude of the net fuel savings.

The present study was designed mainly to assess the mechanical performance and operational efficiency of the vibratory plowing system; nonetheless, several short-term soil quality responses were also noted. Vibrotillage promoted a more effective incorporation of crop residues, thereby contributing to the potential enrichment of soil organic matter and improved nutrient cycling. At the same time, localized reductions in surface compaction were observed, effects that are consistent with enhanced porosity and greater ease of root penetration and water infiltration in the upper soil layers. Although these responses were not quantified systematically across all experimental sites, they indicate that the technology may provide immediate agronomic and environmental benefits in addition to energy savings. These observations remain however preliminary; a comprehensive evaluation of soil quality impacts requires detailed, multi-year monitoring in order to capture cumulative processes, seasonal variability, and longer-term environmental outcomes.

4.3. Research Perspectives and Technological Challenges

On lands characterized by compact soils or in low humidity conditions specific to drought periods, the use of the vibratory plow system can be more efficient compared to conventional plowing methods. The vibrations applied to the plow bodies contribute to reducing the resistance opposed by the soil, facilitating the penetration of the active organs into the arable layer even in difficult working conditions. This phenomenon is explained by the oscillatory action that fragments the soil microstructure, thus reducing compaction and mechanical stress. As a result, the plow operates with reduced energy consumption, while maintaining a high level of work quality, which makes the vibratory plow a viable technological solution for soils with increased hardness or limited humidity.

On compacted terrains, vibrotillage is best viewed as a targeted intervention tool. It offers significant short-term agronomic benefits (lower draft, better loosening, improved root environment) and ecological advantages (fuel efficiency, reduced emissions), but its long-term sustainability depends on controlled use. Over-application may compromise soil structure, while under optimal conditions, it can be a valuable practice for restoring compacted fields. Accompanied by other agricultural management techniques (like the introduction of cover crops, the application of organic or mineral fertilizers, or the use of bio-amendments), it can contribute to a more balanced and resilient soil system.

Further research should focus on optimizing the design of vibratory plowing systems in relation to specific plow configurations and soil characteristics, with the goal of ensuring high operational reliability. Particular attention must be given to the protection of electric motors driving the vibratory units, as these components are susceptible to failure under excessive load conditions. Motor burnout may occur when operating under high mechanical stress; however, insufficient vibration may result in reduced efficiency. Consequently, the precise positioning and calibration of the vibrators are critical parameters that warrant systematic investigation and refinement.

5. Conclusions

In conclusion, vibrotillage demonstrates optimal efficiency in moderately moist, low-resistance soils, enabling higher operational speeds and reduced fuel consumption. Its effectiveness decreases in highly compacted, dry soils, where vibration is limited and fuel savings are minimal. However, in wet yet resistant soils, vibration primarily reduces soil adhesion, enhancing fuel efficiency even when working speeds cannot be significantly increased.

Statistical analysis demonstrated the clear advantages of vibrotillage over conventional plowing. Across all regions and depths, the tractor working speed increased significantly by 3–6% (p < 0.05), while fuel consumption decreased by 4–15% (p = 0.043). These findings confirm the efficiency and practical relevance of the vibratory system, positioning it as a viable solution for improving tillage performance under compacted and moisture-deficient soil conditions. Therefore, the integration of an electrically driven vibratory system into the moldboard plow may in some conditions improve tillage performance, reducing traction force requirements, wheel slippage, and fuel consumption across all test locations, particularly in compacted and arid soils. The use of vibrations may facilitate more efficient furrow breakage and soil detachment, enabling tractors to operate at higher speeds even at greater working depths, compared to conventional tillage methods.

5.1. Influence of Vibrotillage on Soil and Fauna

Modern agricultural practices discourage traditional deep plowing, because excessive soil disturbance can accelerate moisture loss and disrupt the balance of soil microorganisms, ultimately reducing long-term fertility. However, in regions severely affected by moisture depletion and aggressive compaction, the conservative methods often fail to provide satisfactory results. At the same time, conventional plowing techniques can become inefficient, requiring significant labor, fuel, and time while delivering limited benefits under such challenging soil conditions. Performance increases through the introduction of the vibratory plow have proven effective by reducing fuel consumption, increasing working speed, and improving the degree of soil fragmentation. These improvements not only contribute to greater energy efficiency but also support the creation of a more favorable seedbed structure, thereby improving conditions for subsequent crop establishment and growth.

When applied judiciously, deep tillage can offer high agronomic benefits, particularly through its role in reducing rodent populations, which would otherwise compromise crop yields.

The impact of vibrations on soil fauna is considered negligible, primarily because the tractor’s passage time over each square meter of soil is very brief. This short exposure period limits the intensity and duration of disturbance, reducing the likelihood of significant effects on soil-dwelling organisms.

When applied consistently over time in heavily compacted soils, vibrotillage may act as a sustainable technology for restoring soil permeability, enhancing root penetration, and improving water infiltration, thereby contributing to long-term soil health and resilient crop production. Such interventions, when combined with complementary strategies like the introduction of cover crops, the application of organic or mineral fertilizers, or the use of bio-amendments, can contribute to a more balanced and resilient soil system.

The data on plant residue mass left on the soil surface was strongly influenced by soil compaction and moisture. As a result, more plant material remained compared to fertile soils, in both the vibrotillage and control treatments.

The experimental validation across four Romanian regions with contrasting soil and climate conditions confirmed the system’s versatility and adaptability, making it a promising solution for conservation tillage in difficult terrains and under variable environmental constraints.

5.2. Research Recommendations and Limitations

Based on the research findings, we recommend implementing an automated system where the vibrators start automatically when the plow is lowered, as manual activation by the tractor operator can be challenging. Additionally, the vibrators should be of high quality, as adverse conditions, such as excessive heat, rain, dust, and uneven terrain, can lead to equipment failure.

The evaluation in this paper presents several limitations related to fuel consumption monitoring using the tank refill method that could generate some errors. The variability was limited by the number of repetitions. All experiments were conducted within a single cropping season, which constrains the generalizability of the findings; therefore, multi-year and multi-season trials are needed to confirm the consistency and broader applicability of the observed benefits of vibrotillage. Overall, the vibratory plowing system should be regarded as a promising but still early stage solution, particularly suitable for challenging applications such as highly compacted soils under drought stress, where conventional tillage is less effective.

All measurements were generally performed under the most challenging conditions, suggesting that the observed outcomes may represent a conservative estimate of potential performance.