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With the purpose of autonomous control for tractorimplement combination, a structural model based on ISO 11783 for distributed control system was presented. The mainbus of the model organized the whole system communicating and monitoring. The sub-bus took charge of the sub-system control. The model was designed by the interconnection network, multi-layer and multi-bus control method, which was easy to be digitalized and modularized. The control tasks were schedulable according to the model using TrueTime method. Different from single processor concentrative control method, the control performance of system was determined by the network protocol and the control algorithm according to the subbus of the sub-system. Consistent with the results of simulation, the test revealed that the distributed control system could be effectively operated to accomplish the control tasks. 