• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• 2000.11c
• /
• pp.819-826
• /
• 2000

This study was performed to develop a measurement system of tractor field performance for plow and rotary operations. Measurement system for tractor consisted of torque sensors to measure torque of drive axles and PTO axle, speed sensors to measure rotational speed of drive axles and engine, microcomputer to control data logger, and data logger as I/O interface system. The measurement system was installed on four-wheel-drive tractor. Four-element full-bridge type strain gages were used for torque measurement of drive axles and optical encoders were used to measure speeds of drive axles and engine. Slip rings were mounted on the rotational axles. Signals from sensors were inputted to data logger that was controlled by microcomputer with parallel communication. Sensors were calibrated before the field tests. Regression equations were found on completion of the calibrations. The field experiment was performed at paddy fields and uplands. Rotary and plow were used when the tractor was operated in the field. Travelling speeds of the tractor were 1.9 km/h, 2.7 km/h, 3.7 km/h, 5.5 km/h, 8.2 km/h, and 11.8 km/h. Operating depths of implements were maintained approximately 20cm during the tests. Torque data of drive axles were different at each location during plow and rotary operations. Results showed that torque of rear axles were greater than those of front axles. Total torque were 6860 - 11064 Nm at the upland and 7360 - 14190 Nm at the paddy field for plow operations. It was found that torque at the paddy field were about 20% greater than those at the upland for plow operations. Torque data showed that rotary operations required less power than plow operation at the paddy field and the upland. Torque measurements at each axle for rotary operations were only 8 - 16% of plow operations in the upland and 15 - 20% in the paddy field.

• Journal of Drive and Control
• /
• v.17 no.4
• /
• pp.133-140
• /
• 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.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.11 no.10
• /
• pp.3873-3879
• /
• 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.