Abstract
The actual energy situation and the significant energy demand of agricultural production require the exploration and analysis of the general laws of the main processes in the field of energy, which is part of the borderline between the technical sciences and the agricultural sciences. Tillage machines change the physical properties of the soil, but at the same time the mechanical properties of the soil react to the implement. One of the basic works of seedbed preparation is harrowing. In this work we study the kinematics and dynamics of the active rotary harrow implements, taking into account the cutting resistance of the soil. The results obtained with the developed modeling methods, give reliable approximations to the experienced tilling processes.