ACTIVE VIBRATION DAMPING FOR AN OFF-ROAD VEHICLE WITH DISPLACEMENT CONTROLLED ACTUATORS

Authors

  • Christopher Williamson Purdue University, Department of Agricultural and Biological Engineering, 225 S. University St., West Lafayette, Indiana 47907, USA
  • Shinok Lee Purdue University, School of Mechanical Engineering, 225 S. University St., West Lafayette, Indiana 47907, USA
  • Monika Ivantysynova Purdue University, Department of Agricultural and Biological Engineering, 225 S. University St., West Lafayette, Indiana 47907, USA & Purdue University, School of Mechanical Engineering, 225 S. University St., West Lafayette, Indiana 47907, USA

Keywords:

active vibration damping, active suspension, displacement control, pump control, pressure control, loader

Abstract

Mobile earthmoving machines typically do not have wheel suspension. Consequently, vehicle dynamics are underdamped, and operators experience vibrations of low frequency and high amplitude which are detrimental to health, comfort and productivity. For most vehicles, the state of the art for improving ride quality is passive energy dissipation via seat dampers and hydraulic accumulators connected in parallel to the actuators. Alternatively, ride quality may be enhanced by active control of the seat or working actuators. In the present work, active vibration damping is considered for a skid-steer loader based on control of the flow rate to the boom lift cylinders with a variable displacement pump. A four degrees of freedom vehicle dynamic model is derived for linear motion in the vertical and horizontal directions, pitching angle, and boom motion with respect to the chassis. Dynamics of the hydraulic pump and actuator are also modelled. Considering the requirements of the intended application, the feedback control design emphasizes simplicity of implementation. The control law is a multi-DOF version of the well-known “skyhook damper” principle, where the control force is proportional to the vehicle velocity. Cascaded feedback loops of pump displacement and pressure produce the required force. An experimental evaluation was conducted according to ISO 2631-1 (1997) to measure the effect of the active controller on whole-body vibration as perceived by the operator. The active damping system reduced total vibration by as much as 34% and was consistently superior to a commercially available passive damping solution. Another controller with only pressure and position feedback was also tested; its performance was similar to the passive accumulators.

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Author Biographies

Christopher Williamson, Purdue University, Department of Agricultural and Biological Engineering, 225 S. University St., West Lafayette, Indiana 47907, USA

Christopher Williamson Mr. Williamson is from the USA. He received his BS degree from Brigham Young University in 2005 and MS from Purdue University in 2007, both in Mechanical Engineering. He is currently a PhD student at Purdue University in the Dept. of Agricultural & Biological Engineering. His main research topic is energy-efficient fluid power control systems.

Shinok Lee, Purdue University, School of Mechanical Engineering, 225 S. University St., West Lafayette, Indiana 47907, USA

Shinok Lee Shinok received his B.S. degree from Purdue University in 2008 in Mechanical Engineering. He is continuing his studies as a Master’s student at Purdue University in the Dept. of Mechanical Engineering. His main research topic is active vibration control of mobile hydraulic machines. He originally comes from Seoul, South Korea and is currently working with a great team at Maha Fluid Power Research Center.

Monika Ivantysynova, Purdue University, Department of Agricultural and Biological Engineering, 225 S. University St., West Lafayette, Indiana 47907, USA & Purdue University, School of Mechanical Engineering, 225 S. University St., West Lafayette, Indiana 47907, USA

Monika Ivantysynova Born on December 11th 1955 in Polenz (Germany). She received her MSc. Degree in Mechanical Engineering and her PhD. Degree in Fluid Power from the Slovak Technical University of Bratislava, Czechoslovakia. After 7 years in fluid power industry she returned to university. In April 1996 she received a Professorship in fluid power & control at the University of Duisburg (Germany). From 1999 until August 2004 she was Professor of Mechatronic Systems at the Technical University of Hamburg-Harburg. Since August 2004 she is Professor at Purdue University, USA. Her main research areas are energy saving actuator technology and model based optimisation of displacement machines as well as modelling, simulation and testing of fluid power systems. Besides the book “Hydrostatic Pumps and Motors” published in German and English, she has published more than 80 papers in technical journals and at international conferences.

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Published

2009-11-01

How to Cite

Williamson, C., Lee, S., & Ivantysynova, M. (2009). ACTIVE VIBRATION DAMPING FOR AN OFF-ROAD VEHICLE WITH DISPLACEMENT CONTROLLED ACTUATORS. International Journal of Fluid Power, 10(3), 5–16. Retrieved from https://journals.riverpublishers.com/index.php/IJFP/article/view/491

Issue

2009: Vol 10 Iss 3

Section

Original Article

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