• Journal of the Institute of Convergence Signal Processing
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• v.22 no.4
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• pp.171-178
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• 2021

Caravans are easily affected by external physical factors and often cause dangerous situations for passengers. Therefore, in order to secure the stability of the passenger, there is a need to develop a sway reduction device capable of preventing the sway phenomenon in advance. This paper aims to minimize the hitch angle between the tow vehicle and the caravan. Specifically, the initial instability of the caravan is detected through an IMU sensor mounted on each of the tow vehicle and the caravan, and a control value is calculated to reduce errors from the Hitch angle and Hitch yaw rate using a PID controller. Different braking torques are generated, distributed, and controlled on the left and right brakes of the caravan according to the calculated control value. It could be verified through the driving experiment that the hitch angle was decreased compared to the case where the performance of the sway reduction device was not controlled, and the transverse stability improvement rate was improved by 94.49% compared to before control.

• Journal of Biosystems Engineering
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• v.2 no.1
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• pp.33-48
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• 1977

Transporting agricultural products and the other material by the two-wheel-tractor (power-tiler)and trailer system may be one of its most widely used farming functions.The safety and hitching load for all the previaling performing conditions may be the general concern over the operation of the tiller-trailer system. In this study, a mathematical model to determine the static and dynamic forces excerting on the hitch point were developed . Based on the analysis of the model and the field measurements. the limiting hitching load and critical slope were analyzed. The results of the study are summarized as follows ; 1) The limit angle of slope land for the safety steering that two-wheel tractor-single axle trailer system was able to transport agricultural products was the direct angle (${\gamma}$) = 8 ; the cross angle$\beta$) 15 ; and it was decreased in accordance with the increase of carrying load ($W_4). 2) The critical velocity for safe operation in case of running on downward hill road was about 1.08m/sec. 3) The limiting carrying load for the safe steering was W$_4$=600kg. The degree of the safe steering for different braking methods was given in order as follows ; Simulataneous braking the tractor and trailer , braking the trailer only, and braking tractor only. 4) Among the three components of impact loads excerting on the hitch point, the component in the lateral direction ($P_{Vy}$) was near zero in spite of increase of hitching load ($W_4) , while the components in the other two mutually perpedicular directions ($P_{Vx}$ and ($P_{Vz}$) ) had larger values in horizontal plane than those in the slope lands. 5) Moment of forces on the lateral direction (M$y$) had the largest value among the three components of impact moment acting on the hitch point, however all the components were sharply increased in accordance with the increase of hitching loads ($W_4. Three components of the moment were the negative values.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.339-340
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• 2010

• Journal of Biosystems Engineering
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• v.18 no.3
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• pp.199-208
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• 1993

This study was attempted to develop the eletronic-hydraulic hitch system for controlling the attitude of tractor implements and to investigate control performance of the system through experiments. Main components of the system developed in this study were reference inputs panel, inclination angle detecter, electronic controller consisted of IBM-AT PC and interfaces, electro-hydraulic directional valves and other hydraulic components and three-point hitch linkage. Experiments were carried out to investigate the response of the system to the step and sine inputs. The effects of hydraulic flow rate and dead band on control performance were analized. Attitude of the implement was controlled within 2.4-5.1 degrees to the setting attitude when the hydraulic flow rate was in the range of $0.25-1.5{\ell}/min$. And implement was controlled without rapid amplitude attenuation and phase angle change in the frequency range of 0.02-0.2Hz when the hydraulic flow rate was in the range of $0.25-1.5{\ell}/min$. Control performance of the system can be expected to be improved if the inclination angle detecter show rapid and stable output as the implement moves.

• Journal of Biosystems Engineering
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• v.14 no.4
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• pp.229-241
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• 1989

The purposes of this study were to develop an electronic-hydraulic draft control system for tractor implements, to investigate the control performance of the system and the possibility of adaptation to the conventional tractor. Experiments were carried out to investigate the responses of the system to the step and sinusoidal inputs in draft control. The effects of control mode, hydraulic flow rate, reference deadband, and proportional constant on control performance of the system were investigated. Moreover, the effects of filtering signals from draft sensor were also investigated. The following conclusions were derived from the study; 1. In draft control, there were hunting problems in controlling the implement without filtering the draft signals. Filtering was performed by a control program of electronic controller and the control performance and stability of the system were improved significantly. 2. For the draft control system operated on on-off control mode, draft was controlled within ${\pm}27-{\pm}55kg_f$ to the reference draft when the hydraulic flow rates were 5-15 l/min. For the draft control system operated on PWM control, draft was controlled within ${\pm}27kg_f$ to the reference draft regardless of hydraulic flow rates. 3. In the frequency responses of the draft control system, control performance on PWM control mode was not better than on on-off control mode because of characteristics of hydraulic valve and drafe sensor. As the hydraulic flow rates increased for the system operated on on-off control mode, the corner frequency of amplitude attenuation increased, but the corner frequency of phase-angle change remained nearly the same. But, the system was unstable beyond the frequency of 3.1 rad/s. 4. The electronic-hydraulic hitch control system developed in this study showed superior control performance, stability and convenience compared to conventional mechanical-hydraulic hitch control system. It is considered to be a superior replacement for the conventional mechanical-hydraulic hitch control system.

• Journal of Biosystems Engineering
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• v.14 no.3
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• pp.168-180
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• 1989

This study was attempted to develop the electronic-hydraulic hitch control system for position control of tractor plow and investigate the control performance of the system through experiments. Experiments were carried out to investigate the responses of the system to the step and sinusoidal inputs in position control. The effects of control mode, hydraulic flow rate, reference deadband, and proportional constant on control performance of the system were investigated. The following conclusions were derived from the study; 1. For the position control system operated on on-off control mode, positions of implement were controlled within ${\pm}0.73^{\circ}{\sim}{\pm}1.46^{\circ}$ in rockshaft angle to the reference position when the hydraulic flow rates were 5~15 l/min. For the position control system operated on PWM control mode, positions of implement were controlled within ${\pm}0.73^{\circ}$ to the reference position regardless of hydraulic flow rates. It means that the implement could be positioned more accurately to the reference position on PWM control mode than on on-off control mode. 2. As results of the frequency responses of the position control systems, no clear difference in control performance between on-off control and PWM control modes was found. As the hydraulic flow rates increased, the corner frequencies of amplitude attenuation and phase-angle change increased. It means that the control performance of the system could be improved as the hydraulic flow rate increases.

• Journal of Biosystems Engineering
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• v.5 no.2
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• pp.26-39
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• 1980

A study was investigated to find out the mechanical optimum conditions of power tiller-plow system on both paddy field and upland. Mathematical model was developed for the theoretical analysis of this system and the experimentation on the field was carried out with two different sizes of 5PS and 8PS power tiller equipped with rubber tire. 1) The relationship between the plowing depth and draft resistance of the power tiller-plow system was a quadratic function. 2) The minimum point of the specific draft resistance of the 5 PS plow was found at the smaller plowing depth than that of 8 PS plow, therefore we can find that the curved surface of 5PS plow bottom should be improved for the effective plowing operation. 3) As the improvement of the mechanical balance by the desirable change of the curved surface of plow bottom, the relative position of hitch point and dimension of plow beam would be realized, the 5 PS power tiller could be used to plow deeply (about 16-17cm). 4) The virtual acting point of the total draft resistance on the plow bottom approached to the land side as the plowing depth increased. 5) The resultant of vertical reaction force $R_2$ on the landside was increased with the plowing depth, while the vertical reaction force $R_1$ on the wheel was decreased as the slope angle of the body of power tiller increased. 6) For the effective plowing operations ; a) The slope angle of the body should be as small as possible. b) The diameter of the wheel should be as small possible. c) The horizontal and vertical distances $l_2, h_1$ between the wheel axis and plow bottom should be as large as possible. 7) To use the 5PS power tiller as the major unit of agricultural machinery, the curved surface of the 5 PS plower bottom and the mechanism of attachment between the power tiller and the plow should be changed as the indications of this study, and in addition to these, the new operation method of the field work should be developed.