• Journal of Biosystems Engineering
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• 제25권4호
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• pp.301-310
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• 2000

An autonomous tractor system was developed and its performance was evaluated. The system consisted of a tractor system of and a remote control station. The tractor and the remote control station communicated each other via wireless modems. The tractor had a DGPS(differential global positioning system), sensors, a controller and a modem. The DGPS collected position data and the tractor status was estimated. The information of tractor status and sensors was transferred to the remote control station. Then, the control station determined the control data such as steering angles using a fuzzy controller. The fuzzy controller used the information from the DGPS, sensors, and GIS(geographic information system) data. The control data were obtained by remote signal processing at the control station The control data for autonomous operation were transferred to the tractor controller. The performances of an autonomous tractor were evaluated for various speeds, different initial positions and different initial headings. About 1.3 seconds of time lag was occurred in transferring the tractor status data and the control data. Compensation the time lag, about 27cm deviation was observed at the speed of 0.5m/s and 37cm at the speed of 1m/s. Error caused mainly by the time lag and it would be reduced by developing a full-duplex radio module for controlling the remote tractor.

• Journal of Biosystems Engineering
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• 제38권3호
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• pp.171-179
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• 2013

Purpose: A simulator for the design and performance evaluation of a tractor with a hydro-mechanical transmission (HMT) was developed. Methods: The HMT consists of a hydro-static unit (HSU), a swash plate control system, and a planetary gear. It was modeled considering the input/output relationship of the torque and speed, and efficiency of HSU. Furthermore, a dynamic model of a tractor was developed considering the traction force, running resistance, and PTO (power take off) output power, and a tractor performance simulator was developed in the co-simulation environment of AMESim and MATLAB/Simulink. Results: The behaviors of the design parameters of the HMT tractor in the working and driving modes were investigated as follows; For the stepwise change of the drawbar load in the working mode, the tractor and engine speeds were maintained at the desired values by the engine torque and HSU stroke control. In the driving mode, the tractor followed the desired speed through the control of the engine torque and HSU stroke. In this case, the engine operated near the OOL (optimal operating line) for the minimum fuel consumption within the shift range of HMT. Conclusions: A simulator for the HMT tractor was developed. The simulations were conducted under two operation conditions. It was found that the tractor speed and the engine speed are maintained at the desired values through the control of the engine torque and the HSU stroke.

• 드라이브 ㆍ 컨트롤
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• 제17권2호
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• pp.19-27
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• 2020

The purpose of this study was to suggest design criteria for the HMT (hydro-mechanical transmission) of a 55 kW-class agricultural tractor, develop a simulation model, and evaluate its performance such as axle rotational speed, tractor speed, and power transmission efficiency. In this study, the HMT comprised a compound planetary gear and a HSU (hydro-static unit), and the compound planetary gear comprised two planetary gear sets. The HMT has three gear stages, and the maximum tractor speed was selected as 40 km/h. The simulation time was set at 2736 hours considering the lifetime of the tractor, and the simulation was performed for each gear stage at the engine-rated power conditions. As a result of the simulation, the axle rotational speeds for each gear stage were 39, 77, and 158 rpm, respectively. The range of tractor speed for each gear stage were 1.05-10.22 km/h, 10.74-20.17 km/h, and 20.70-41.40 km/h, respectively. The APE (absolute percentage gear) for the tractor's maximum speed between target value and simulation results were 2.20%, 0.85%, and 3.50%, respectively. Also, the power transmission efficiency for each gear stage were 0-75%, 72-81%, and 69-81%, respectively. The simulation results for the power transmission efficiency of the HMT were similar with the results of the previous research. This was a basic study on the development of the HMT for an agricultural tractor. In future studies, it is necessary to develop a tractor platform and evaluate the performance. The comparison between the simulation model and the HMT tractor should be performed.

• Journal of Biosystems Engineering
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• 제27권6호
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• pp.479-490
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• 2002

A dynamic model of a power shuttle transmission was developed and its validity was verified using the experimental data obtained from a transmission test bench. A 40㎾, 4WD tractor was also modeled using an application software EASY5 to investigate parameters and their effects on the power shifting performance. For a tractor model, the manual reverse gear was replaced by a power shuttle transmission. The tractor model also included an engine, main-gears for transmission, wheels, differentials and planet gears. Using the tractor model, the effects of the parameters such as modulating pressure and time, engine speed, tractor speed. tractor weight. reverse to forward speed ratio and torsional damper on the transient characteristics at starting and shuttle shifting were investigated by the computer simulation. The transient characteristics were represented by variations in clutch pressure, torque transmitted to input shaft and driving wheels, and power transmission capacity of the clutch. It was found that the modulating pressure and time affected most significantly the torque transmission and shifting time. The input torque, axle torque, power transmission capacity of the clutch and transmission time all increased with increase in engine speed, tractor speed. tractor weight and ratio of reverse to forward speeds. However, the axle torque decreased with tractor speed. Both the axle torque and power transmission capacity of the clutch also decreased with the ratio of reverse to forward speeds.

• Journal of Biosystems Engineering
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• 제19권2호
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• pp.85-90
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• 1994

To evaluate the capability of design engineering of tractor manufacturers in Korea, a survey was conducted at the four leading tractor manufacturers in August 1993. The survey involved discussions with and written questions to senior design engineers about the technologies being practiced for concept design of tractor and its functional components. Results of the survey revealed that the Korean tractor manufacturers are about 10 to 20 years behind Japanese firms in design engineering. Nevertheless, the production technology, particularly for tractors less than 40PS, were found to have developed enough to compete with foreign manufacturers in terms of its cost and quality. However, Korean tractor manufacturers must develop their own engineering and technologies for design in order to compete with foreign tractors in international market.

• 한국생산제조학회지
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• 제23권4호
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• pp.380-384
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• 2014

This study focused on identifying the major noise source in a tractor cabin using experimental methods. The noise levels in a tractor cabin for different engine revolution speeds were analyzed to identify the noise source. The results showed that the power steering unit (PSU) was the major noise source in a tractor cabin. The PSU was moved to the outside from the inside of the cabin in order to reduce the noise in the tractor cabin. As a result, the noise levels on the left and right sides of the operator in the tractor cabin were reduced by 6.8 and 3.9 dB, respectively. Finally, the window method was introduced to evaluate the contribution of the transmission noise. The orders of significance in the tractor noise were the front, bottom, and left area, successively.

• 한국자동차공학회논문집
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• 제20권5호
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• pp.138-144
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• 2012

Recent environmental issues such as exhaust gas and greenhouse effect make the agricultural machinery market takes into account the hybrid and electric propulsion technology used in automotive engineering. Generally the agricultural machinery, particularly an agricultural tractor, needs large load capacity and long continuous operating time comparing with conventional vehicles. In case of a pure electric tractor, it is necessary for considering large capacity batteries and long charging time. Therefore we take an AER extended PHEV (All Electric Range extended Plug-in Hybrid Electric Vehicle) power transmission system in developing an electric tractor in this study. First we propose a PHEV powertrain structure in order to substitute the conventional diesel engine equipped tractor. And we performed the road tests using a conventional mechanical tractor with various load conditions, which were classified and statistically treated real agricultural works. The test results were analysed with respect to the power characteristics of the power source. Finally using the test result, we designed two-stepped reduction gear ratios in the proposed an electric tractor powertrain for carrying out typical agricultural works.

• Journal of Biosystems Engineering
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• 제16권4호
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• pp.346-354
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• 1991

Turning behavior of tractor-trailer system was studied to guide the tractor and trailer. Based upon kinematic relationship between the tractor and the trailer, a mathematical model was developed and analyzed by computer simulation. A field test was carried out to verify the mathematical model. Following conclusions were drawn from this study. 1. A mathematical model and a simulation program for turning behavior of tractor-trailer system were developed. 2. The results of the field tests showed that the RMS errors were less than 0.33m and the mathematical model based upon kinematic relationship can be used for mapping guidance system for tractor and trailer. 3. As the steering angle was increased, the turning radius was decreased. When the tractor travelled at the low speed, the travel speed of the tractor did not affect turning radius but did affect running time and stability for steering. 4. When the tractor travelled under the critical velocity, the towed trailer followed smoothly. When the the tractor travelled faster than the critical velocity, the towed trailer oscillated. The critical velocity was determined from the specification of the tractor and the trailer.

• Journal of Biosystems Engineering
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• 제38권3호
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• pp.208-214
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• 2013

Purpose: Performances of a tractor diesel engine fueled by three different animal fats biodiesels were evaluated comparing with light oil tractor in terms of power, fuel consumption rate, exhaust gases, particulate matter amount and field work capacity. Methods: Animal fats based on pig biodiesel were manufactured manually and tested for its engine performance in the tractor diesel engine and fuel adoptability in the field works. Four different fuels, three different content of biodiesel (BD20, BD50, BD100) and light oil, were prepared and tested in the four strokes diesel engine. Power output, fuel consumption rate and exhaust gases of the four fuels in the diesel engine were compared and discussed. Results: Power output of light oil engine was the greatest showing 5.3% difference between light oil and BD100, but 0.37% better power than BD20 engine power. Less exhaust gases of $CO_2$, CO, $NO_X$ and THC were produced from animal fats biodiesel than light oil, which confirmed that biodiesel is environmental friendly fuel. For fuel adoptability in the tractor, biodiesel engine tractor showed its fuel competitiveness comparing with light oil for tractor works in the faddy field. Conclusions: With four different fuel types of animal-fats biodiesel, performances of a four cylinder diesel engine for tractor were evaluated in terms of power, exhaust gases, particulate matters (PM) and field work capacity. No significant differences observed in the engine performances including power output and exhaust gases emission rate. No significant power difference observed between the various fuels including light oil on the engine running, however, amounts of noxious exhaust gases including $CO_2$ and $NO_X$ decreased as biodiesel content increased in the fuels. Field performances of animal-fats biodiesel tractor were investigated by conducting plowing and rotary operation in the field. Tilling and rotary performance of light oil tractor and BD20 tractor in the field were compared, in which about 10% travelling speed difference on both operations were monitored that showed light oil tractor was superior to BD20 tractor by 10%. Animal-fats can be an alternative fuel source replacing light oil for agricultural machinery and an environmental friendly fuel to nature.

• Journal of Biosystems Engineering
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• 제39권4호
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• pp.389-399
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• 2014

Purpose: This study was aimed at developing a tractor-driving simulator for the safety training of agricultural tractor operators. Methods: The developed simulator consists of five principal components: mock operator control devices, a data acquisition and processing device, a motion platform, a visual system that displays a computer model of the tractor, a motion platform, and a virtual environment. The control devices of a real tractor cabin were successfully converted into mock operator control devices in which sensors were used for relevant measurements. A 3D computer model of the tractor was also implemented using 3ds Max, tractor dynamics, and the physics of Unity 3D. The visual system consisted of two graphic cards and four monitors for the simultaneous display of the four different sides of a 3D object to the operator. The motion platform was designed with two rotational degrees of freedom to reduce cost, and inverse kinematics was used to calculate the required motor positions and to rotate the platform. The generated virtual environment consisted of roads, traffic signals, buildings, rice paddies, and fields. Results: The effectiveness of the simulator was evaluated by a performance test survey administered to 128 agricultural machinery instructors, 116 of whom considered the simulator as having potential for improving safety training. Conclusions: From the study results, it is concluded that the developed simulator can be effectively used for the safety training of agricultural tractor operators.