초록

○ 연구결과
• 작업비 절감과 생산성 향상으로 바이오에너지로의 활용 및 임업의 수익성 개선를 위한 현장에서의 저비용 고효율의 생산 공급 시스템을 개발하기 위하여 자동 장력 조절형 집재윈치 및 자주식 무선조종 목재반송기를 개발하고 개발된 장비를 활용하여 현장에서의 적용성을 평가한 결과 기존의 생산시스템에 비하여 유리한 것으로 판단되었음.

Abstract ▼

1. Design and manufacture of auto-interlocking winch
(1) Traction model development of timber for capacity setting of winch
To assume the traction resistance of timber, the mathematical traction model was derived by weight(W) of timber, the ground slope(θ) and a coefficient(μs) of between soil

1. Design and manufacture of auto-interlocking winch
(1) Traction model development of timber for capacity setting of winch
To assume the traction resistance of timber, the mathematical traction model was derived by weight(W) of timber, the ground slope(θ) and a coefficient(μs) of between soil and timber. In addition, power analysis was performed to estimate the maximum traction amount of an excavator considering the ground skidding.
(2) Development of power transmission mechanism and auto-interlocking winch
In this study, auto-interlocking winch was used piston motor with the brake(Poclain) as the driving source of the main drum (MSE05) and haulback drum(MSE02) for compensate for loss of work efficiency.
(3) Select of base machine and design and manufacture of Hydraulic pressure equipment
Hydraulic system includes the valve for flow control of Hydraulic motor and manifold block for the hydraulic distribution of pressure and brake. Also part of winch drum were considered to be mounted on excavators by made of a separate frame.
2. Hydraulic pressure control system of auto-interlocking winch
(1) The analysis of control technique for existing auto-interlocking winch In order to develop the control technique of auto-interlocking winch, the control box and electrical circuit of TW-232 (IWAFUJI) were analyzed. By investigating the operating principles and function of each component for driving winch and by analyzing electrical circuit in the control box for operating hydraulic system, the performance of the TW-232 auto-interlocking winch were understood.
(2) Development of hydraulic motor proportional control technique
In order to achieve the hydraulic motor proportional control technique, Proportional-integral-differential (PID) control technique with PWM signal transfer were adopted due to the simple structure to build, relatively small number of parameters needed to adjust, and better operating performance. The system was consisted of LabVIEW and Compact Field point.
(3) Design and fabrication of hydraulic system for controling the auto-interlocking winch
The system configuration is consisted of hydraulic motors, valves, micro-controller for controling operation which were integrated in the control box. The system control algorithm is to analyze input pressure signal by the micro-controller, to calculate optimal signal by PID control, and then to send this signal to the valves to control flow and pressure of hydraulic system.
(4) The automatic control of a servo motor for tension control of timber carriage
A lab-scale timber carriage using a servo motor system was built. When two motors move a carriage, wire tension is changed according to the different line speeds caused by a wire drum’s changing diameter, leading to inappropriate traveling characteristics of the carriage. In order to overcome this problem, PID Control was used to control the motor speed. Ziegler-Nichols method was used to determine PID gains. The initial PID gains were 1.8, 0.025, and 0.006, respectively, and optimal gains of 1.4 and 0.010 for P and I gain were obtained experimentally. The results showed that constant wire tension could be maintained by controlling the speed of the motor using PI control.
3. Performance test of auto-interlocking winch
(1) Measurement of traction power and traction speed of winch
In order to evaluate the performance of winch traction power and traction speed were measured. The engine of excavator rpm was fixed 1,800. The species of test trees were two Pinus rigida and weight was 100kg and 250kg respectively. Tension was 0(zero) and When towed 100kg Pinus rigida, average speed of tow was 98m/min and When towed 250kg Pinus rigida, average speed of tow was 87m/min. The maximum drive tow power was 2,238kgf, 1,820kgf respectively.
(2) Measurement and analysis winch traction power and traction speed in thinning site
The thinning site was Pinus rigida Stands. The investigation orders were as follow.
Firstly, cut down Pinus rigida in inside of the landing. Secondly, cut branch. Lastely, we were implemented tree-length logging. The direction of yarding was uphill and establishment distance was 90m. Time of establishment and removal was taken 57.2 minutes. It was less than current existing Tower yarder. The results of the 55 times investigates showed that the rate of working time such as Idle State, establishment of Chocker and load drive was 63.2% of total working time. Also, the rate of general working time of cyclic such as rest, equipment repair analyzed 36.8% of total working time.
(3) Stability analysis of auto-interlocking winch and development of pass carriage
This study is aiming at high land adaptation through investigate to stability auto-interlocking swing yarder’s part of winch and post arm in step of planning.
4. Design and manufacture of self-propelled timber carriage
(1) Design and manufacture of self-propelled timber carriage
self-propelled timber carriage is equipped with its own engine and In the form of endless drum was composed by Capstans drum and groove pulley.
(2) Development of power transmission mechanism of self-propelled timber carriage
Hydraulic pump is directly related 23-horsepower gasoline engine has 11.23㎤rev At the maximum operating pressure 250bar. Also winch and track motor were selected to gear motor OMT160FH(Sauer Danfoss) by form equipped with brake.
5. Control system of self-propelled timber carriage
(1) The analysis of the radio-controlled self-propelled carriage performance
A case study of adaptation of a radio transmitter and receiver applied in self-propelled carriage and radio communication methods was performed. Radio control technique was widely used in various fields, especially in case of traveling control spot, the radio control technique has the better performance compared to wired adjustment.
(2) Design and fabrication of 4-channel radio control system and its driving mechanism
A case study of radio control system, such as AM, FM, PCM, Bluetooth, Zigbee, was performed, and their characteristics were analyzed. The system was consisted of FM, Bluetooth communication thechnique, and the circuit and program performance were analyzed.
(3) Evaluation of radio signal traveling distance in the forest in terms of different forest and frequency type
The performance of radio signal operation using Bluetooth communication in terms of different traveling distance was evaluated. The experimental results showed that the radio signal was functioned normally up to 150 m distance.
(4) Design and fabrication of radio-controlled choker
Radio controlled choker can reduce risk, working time, and cost, and increase economic benefits by separating hook automatically. The control circuit was built using RF technique and DC motor and a rack and pinion gear were mounted on the choker so that the hook was separated automatically by radio signal.
6. Performance test of self-propelled timber carriage
(1) Stability Analysis of self-propelled timber carriage
Standard is value of Yarding system which is installed to investigate stability of self-propelled timber carriage. 12 mm Skyline presented 1.97 factor of safety result from non-modified calculation as unoccupied drive. Safety factor equals 2.10 as modified calculation, Under factor of safety less than 2.7, Dynamic load is applied, there is a problem with reliability in the case was considered.
(2) Measurement of traction power and traction speed of self-propelled timber carriage
This is tested for the driving performance of self-propelled timber carriag in a 30-degree mountain slope. Drive speed is expected of 150m/min, considering power transmission or hydraulic efficiency in 200m/min design speed however represented about maximum 90m/min. The result is conducted by testing of break in case driving groove wheel first winding and twice winding. The results show that 200kg additional load will not be a problem in the brake performance.
7. Development of operation system using self-propelled timber carriage
(1) Work time analysis and process calculation by skidder+processor combination
Time study and productivities of each step operations were surveyed to provide the operational efficiency of mechanized harvesting system combination by swing yarder, skidder and processor. Work for skidding and processing of stacked full tree is performed immediately in Larch areas. As Larch areas close to landing point or landing area and is located in forest road, Therefore daily average labor productivity equals 6.19㎥respectively high.
(2) Applicability in hillside farming
As utilize of prairie-type machine in the slope has limits depending on the model, the development of slope-type machine is inevitable.

목차 Contents

• 표지 ... 1
• 제 출 문 ... 3
• 요 약 문 ... 5
• SUMMARY ... 11
• CONTENTS ... 15
• 목 차 ... 17
• 제 1 장 연구개발과제의 개요 ... 19
• 제 1 절 연구개발의 배경 및 필요성 ... 19
• 1. 연구의 배경 및 국내외 관련분야 환경변화 ... 19
• 2. 연구개발의 필요성 ... 20
• 제 2 절 연구개발 목적 ... 20
• 1. 연구개발의 목적 ... 20
• 제 2 장 국내외 기술개발 현황 ... 21
• 제 1 절 타워형 집재기에 사용되는 반송기 ... 21
• 1. 작업줄 방식의 반송기 ... 21
• 2. 스카이라인 방식의 반송기 ... 23
• 3. 중간지지대 통과형 반송기 개발 ... 29
• 제 3 장 연구개발수행 내용 및 결과 ... 31
• 제 1 절 자동 장력 조절형 집재윈치의 설계 및 시작품 제작 ... 31
• 1. 집재윈치의 용량설정을 위한 집재목의 견인모델 개발(소요동력 산정) ... 31
• 2. 동력전달기구 및 자동 장력조절 기구개발 ... 43
• 3. 베이스머신의 선정 및 유압장치의 설계 ․ 제작 ... 44
• 제 2 절 장력 조절형 집재 윈치의 유압제어 시스템 설계․제작 및 시험 ... 47
• 1. 기존 장력 조절형 집재 윈치 제어 기술 분석 ... 47
• 2. 부하 대응형 유압모터 비례 제어 기술 개발 ... 53
• 3. 장력 조절형 집재 윈치 제어를 위한 유압 시스템 설계 및 제작 ... 57
• 4. 목재 반송기의 장력 제어를 위한 서보모터의 자동제어 기술의 구현 ... 60
• 제 3 절 자동 장력 조절형 집재윈치의 성능평가 ... 69
• 1. 집재윈치의 견인력 및 견인속도 측정 분석 ... 69
• 2. 간벌현장에서의 집재윈치 견인력 및 견인속도 측정 분석 및 공정 분석 ... 73
• 3. 자동 장력 조절형 윈치의 안정성검토 및 중간지지대 통과형 반송기개발 ... 75
• 제 4 절 자주식 무선조정 목재반송기의 설계 및 시작품 제작 ... 83
• 1. 자주식 무선조정 목재반송기의 기본프레임 설계 제작 ... 83
• 2. 자주식 무선조정 목재반송기의 동력전달 기구 설계 및 제작 ... 93
• 제 5 절 자주식 무선조정 목재반송기의 제어시스템 설계․제작 및 시험 ... 96
• 1. 자주식 무선 조정 목재 반송기의 제어시스템 분석 ... 96
• 2. 4채널 무선조정시스템 설계제작 및 구동 기구 설계 제작 ... 102
• 3. 임상별, 주파수별 임지내 무선신호의 도달거리분석 평가 ... 113
• 4. 무선조정식 쵸커 설계제작 ... 116
• 제 6 절 자주식 무선조정 목재반송기의 성능평가 ... 124
• 1. 자주식 무선조정 목재반송기의 안정성 분석 ... 124
• 2. 자주식 무선조정 목재반송기의 견인력 및 견인속도 측정 분석 ... 125
• 제 7 절 자주식 무선조종 목재반송기를 이용한 작업시스템개발 및 평가 ... 128
• 1. 스키더+프로세서 조합의 전목수확시스템에서의 작업시간분석 및 공정산출(경제성분석) ... 128
• 2. 경사지 농업에서의 적용가능성 ... 137
• 제 4 장 목표달성도 및 관련분야에의 기여도 ... 144
• 제 5 장 연구개발 성과 및 성과활용 계획 ... 145
• 제 6 장 연구개발과정에서 수집한 해외과학기술정보 ... 146
• 제 1 절 스윙야더에 의한 간벌재 생산 시스템 ... 146
• 제 2 절 기계화 작업에 적합한 간벌방법 ... 152
• 제 7 장 참고문헌 ... 169
• 끝페이지 ... 169