• 드라이브 ㆍ 컨트롤
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• 제12권4호
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• pp.60-70
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• 2015

A front-end loader (FEL) mounted on an agricultural tractor is one of the most commonly used implements for farm work. However, when the tractor carries material using the bucket attached to the FEL on a sloping ground, the materials can spill or roll back over the operator due to the tilted body, thereby requiring the bucket surface to remain level at a constant value regardless of varying slopes. In this study, an active system for controlling the angle of the FEL bucket on a tractor based on the real-time measurement of ground slopes was developed to enable the bucket to constantly remain level. A FEL simulator operated based on an electro hydraulic proportional valve (EHPV) was constructed in the laboratory to develop a proportional-integral-derivative (PID) controller forming a virtual electronic control unit (ECU) on the computer, which could automatically adjust the bucket angles depending on varying input angles while sending SAE-J1939 associated messages via CAN BUS to the EHPV. The different parameter values for the PID controller due to the gravity effect of the bucket were determined using a manual PID tuning method while assuming that the tractor travels on either an ascending slope or a descending slope. The developed PID control-based self-leveling system showed a mean of steady-state errors of within $1^{\circ}$ and a mean of delayed times of ~ 0.8s when the step input of $+20^{\circ}$ was given, implying that the developed system and control algorithm would be effective in maintaining the bucket angle at a certain value. Future studies include the improvement of the control algorithm to reduce such a time delay as well as the application of the developed algorithm to the FEL mounted on a tractor tested at a testing ground.

• 한국조경학회지
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• 제21권1호
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• pp.13-30
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• 1993

The purpose of this study was to present data to the landscape planning and design through analyzing correlation between visual preference of users and nonusers and the landscape of hole in golf couses. Stimulus objects were selected from the 18 holes in Tae-gu Country Club. Preference value was judged through photo simulation by 35 subjects photographed at Tee and Interpoint (IPI, IP2), and classified into three landscape types and nine landscape components from photo analysis by researcher. For test of difference between groups toward each stimulus, t-test was used, and Duncantest, Correlation analysis for finding out correlation between preference degree and the landscape of each hole. The results of this study were as follows: As a result of analysis of preference value between groups for each hole, it has been shown that there was scarcely difference with each other. Form the relation between preference degree and spacial structure of hole, the holes making up a superior preference group have been shown that the greater part of the holes had a downward slope or a gentle slope mostly and then a visible ratio of fairway was high, and had diversified scenery by a lotus pond, a solitary planting tree, the roll of a fairway, facilities for convenience, etc. The holes making up a low-ranking preference group have been shown that the greater part of the holes had upward slope or a similar slope to it and had characteries of the bad condition of lawn, the nearby factories and odors, the monotonous scenery of a fairway, an unreasonable mixing of holes, etc. From the relation between preference degree and landscape components forming hole, it has been shown that the preference degree between users and nonusers had positive correlation to the occupied ratio of space of landscape components at Tee and Approach. At Tee, it has been shown that the preference degree of two groups were related with a lawn surface of fairway negatively, a lotus pond, a sky positively, and the preference degree of nonusers was related with iron-top for electric transmission positively. At Approach, it has been shown that the preference degree of two groups were related with iron-top for electric transmission negatively, and the preference degree of nonusers was related with a building positively. From the relation between preference degree group to each hole and the occupied ratio of space of landscape types, it has been shown that the constituent ratio of a high-ranking group was 1:2.4:2.2 and a low-ranking group was 1:4.1:5.1 among vertical type, horizontal type and background at Tee, but the constituent ratio of space of a high-ranking group was similar to a low-ranking group at Approach.