The purpose of this study is to design and control position and torque based on the steering controller of power tiller simulator developed by the National Institute of Agricultural Sciences. The tiller simulator selects sensors and motors to detect the motion of the mechanism required for steering, and controls the tiller's steering controller through the PID control method and the PWM control method which can control simultaneously the position and torque. Simulation tests are carried out under various conditions to verify the efficiency of the proposed controller. The power tiller training simulator can be used as a means to prevent agricultural machinery accidents caused by human factors. Through the simulator, the driver can experience a variety of tasks without any risk of collision, the results of his actions, and learn the cause and effect concepts, which can be used for safety education and accident experience.

1. 서 론
 2. 경운기 모의 조향제어장치 설계
  2.1 경운기 구조
  2.2 토크모드 이용한 위치제어 성능실험 결과
  2.3 시스템 구성
 3. 경운기 모의 조향제어장치 제어시스템
  3.1 PID 위치제어
  3.2 PWM 토크제어
 4. 경운기 모의 조향제어장치 성능 실험
  4.1 위치제어
  4.2 PWM 토크제어
 5. 경운기 모의 조향제어장치 시험결과
  5.1 PID 위치·토크 동시제어 성능실험 결과
  5.2 PWM 제어결과
 6. 결 론
 후 기
 References

• 노재승(Department of Agricultural Engineering, National Institute of Agricultural Sciences.) | Jae-Seung Noh
• 김유용(Department of Agricultural Engineering, National Institute of Agricultural Sciences.) | Yu-Yong Kim
• 이정민(Department of Agricultural Engineering, National Institute of Agricultural Sciences.) | Jeong-Min Lee
• 홍순중(Extension Service Bureau, Rural Development Administration, Jeonju, Korea) | Soon-Jung Hong Corresponding Author