• Title/Summary/Keyword: In-wheel driving system

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Analysis of the axle load of an agricultural tractor during plow tillage and harrowing

  • Hong, Soon-Jung;Park, Seung-Je;Kim, Wan-Soo;Kim, Yong-Joo;Park, Seong-un
    • Korean Journal of Agricultural Science
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    • v.43 no.4
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    • pp.665-669
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    • 2016
  • Analysis of the load on the tractor during field operations is critical for the optimal design of the tractor. The purpose of this study was to do a load analysis of an agricultural tractor during plowing and harrowing. First, a load measurement system was developed and installed in a 71 kW agricultural tractor. Strain-gauges with a telemetry system were installed in the shaft located between the axles and the wheels, and used to measure the torque of the four driving axles. Second, field experiments were conducted for two types of field operations (plowing, harrowing), each at two gear levels (M2, M3). Third, load analysis was conducted according to field operation and gear level. At M2 gear selection for plowing, the maximum, minimum, and average (S. D.) torque values were 13,141 Nm; 4,381 Nm; and 6,971 Nm (${\pm}397.8Nm$, respectively). For harrowing, at M2 gear selection, torque values were, 14,504 Nm; 1,963 Nm; and 6,774 Nm (${\pm}459.4Nm$, respectively). At M3 gear selection for plowing, the maximum, minimum, and average (S. D.) torque values were,17,098 Nm; 6,275 Nm; and 8,509 Nm (${\pm}462.4Nm$, respectively). For harrowing at M3 gear selection, maximum, minimum, and average (S. D.) torque values were, 20,266 Nm; 2,745 Nm; and 9,968 Nm (${\pm}493.2$). The working speed of the tractor increased by approximately 143% when shifted from M2 (7.2 km/h) to M3 (10.3 km/h); while during plow tillage and harrowing, the load of the tractor increased approximately 1.2 times and 1.5 times, respectively.

Map Matching Algorithm for Self-Contained Positioning (자립식 위치측정을 위한 Map Matching 알고리즘)

  • Lee, Jong-Hun;Kang, Tae-Ho;Kim, Jin-Seo;Lee, Woo-Yeul;Chae, Kwan-Soo;Kim, Young-Gi
    • Journal of Korean Society for Geospatial Information Science
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    • v.3 no.2 s.6
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    • pp.213-220
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    • 1995
  • Map Matching is the method for correcting the current position from dead reckoning in Car Navigation System. In this paper, we proposed the new map matching algorithm that can correct the positioning error caused by sensors and digital map data around the cross road area. To do this, first we set the error boundary of the cross road area by combining the relative error of moving distance and the absolute error of road length, second, we find out the starting point of turning within the determined error boundary of the cross point area, third, we compare the turning angle of the car to the angle of each possible road, and the last, we decide the matched road. We used wheel sensor as a speed sensor and used optical fiber gyro as a directional sensor, and assembled the sensors to the notebook computer. We testified our algorithm by driving the Daejeon area-which is a part of south Korea-as a test area. And we proved the efficiency by doing that.

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A Study on the Practice of Engineering Education in Graduation Standards Certification Process through the Design and Implementation of Drone for Ground Driving and Aerial Flight (지상주행과 공중비행이 가능한 Drone 설계 및 구현을 통한 졸업기준 인증 과정에서 공학교육 실천에 관한 연구)

  • Jang, Woo-Jin;Yoo, Jeong-Min;Chang, Eun-Young
    • Journal of Practical Engineering Education
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    • v.10 no.1
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    • pp.17-24
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    • 2018
  • Through the design and production of works for the third semester as a major unit, It is proposed the process of satisfying the graduation standards with the design and production process of the drone which can be applied to various mobile environments. Using the shape of Ring Propeller, it is made to be able to play both the role of generating lift as a propeller and the role of a wheel that touches the ground through the surface of the rim. In addition, the Servo Motor is used to convert the drive shaft of the motor to the correct angle according to the command. Then, based on the idea, the 3D printing is implemented to confirm the result of the configuration, and the circuit for driving the propulsion is designed and manufactured. As a result, the conversion of the desired propulsion system during air navigation and operation failed due to the weight increase of the propellant. It is confirmed that the size of the thrust and the tolerance limit of the ring propeller are the errors. Through these processes, it has been recognized to have experience of creative thinking and cooperation through engineering approach and comprehensive design, and confirmed to satisfy the graduation criteria by writing an engineering paper on the result.

Analysis of Traction Performance for Agricultural Tractor According to Soil Condition (토양 조건에 따른 농업용 트랙터의 견인 성능 분석)

  • Lee, Nam Gyu;Kim, Yong Joo;Baek, Seung Min;Moon, Seok Pyo;Park, Seong Un;Choi, Young Soo;Choi, Chang Hyun
    • Journal of Drive and Control
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    • v.17 no.4
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    • pp.133-140
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    • 2020
  • Traction performance of a tractor varies depending on soil conditions. Sinkage and slip of the driving wheel for tractor frequently occur in a reclaimed land. The objective of this study was to develop a tractor suitable for a reclaimed land. Traction performance was evaluated according to soil conditions of reclaimed land and paddy field. Field experiments were conducted at two test sites (Fields A: paddy field; and Field B: reclaimed land). The tractor load measurement system was composed of an axle rotation speed sensor, a torque meter, a six-component load cell, GPS, and a DAQ (Data Acquisition System). Soil properties including soil texture, water content, cone index, and electrical conductivity (EC) were measured. Referring to previous researches, the tractor traveling speed was set to B3 (7.05 km/h), which was frequently used in ridge plow tillage. Soil moisture contents were 33.2% and 48.6% in fields A and B, respectively. Cone index was 2.1 times higher in field A than in field B. When working in the reclaimed land, slip ratios were about 10.5% and 33.1% for fields A and B, respectively. The engine load was used almost 100% of all tractors under the two field conditions. Traction powers were 31.9 kW and 24.2 kW for fields A and B, respectively. Tractive efficiencies were 83.3% and 54.4% for fields A and B, respectively. As soil moisture increased by 16.4%, the tractive efficiency was lowered by about 28.9%. Traction performance of tractor was significantly different according to soil conditions of fields A and B. Therefore, it is necessary to improve the traction performance of tractor for smooth operations in all soil conditions including a reclaimed land by reflecting data of this study.

Tracking Control of 3-Wheels Omni-Directional Mobile Robot Using Fuzzy Azimuth Estimator (퍼지 방위각 추정기를 이용한 세 개의 전 방향 바퀴 구조의 이동로봇시스템의 개발)

  • Kim, Sang-Dae;Kim, Seung-Woo
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.11 no.10
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    • pp.3873-3879
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    • 2010
  • Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

Analysis of the Vibration Characteristics of a High-Speed Train using a Scale Model (축소모델을 통한 고속철도 차량의 진동특성 해석 및 검증)

  • Han, Jae Hyun;Kim, Tae Min;Kim, Jeung Tae
    • Journal of the Korean Society for Railway
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    • v.16 no.1
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    • pp.7-13
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    • 2013
  • A scaled version of a roller rig is developed to demonstrate the dynamic characteristics of a railway vehicle for academic purposes. This rig is designed based on Jaschinski's similarity law. It is scaled to 1/10 of actual size and allows 9-DOF motion to examine the up and down vibration of a train set. The test rig consists of three sub-hardware components: (i) a driving roller mechanism with a three-phase AC motor and an inverter, (ii) a bogie structure with first and second suspensions, and (iii) the vehicle body. The motor of the rig is capable of 3,600rpm, allowing the test to simulate a vehicle up to a maximum speed of 400Km/hr. Because bearings and joints are properly connected to the sub-structures, various motion analyses, such as a lateral, pitching, and yawing motion, are allowed. The slip motion between the rail and the wheel set is also monitored by several sensors mounted in the rig. After the construction of the hardware, an experiment is conducted to obtain the natural frequencies of the dynamic behavior of the specimen. First, the test rig is run and data are collected from six sets of accelerometers. Then, a numerical analysis of the model based on the ADAMS program is derived. Finally, the measurement data of the first three fundamental frequencies are compared to the analytical result and the validation of the test rig is conducted. The results show that the developed roller rig provides good accuracy in simulating the dynamic behavior of the vehicle motion. Although the roller rig designed in this paper is intended for academia, it can easily be implemented as part of a dynamic experiment of a bogie and a vehicle body for a high-speed train as part of the research efforts in this area.

Design Optimization for Kinematic Characteristics of Automotive Suspension considering Constraints (구속조건을 고려한 자동차 현가장치 기구특성의 최적설계)

  • Lee, Chang-Ro;Kim, Hyo-Jun
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.18 no.3
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    • pp.306-311
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    • 2017
  • This paper deals with the design optimization of the kinematic characteristics of an automotive suspension system. The kinematic characteristics of the suspension determine the attitude of the wheels, such as the toe and camber, which not only relates to tire wear during driving, but also greatly affects the control of the vehicle and its stability, which corresponds to the motion performance of the vehicle. Therefore, it is very important to determine the characteristics of the suspension mechanism at the initial stage of the design. In this study, a displacement analysis is performed to determine the kinematic properties of the suspension for the McPherson strut suspension. For this purpose, a set of constraint equations for the joints constituting the suspension mechanism was established and a program was developed to solve them. We also used ADS, a design optimization program, to obtain the desired kinematic characteristics of the suspension. As the design variables for optimization, we used the coordinates of the hard points, which are the points of attachment of the suspension to the vehicle body, and are defined as the summation of the toe-in for the up and down movement of the wheel as the objective function. As the constraint functions, the maximum camber angle and minimum roll center height, which are design requirements, are considered. As a result of this study, it was possible to determine the optimal locations of the hard points that satisfy both constraint functions and minimize the change of the toe-in.