Observance of the depth of sowing of grain crops within the limits established by agrotechnical requirements is a guarantee of high yield. When the disc coulter moves in the soil, a variable resistance force acts on it, which affects the seeding depth and the qualitative characteristics of the shoots. Since there are different soils within the same field, the depth of sowing with the serial coulters becomes not stable. To solve this problem, the article proposes a technical solution and an automated tracking system that, in combination, ensures the uniformity of seeding depth with disc coulters. The use of a flexible tubular element in the opener coulter design makes it possible to compensate for movements from the soil resistance force in real time. In this paper, a mathematical analysis of the dependence of the influence of the seed depth on the compensating force on a flexible tubular element is made, and the maximum values of this force are determined.

Observance of the depth of sowing of grain crops within the limits established by agro technical requirements is a guarantee of high yield. When the disc coulter moves in the soil, a variable resistance force acts on it, which affects the seeding depth and the qualitative characteristics of the shoots. Since within the same field there are different soils, the depth of sowing with the serial coulters becomes not stable. To solve this problem, the article proposes a technical solution and an automated tracking system that, in combination, ensures the uniformity of seeding depth with disc coulters. The use of a flexible tubular element in the opener coulter design makes it possible to compensate for movements from the soil resistance force in real time. In this paper, a mathematical analysis of the dependence of the influence of the seed depth on the compensating force on a flexible tubular element is made, and the maximum values of this force are determined.