## 4 Results and Discussion
### Energy Consumption Analysis of Forced Vibration Subsoiling  
The forced vibration subsoiling mechanism requires extra energy consumption while vibrating to reduce resistance. When the vibration mechanism is more complex and the frequency is lower, the total energy consumption will increase instead. Assuming that the ratio of total energy consumption of forced vibratory subsoiling to non-vibration energy consumption is \(\eta\), then:  
\[\eta\ =\ \frac{P_{vib}}{P_{0}}\ =\ \frac{F_{vib}*v+P_{\text{vs}}}{F_{0}*v} \tag{6}\]  
where \(P_{vib}\) is the total energy consumption of the forced vibration, \(P_{0}\) is the non-vibration energy consumption, \(F_{vib}\) is the vibration subsoiling resistance, \(F_{0}\) is the subsoiling resistance without vibration, \(P_{\text{vs}}\) is the extra power consumed by the vibration mechanism, and \(v\) is the forward speed. When \(\eta>1\), the total energy consumption increases, and when \(\eta<1\), the total energy consumption decreases, where the reduction rate \(r\) can be expressed as \(r\ =\ 1-\eta\).  
In this study, according to the analysis of Equation (6), the ratio of total energy consumption of vibrating subsoiling to non-vibration energy consumption at different vibration frequencies was statistically shown in Figures 13-15.  
Figure 13: The ratio of forced vibration subsoiling total energy consumption to non-vibration energy consumption at 3 km/h speed.  
The data in the figures showed that with the increase in vibration frequency, the total energy consumption of vibration subsoiling had a decreasing trend, and when the vibration frequency was in the range of 0-40 Hz, the total energy consumption of vibration subsoiling was not determined compared with no vibration. When the vibration frequency was higher than 40 Hz, the total energy consumption of vibration subsoiling operation was generally lower than that of non-vibration subsoiling operation. When it was higher than 100 Hz, the total energy consumption of vibration subsoiling had the lowest energy consumption ratio to non-vibration. When the forward speed was 3 km/h, the total energy consumption was reduced by 12.9-16.5% at maximum. When the speed was 5 km/h, the total energy consumption was reduced by 11.4-16.0% at maximum. When the speed was 7 km/h, the total energy consumption was reduced by 11.2-14.4% at maximum. Vibration subsoiling showed a good consumption reduction in all three operating speed conditions.  
In the prior technology, rigid structures are used, such as crank linkages, cams, eccentric wheels, and so on, in the field of forced vibration subsoiler. These structures  
Figure 14: The ratio of forced vibration subsoiling total energy consumption to non-vibration energy consumption at 5 km/h speed.  
Figure 15: The ratio of forced vibration subsoiling total energy consumption to non-vibration energy consumption at 7 km/h speed.  
have big amplitudes and additional energy consumption and are also limited by complex rigid systems, which cannot produce high-frequency vibration. Thus, the frequency is often very low, and the additional energy consumption is very huge. This high-frequency controlled vibration method in this study showed the advantage of reducing resistance and consumption.