[6-1130-P] Other Categories (6th)

[6-1130-P-12] Study on Analysis of Loads Effect on Path-Tracking Accuracy of an Autonomous Tractor during Plow Tillage

*YEONSOO KIM^1,2, YONGJOO KIM², HYOGEOL KIM¹, YOUNGJOO KIM¹, SANGDAE LEE¹ (1. KITECH(Korea), 2. Chungnam Univ.(Korea))

キーワード：Agricultural tractor, Lateral error distance, Wheel axle torque, Draft force

The purpose of this study was to provide guidelines for the basic factor of auto-steering system design considering the measured work load on an autonomous tractor during plow tillage operation. Load of agricultural tractor has been studied intensively, but it is still difficult to analyze the effects of load on the path-following performance of autonomous tractors. The objective of present study was to offer suggestions on measured methods of lateral error distance. The effect of working load such as wheel torque and draft force on the lateral error distance was analyzed. The lateral error distance measurement system consisted of a electric tacheometer, GNSS receiver, and prism. The load measurement system consisted of a wheel torque meter, a telemetric proximity sensor, and 6-component load cells. The field test conducted in a four-wheel mode and an M3-Low gear stage, which are commonly used to perform moldboard plow in Korean paddy fields. The field test was conducted for a 100 m straight line, and the wheel axle torque, draft force, and lateral error distance were simultaneously measured in the same time. Through this field test, the effect of load on the accuracy of path-following performance of agricultural tractor during the plow tillage operation was analyzed. In future study, the field test will be conducted on factors affecting the accuracy of path-following performance among the soil-machine factors. The results of this study can provide useful information to improve the accuracy of path-following performance according to the working load during plow tillage operation.