The detrimental impact of soil compaction resulting from agricultural machinery remains a significant concern in contemporary agriculture, influencing crop growth and production costs. This research employs a combination of experimental and simulation methods to investigate various configurations of plungers, representing features of agricultural equipment. Conducted in a laboratory setting, the study focuses on sandy clay loam soil, pertinent to sugarcane fields in Thailand. The soil-structure interaction model for plungers is developed using the finite element method, incorporating a modified Cam-clay plasticity model based on the critical state concept, and porous elasticity for soil simulation. Different plunger shapes, each producing distinct effects, are meticulously detailed. The outcomes of this research serve as a practical guide for the future design and development of agricultural equipment, offering insights to mitigate soil compaction issues and enhance productivity. The straightforward environmental arrangement employed enhances the applicability of the findings to real-world agricultural settings.