• Title/Summary/Keyword: Tractor

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Development of Driving Simulator for Safety Training of Agricultural Tractor Operators

  • Kim, Yu-Yong;Kim, Byounggap;Shin, Seung-Yeoub;Kim, Jinoh;Yum, Sunghyun
    • Journal of Biosystems Engineering
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    • v.39 no.4
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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.

Analysis of Emissions of Agricultural Tractor according to Engine Load Factor during Tillage Operation (엔진 부하율에 따른 트랙터 경운 작업 시 배기가스 분석)

  • Lee, Jun Ho;Jeon, Hyeon Ho;Baek, Seung Yun;Baek, Seung Min;Kim, Wan Soo;Siddique, Md. Abu Ayub;Kim, Yong Joo
    • Journal of Drive and Control
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    • v.19 no.4
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    • pp.54-61
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    • 2022
  • This is a basic study analyzing emissions of an agricultural tractor during tillage operations. In this study, CO, THC, NOx, and PM considered as emission factor were analyzed during plow and rotary tillage operation by the tractor. Engine torque and rotational speed were measured through ECU. Engine power was calculated using engine torque and rotational speed. The emissions was calculated based on the number of units, rated power, load factor, and operating time. Results showed that the load factor was calculated almost twice, which was higher than 0.48. It was also observed that the emission of the tractor was variable for different agricultural operations because tractor loads were different based on operations. There was a difference in emissions due to differences in plow and rotary working hours. To estimate the emission of agricultural tractor based field operations in detail, it is necessary to consider TAF (Transient Adjustment Factor) and DFA (Deterioration factor). In the future, TAF and DFA will be considered to estimate emissions of the agricultural tractor. Finally, results of this study can contribute to the literature to estimate tractor emissions accurately.

A Study on Traction Prediction of Agricultural Tractor by Empirical Method (경험적 방법에 의한 트랙터의 견인력 예측에 관한 연구)

  • Lee, Dong-Hoon;Lee, Kyou-Seung;Park, Won-Yeop
    • Journal of Biosystems Engineering
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    • v.34 no.5
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    • pp.297-304
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    • 2009
  • This study was conducted to investigate the adequacy of the representative empirical models which are developed for predicting the tractive performance of the tractor operating in various soil conditions. Four representative empirical models which are widely used in the traction prediction of tractor were selected through literature review. Four models were Wismer-Luth, Brixius, Dwyer and Hernandez model, which were empirical traction models of a single wheel. The efficacy of four models were confirmed via comparison of the tractions of tractor predicted using the four models with those measured from traction tests which were conducted for two different driving type (2WD and 4WD) of the tractor on two different soil conditions. The results showed that tractions predicted by Brixius' model, especially for slip range under 20% which the operating efficiency of a tractor is very high, were well consistent with the ones measured from traction test better than the tractions predicted by models which are proposed by Wismer-Luth, Dwyer and Hernandez.

Analysis of Factors Affecting Fuel Consumption of Agricultural Tractor (농용 트랙터 연료소모량에 미치는 요인분석)

  • Park, Seok-Ho;Kim, Young-Jung;Im, Dong-Hyeok;Kim, Chung-Kill;Jang, Yang;Kim, Sung-Su
    • Journal of Biosystems Engineering
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    • v.35 no.3
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    • pp.151-157
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    • 2010
  • The objective of this study was to analyze the factors affecting on fuel consumption of agricultural tractor. According to the statistical analysis, fuel consumption of agricultural tractor was considerably influenced by kind of operation, throttle engine speed and gear steps of tractor but much less by kind of soil. Specific fuel consumption of the tractor in plowing, dry paddy tilling, wet paddy tilling and wet paddy levelling was 0.33~0.36, 0.30~0.45, 0.19~0.34, 0.28~0.39 L/$kW{\cdot}h$, respectively, and $CO_2$ emission was 0.36~0.45, 0.35~0.58, 0.22~0.42, 0.24~0.37 kg/$kW{\cdot}h$, respectively. Specific fuel consumption and $CO_2$ emission increased as throttle engine speed increased but reversely proportional with gear step of tractor, by which one can reduce fuel consumption and $CO_2$ emission with practicing of "Gear up & Throttle Down" technique in paddy operations.

Development of Steering Control System based on CAN for Autonomous Tractor System (자율 주행 트랙터 시스템의 성능 향상을 위한 CAN 기반의 조향제어시스템 개발)

  • Seo, Dong-Hyun;Seo, Il-Hwan;Chung, Sun-Ok;Kim, Ki-Dae
    • Korean Journal of Agricultural Science
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    • v.37 no.1
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    • pp.123-130
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    • 2010
  • A steering control system based on CAN(Controller Area Network) for autonomous tractor was developed to reduce duty of a central processing computer and to improve performance of steering control in terms of reduced control interval and error. The steering control system consisted of a SCU (Steering Control Unit), an EHPS system, and a potentiometer. The SCU consisted of an MCU (Micro Controller unit), an A/D converter, and a DC-DC converter, and a PID controller was used to control steering angle. The steering control system was communicated with the computer by CAN-bus. Each actuator and implement was connected to a multi-function board interfacing with the computer through a USB cable. Without CAN, control interval of the autonomous tractor was 1.5 seconds. When the CAN-based steering control system was combined with the autonomous tractor, however, control interval of the integrated system was reduced to those less than 0.05 seconds. When the autonomous tractor was operated with 1.5-s and 0.05-s control cycles at a 0.63-m/s travelling speed, the trajectories were close to straight lines for both of the control cycles. For a 1.34-m/s traveling speed, tractor trajectory was close to sine wave with a 1.5-s control cycle, but was straight line with a 0.05-s control cycle.

The Effect of Tire Inflation Pressure on Soil Compaction and Tractive Performance of Tractor (타이어공기압에 따른 트랙터의 견인성능과 토양다짐)

  • 박원엽;이규승
    • Journal of Biosystems Engineering
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    • v.27 no.6
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    • pp.491-500
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    • 2002
  • This study was carried out to investigate experimentally the effect of the tire inflation pressure of a tractor on soil compaction and tractive performance. Two kinds of field experiments were conducted using an agricultural tractor. One experiment is concerned with the tractive performance of the tractor at the three levels of tire inflation pressure; 50kpa, 100kpa and 200kpa, and the other one is about the soil compaction at the four levels of tire inflation pressure; 50kpa, 100kpa, 150kpa and 200kpa, at three different numbers of passes; 1, 3 and 5 passes. From the results of the field experiment, it was found that decreasing the tire inflation pressure decreased the motion resistance of tractor and increased the tractive force and tractive efficiency. The tractive and working performance of the tractor could be improved by the reduction of tire inflation pressure. Increasing the inflation pressure and the number of passes increased the soil compaction. Rate of compaction increased rapidly at the first pass and declined at subsequent passes. To reduce the effect of soil compaction for the whole field, it is recommended that tractor should follow the rut of the first pass from the subsequent passes, and decrease the inflation pressure of the driving tires up to allowable minimum level.

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.

Research Trends for Performance, Safety, and Comfort Evaluation of Agricultural Tractors: A Review

  • Kabir, Md. Shaha Nur;Ryu, Myong-Jin;Chung, Sun-Ok;Kim, Yong-Joo;Choi, Chang-Hyun;Hong, Soon-Jung;Sung, Je-Hoon
    • Journal of Biosystems Engineering
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    • v.39 no.1
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    • pp.21-33
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    • 2014
  • Background: Significant technological development and changes happened in the tractor industries. Contrariwise, the test procedures of the major standard development organizations (SDO's) remained unchanged or with a little modification over the years, demanding new tractor test standards or improvement of existing ones for tractor performance, safety, and comfort. Purpose: This study focuses on reviewing the research trends regarding performance, safety and comfort evaluation of agricultural tractors. Based on this review, few recommendations were proposed to revise or improve the current test standards. Review: Tractor power take-off power test using the DC electric dynamometer reduced human error in the testing process and increased the accuracy of the test results. GPS signals were used to determine acceleration and converted into torque. High capacity double extended octagonal ring dynamometer has been designed to measure drawbar forces. Numerical optimization methodology has been used to design three-point hitch. Numerous technologies, driving strategies, and transmission characteristics are being considered for reducing emissions of gaseous and particulate pollutants. Engine emission control technology standards need to be revised to meet the exhaust regulations for agricultural tractors. Finite Element Analysis (FEA) program has been used to design Roll-Over Protective Structures (ROPS). Program and methodology has been presented for testing tractor brake systems. Whole-body vibration emission levels have been found to be very dependent upon the nature of field operation performed, and the test track techniques required development/adaptation to improve their suitability during standardized assessment. Emphasizes should be given to improve visibility and thermal environment inside the cab for tractor operator. Tractors need to be evaluated under electromagnetic compatibility test conditions due to large growing of electronic devices. Research trends reviewed in this paper can be considered for possible revision or improvement of tractor performance, safety, and comfort test standards.

Design Verification of an E-driving System of a 44 kW-class Electric Tractor using Agricultural Workload Data (농작업 부하데이터를 활용한 44 kW급 전기구동 트랙터의 E-driving 시스템 설계 검증)

  • Baek, Seung-Yun;Baek, Seung-Min;Jeon, Hyeon-Ho;Lee, Jun-Ho;Kim, Wan-Soo;Kim, Yong-Joo
    • Journal of Drive and Control
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    • v.19 no.4
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    • pp.36-45
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    • 2022
  • The aim of this study was to verify an E-driving system of a 44 kW-class electric tractor using agricultural workload data. Workload data were acquired during field test (plow tillage, rotary tillage, loader operation, field driving, asphalt driving) using a conventional tractor with a load measurement system. These workload data were converted to data of a 44 kW-class tractor based on the load factor of the engine. These data were used to verify the design of the E-driving system of an electric tractor. High-load operations such as plow tillage, rotary tillage, and loader operation could be performed at stage L and stage M. High-speed operation (asphalt driving) could be effectively performed at stage H using a rated rotational speed of the motor. As a result, the E-driving system of the electric tractor was possible to perform all major agricultural operations according to gear stages of range shift. Based on results of this research, we plan to develop an electric tractor equipped with an E-driving system and conduct research on actual vehicle verification in the future.

Agricultural tractor roll over protective structure (ROPS) test using simplified ROPS model

  • Ryu-Gap Lim;Young-Sun Kang;Dae-Hyun Lee;Wan-Soo Kim;Jun-Ho Lee;Yong-Joo Kim
    • Korean Journal of Agricultural Science
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    • v.49 no.4
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    • pp.771-783
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    • 2022
  • In this study, the feasibility of alternative tractor Roll Over Protective Structure (ROPS) designed to evaluate conditions required for testing was confirmed. In accordance with Organization for Economic Cooperation and Development (OECD) code 4, the required load energy of the tractor ROPS was determined. First, the tractor ROPS test was performed and a repeated test was performed using a simplified ROPS as an alternative tractor ROPS. The test procedure is first rearward, second lateral, and last forward based on ROPS. The load test device consists of a load cell that measures force and a LVDT that measures deformation. Precision was confirmed by calculating the relative standard deviation of the simplified ROPS repeated test. Accuracy was analyzed by calculating the mean relative error between the mean measured values in the simplified ROPS test and the tractor ROPS test. As a result, the relative standard deviation was less than 2.5% for force and 3.3% for maximum deformation overall, showed the highest precision in lateral load. The mean relative error value for force measured at the lateral load of simplified ROPS was 0.5%, showing the highest accuracy. In the front load test, the mean relative error of maximum deformation was 20.5%, showing the lowest accuracy. The mean relative error (MRE) was high in the forward load test was because of structural factors of the ROPS. The simplified ROPS model is expected to save money and time spent preparing tractors.