AN OVERVIEW ABOUT ACTIVE OSCILLATION DAMPING OF MOBILE MACHINE STRUCTURE
Keywords:
active oscillation damping, vibration suppression, vibration control, active oscillation control, mobile machines, working hydraulicsAbstract
One main current demand for mobile machinery development is the improvement of operator comfort and productivity in order to be competitive on the global market in the future. Actual trends towards cost effective actuator systems in offroad vehicles and thereby the use of electrohydraulic actuators reflects also the task of active oscillation damping of the machine structure. In the past several concepts, which differ in hydraulic system, control and sensor strategy, have been developed. However, the practical use is still minor as in most cases passive oscillation systems, which base upon high pressure hydro-pneumatic accumulators, are widely used although the component costs and frequent check intervals are problematic for this technology. This paper presents an overview of research work done in the area of active oscillation damping technologies for offroad vehicles.
Downloads
References
Aichele, H., Hesse, H., Höfer, F.-W., Mohaupt, H.
and Schumacher, W. 1989. Fahrzeug mit einem
System zur dynamischen Stabilisierung seiner Bewegungen.
EP Patent No. 0.299.223; DE Patent
No. 3.723.488. (in German)
Altmann, U., Hesse, H. and Lödige, H. 1992. Landwirtschaftlich
nutzbare Zugmaschine mit angelenktem
Hubwerk. EP Patent No. 0.518.226; DE Patent
No. 4.119.414.
Andersen, T. O. and Hansen, M. R. 2003. Active
Damping of Oscillations in Off Road Vehicles. The
th Scandinavian International Conference on Fluid
Power (SICFP'03), pp. 1073-1085, Tampere,
Finland.
Anderson, W. R. 1988. Controlling electrohydraulic
systems. New York: Marcel Dekker Inc.
Asokan, T. and Singaperumal, M. 1995. Damping
variation through electrohydraulic servosystem: an
application to active impedance control. Mechatronics,
Vol. 6, No. 6, pp. 613-630.
Backé, W. 2000. Concerning: Research and Development
in Fluid Power Technology. 1st FPNI-PhD
Symposium Hamburg 2000, pp. 9-21, Hamburg.
Beck, H.-P. 1999. Aktive Schwingungsdämpfung in
Triebachsen mittels selbsteinstellender Zustandsregelung.
eb – Elektrische Bahnen. 97, Nr. 12, pp.
-401. (in German)
Berg, H. and Ivantysynova, M. 1999. Design and
testing of a robust linear controller for secondary
controlled hydraulic drive. Journal of Systems and
Control Engineering. Special Issue: Control in
Fluid Power Systems, Vol. 213, Part I, pp. 375-385.
Berger, A. D. and Patel, K. B. 1999. Active Ride
Control System for Offroad Vehicles. US Patent
No. 5.897.287.
Bernzen, W. 1999. Zur Regelung elastischer Roboter
mit hydrostatischen Antrieben. Dissertation Gerhard-
Mercator Universität Duisburg. (in German)
Bernzen, W. 1998. Active Vibration Control of Flexible
Robots Using Virtual Spring-damper Systems.
Journal of Intelligent and Robotic Systems, Vol. 24,
No.1, pp. 69-88.
Bindel, R. and Mähner, K. 1997. Rechnergestützte
Dimensionierung des Hydraulikantriebes von
Großmanipulatoren mit Knickarmkinematik. Ölhydraulik
und Pneumatik, 41, Nr. 6, pp. 417-420.
(in German)
Bittner, O., Leidinger, G. and Weber, J. 2001. Arbeitsmaschine.
International Patent No. WO
/69089 A2.
Blackburn, J. F., Reethof, G. and Lowen Shearer,
J. 1960. Fluid power control. Technology Press of
M.I.T. & John Wiley and Sons, USA.
Bonefeld, R. 2000. Einsatz elektrohydraulischer Antriebssysteme
zur aktiven Dämpfung seilgetragener
Bauwerke. 2.IFK (2. Int. Fluidtechnisches Kolloquium),
pp. 81-96. Dresden. (in German)
Bonefeld, R. 2002. Einsatz elektrohydraulischer Antriebssysteme
zur aktiven Dämpfung mechanischer
Strukturen. Dissertation TU Dresden.
Bonefeld, R. 2003. Einsatz elektrohydraulischer Antriebssysteme.
Ölhydraulik und Pneumatik, 47, Nr.
, pp. 592-598. (in German)
Brönner, G. and Kolb, W. 1983. Hydraulikanlage für
mit Arbeitsgeräten versehene Arbeitsmaschinen.
DE Patent No. 4.221.943. (in German)
Burrows C. R., Edge K. A. and Vaughan, N. D.
Some applications of hydraulics for control
of vibrations and machines. Proceedings of the
Second International Technology-Transfer Congress,
pp. 68-72, Bremen, Germany
Burrows, C. R. and Keogh, P. S. 1994. The active
control of vibration. International Union of TheoSymposium,
Bath, UK.
Campos, J., Davis, L., Lewis, F. L., Ikenga, S.,
Scully, S. and Evans, M. 1999. Active Suspension
Control of Ground Vehicle Heave and Pitch Motions.
The 7th IEEE Mediterranean Conference on
Control and Automation, Haifa, Israel.
Deckers, J., Nissing, D. and Schwarz, R. 2000. Erprobung
neuer Regelungskonzepte zur aktiven
Schwingungsdämpfung am Beispiel eines
Schmiederoboters. Mechatronik – Mechanisch/
Elektrische Antriebstechnik. Vol. 1533, pp.
-484. (in German)
Crolla, D. A. 1996, Vehicle dynamics - theory into
practice. Journal of Automobile Engineering,
IMechE, Part D, Vol. 210, No. D2, pp 83-94.
Cundiff, J. S. 2001. Fluid Power Circuits and Controls
- Fundamentals and Applications. CRC Press.
Drake, F. J. and Jaecks, B. K. 1991. Hydraulic System
for a Wheel Loader. US Patent No. 5.195.864.
Edge, K. 2003. On the Control of Electrohydraulic
Systems - Some Recent Research Contributions.
The 8th Scandinavian International Conference on
Fluid Power (SICFP'03), pp. 31-59, Tampere,
Finland.
Esders, H. 1996. Elektrohydraulisches Load Sensing
für mobile Anwendungen. Dissertation TH Braunschweig,
VDI-Fortschritt Berichte Vol. 14, No. 75,
ISSN 0178-9570, Düsseldorf: VDI-Verlag. (in German)
Franklin, G. F., Powell, J. D. and Workman, M.
Digital Control of Dynamic Systems. Menlo
Park: Addison Wesley Longman.
Frediani, S., Gianoglio, R. and Weber, J. 2003. Electro
Hydraulic Active Ride Control (Aktive elektrohydraulische
Niveauregelung). 4. IFK (4th Int. Fluid
Power Conference), pp. 129-138, Dresden, Germany.
Freedy, A. L. and McIndoo, R. G. 1964. Hydraulic
Circuit for Tractor mounted Loaders. US Patent No.
122.246.
Fuller, C. R., Elliott, S. J. and Nelson, P. A. 1996. Active
Control of Vibration. London: Academic Press.
Gaudreault, M. L. D., Liebst, B. S. and Bagley, R. L.
Simultaneous Design Of Active Vibration Control
And Passive Viscous Damping. Journal of guidance,
control and dynamics. Vol. 16, pp. 654-661.
Göhlich, H. and Hesse, H. 1986. Landwirtschaftlich
nutzbare Zugmaschine mit angekoppeltem Arbeitsgerät.
DE Patent No. 3.446.811. (in German)
Gu, L. and Wang, Q. 2001. Research on Noninterference
Control of Multiple Actuators Load Sensing
System with High Inertia in Construction Machinery.
th International Conference on Fluid Power
Transmission and Control (ICFP'2001), Hangzhou,
China, pp. 373-377.
Guglielmino, E., Stammers, C. W. and Edge, K. A.
Robust force control in electrohydraulic friction
damper systems using a variable structure
scheme with non linear state feedback. Proc. of the
nd International Fluid Power Conference (2. IFK),
Vol. 1, pp. 163-176, Dresden, Germany.
Hagemeister, W. and Keuper, G. 2002. Fahrzeug mit
einer Regeleinrichtung zur Schwingungsdämpfung.
DE Patent DE10039219. (in German)
Harms, H.-H. 2001. Mobile Hydraulic Technology –
Current Problems and Future Challenges. The 7th
Scandinavian International Conference on Fluid
Power (SICFP'01), pp. 21-36, Linköping, Sweden.
Hansen, M. R., Andersen, T. O. and Conrad, F.
Control of oscillations in hydraulically driven
off-highway vehicles. Bath Workshop PTMC2002,
Bath, UK, pp. 81-94.
Hansen, M. R. and Andersen, T. O. 2002. Active
Damping of Oscillations in Off Road Vehicles. 15th
Nordic Seminar on Computational Mechanics, pp.
-166, Aalborg, Denmark.
Hansen, M. R., Andersen, T. O., Nielsen, B. and
Conrad, F. 2002. Electro Hydraulic Hitch Control.
The 18th International Conference on Hydraulics
and Pneumatics (ICHP03), pp. 326-337, Prague,
Czech Republic.
Hauck, M. 2001. Geregelte Dämpfung für Traktor-
Fahrersitze (Controlled damping for driver's seats
of agricultural tractors). Dissertation Technical
University of Berlin. (in German) http://edocs.tuberlin.
de/diss
Hausman, D. J., Krone, J. J. and Cline, M. I. 1996.
Method for Controlling Bounce of Work Implement.
US Patent No. 5.622.226.
Heiskanen, K., Hakola, J., Laitinen, L. and Pietola,
M. 2003. Vibration Suppression with Hydraulic
Actuator. The 8th Scandinavian International Conference
on Fluid Power (SICFP'03), pp. 523-531,
Tampere, Finland.
Heiskanen, K., Juhala, J. and Pietola, M. 2003. Active
Structural Control of Hydraulically Supported
Machinery. The 1st International Conference on
Computational Methods in Fluid Power Technology
(sim2003), Melbourne, Australia.
Heiskanen, K., Hakola, J., Laitinen, L. and Pietola,
M. 2003. Active structural control using hydraulic
actuator. Bath Workshop PTMC2003, pp. 119-129,
Bath, UK.
Helduser, S. and Bonefeld, R. 2001. Active Damping
In Civil Engineering Using Hydraulic Actuators. 5th
International Conference on Fluid Power Transmission
and Control (ICFP'2001), pp. 259-263.
Hangzhou, China.Hesse, H. 1991. Digitale elektronische Hubwerksregelung
für Ackerschlepper. Ölhydraulik und Pneumatik,
, Nr. 11, pp. 828-835. (in German)
Hesse, H. 1995. Active oscillation damping for off
road vehicles. The 4th Scandinavian International
Conference on Fluid Power (SICFP'95), pp. 1152-
, Tampere, Finland.
Hirowatari, Y. and Ichiryu, K. 2001. Active Vibration
Control By Tracking Filter. 5th Interntional
Conference on Fluid Power Transmission and Control
(ICFP'2001), pp. 33-36 Hangzhou, China.
Höfer, F.-W., Schumacher, W., Mohaupt, H. and
Hesse, H. 1991. Landwirtschaftliche Zugmaschine
mit einem System zur dynamischen Stabilisierung
seiner Bewegungen. DE Patent No. 3.942.057. (in
German)
Hosseini, J. 1992. Automatic Ride Control. US Patent
No. 5.147172.
Imanishi, E. 1988. Controller for Attachment of Oil-
Pressure Shovel. JP Patent No. 6.313.802.4.
Ivantysyn, J. and Ivantysynova M. 2000. Hydrostatic
Pumps and Motors - Principles, Designs, Performance,
Modelling, Analysis, Control and Testing.
Academica Books International, New Delhi.
Ivantysynova, M. 2002. Displacement Controlled
Actuator Technology - Future for Fluid Power in
Aircraft and other Applications. Proc. of the 3rd International
Fluid Power Conference (3. IFK), Vol.
, pp. 425-440, Aachen, Germany.
Jelali, M. and Kroll, A. 2002. Hydraulic Servosystems.
Heidelberg: Springer Verlag.
Kauss, W., Mucheyer, N. and Wittich, K. 1984. Vehicle
with hinged Attachment Implement. US Patent
No. 4.667.744.
Kauss, W., Mucheyer, N. and Wittich, K. 1985. Fahrzeug
mit einem gelenkig befestigten Anbaugerät.
DE Patent No. 3.346.892.
Kawaguchi, M., Maekawa, A., Kobayashi, N. and
Yoshimura, T. 1994. Study on Active Vibration
Control of Arm for Construction Machinery (Modeling
and Linear Control Simulation). JSME International
Journal, Vol. 37, No. 1, pp. 678-684.
Kliffken, M. G. and Geerling, G. 2003. New Developments
and Trends in Hydraulics for Mobile Applications.
The 8th Scandinavian International Conference
on Fluid Power (SICFP'03), pp. 77-88,
Tampere, Finland.
Kummer, W. 1996. Reduzierung der Schwingungsbelastung
von Radladerfahrern durch die Schwingungsdämpfung
der Hubhydraulik. Tiefbau: amtliches
Mitteilungsblatt der Tiefbau Berufsgenossenschaft.
Ausgabe 1, pp. 16-18. Tiefbau-
Berufsgenossenschaft Berlin. (in German)
Kovanen, J. and Handroos, H. 2002. Active Vibration
Reduction Method for a Hydraulic Driven Flexible
Manipulator. ICMA2002, Tampere, Finnland.
Kurohashi, M., Torii, M. and Kunieda, Y. 1992.
Vibration Suppression Device for Wheeled Construction
Equipment. US Patent No. 5.116.188.
Kuromoto, K. 1993. Oscillation Suppressing Device
for Working Machine. JP Patent No. 5.163.746.
Latour, Ch. and Beck, J. 1999. Fahrantrieb und Arbeitshydraulik
für einen Radlader. VDI-MEG Tagung
Landtechnik. pp. 379-384. Braunschweig. (in
German)
Latour, Ch. and Biener, R. 2002. Comparison of
active and passive oscillation suppression systems
for wheel loaders. 3. IFK (3rd Int. Fluid Power Conference),
T4 Vol. 2, pp. 101-112, Aachen.
Latour, Ch. and Biener, R. 2003. Schwingungstilgung
in Radladern – Vergleich von aktiven und passiven
Systemen. Ölhydraulik und Pneumatik, 47, No. 3,
pp. 171-174. (in German)
Leidinger, G. 1992. Laststabilisator steigert die
Umschlagleistung von Radladern. Fördern und Heben.
, No. 6, pp. 476-478. (in German)
Lizell, M. 1988. Semi-Active damping. Advanced
Suspensions Conference, pp. 83-91, London, UK.
Lizell, M. 1994. An Actuator For Semi-Active Damping
System. Mechatronics. Vol. 4, No. 2, pp. 207-215.
Long, T., Brennan, M. J. and Elliott, S. J. 1998.
Design of Smart Machinery Installations to Reduce
Transmitted Vibrations by Adaptive Modification
of Internal Forces. Journal of Systems and Control
Engineering, Vol. 212, No. 3, Part I, pp. 215-228.
Lödige, H. and Kaplick, Ch. 1995. Aktive Schwingungsdämpfung
für ungefederte Arbeitsmaschinen.
Ölhydraulik und Pneumatik, 39, No. 3, pp. 188-
(in German)
Maczynski, A. and Wojciech, S. 2003. Dynamics of a
Mobile Crane and Optimisation of the Slewing Motion
of Its Upper Stucture. Nonlinear Dynamics 32
(Kluwer Academic Publishers), pp. 259-290.
Maichle, J. 1989. Landwirtschaftlich nutzbare Zugmaschine
mit angekoppeltem Arbeitsgerät. DE Patent
No. 3.816.166. (in German)
Maichle, J. 1990. Agricultural Pulling Machine with
Automatic Pitch Vibration Damping Mechanism.
US Patent No. 4.924.943.
Merkel, M., Gojny, M. H. and Carl, U. B. 2002.
Enhanced Eigenstructure Assignment for Aeroelastic
Control Application. Deutscher Luft- und Raumfahrtkongress
, DGLR-2002-007, Stuttgart,
Germany.
Merritt, H. E. 1967. Hydraulic Control Systems. New
York: John Wiley & Sons.Michalowski, St. 2000. Application of Fluid Power
Devices in active vibro-control systems. International
Scientific Forum on Developments in Fluid
Power Control of Machinery and Manipulators, pp.
-328, Krakau, Polen.
Michalowski, St. and Sobczyk, A. 2003. Dynamic
Effects in Mobile Manipulators with Hydraulic Systems.
The 1st International Conference on Computational
Methods in Fluid Power Technology
(sim2003), Melbourne, Australia.
Motohashi, K. and Ichiryu, K. 2003. Research of
Active Vibration Control by Hydraulic Device. 4th
International Symposium on Fluid Power Transmission
and Control (ISFP2003), pp.565-568, Wuhan,
China.
Murrenhoff, H. and Wallentowitz, H. 1998. Fluidtechnik
für mobile Anwendungen. RWTH Aachen,
Verlag Mainz, Wissenschaftsverlag Aachen. (in
German)
Noak, S. 2001. Hydraulics in Mobile Equipment.
Bosch-Rexroth Group Publication, Ditzingen (Germany):
OMEGON Fachliteratur; Warendale (USA):
SAE Publication.
Norvelle F. D. 1999. Electrohydraulic Control Systems.
New Jersey: Prentice-Hall.
Orbach, A. and Schubert, W. L. 1996. Active Roadability
Control for Work Vehicles. US Patent No.
884.204.
Patel, K. B., Lin, H. C., Berger, A. D., Farag, W. and
Khan, A. A. 1999. EDC Draft Force Based Ride
Controller. US Patent No. 6.196.327.
Pietola, M., Kajaste, J., Heiskanen, K., Ellman, A.,
Porkka, E., Valkonen, A. and Järviluoma, M.
Active Vibration Control of a Large Scale
Rotor with a Servohydraulic Control System. The
th Scandinavian International Conference on Fluid
Power (SICFP'03), pp. 1201-1208, Tampere,
Finland.
Rahmfeld, R. 2002. Development and Control of Energy
Saving Hydraulic Servo Drives for Mobile
Systems. Doctoral thesis, Vol. 12, No. 527, Düsseldorf:
VDI-Verlag.
Rahmfeld, R. and Ivantysynova, M. 2003. New Displacement
Controlled Linear Actuator Technology
– a Suitable Control Element for Active Oscillation
Damping. The 8th Scandinavian International Conference
on Fluid Power (SICFP'03), pp. 1139-
, Tampere, Finland.
Rahmfeld, R., Ivantysynova, M. and Weber, J. 2003.
IBIS – Advanced Multi-functional Machinery for
Outdoor Applications. The 18th International Conference
on Hydraulics and Pneumatics (ICHP03),
pp. 137-149, Prague, Czech Republic.
Rahmfeld, R., Ivantysynova, M. and Weber, J. 2004.
Displacement Controlled Wheel Loader – a simple
and clever Solution (Verdrängergesteuerter Radlader
– die einfach bessere Lösung). 4. IFK (Int.
Fluid Power Conference), pp. 183-196, Dresden,
Germany.
Saotome, Y. 1991. Mechanism for suppressing vibrations
of travelling crane. US Patent No. 4.995.517
Sasaki, K. 2003. Semi-active Suspension System. Railway
Technology Avalanche, No. 1, Jan 2003, pp. 5.
Seiichi, M. 1994. Device and Method for Suppressing
Vibration of a Working Machine. EP Patent No.
747.797.
Stecki, J. S. and Garbacik, A. 2002. Design and
Steady-state Analysis of Hydraulic Control Systems.
Fluid Power Net Pty Ltd.
Stecki, J. S. and Garbacik, A. 2002. Development of
Fluid Power Control of Machinery and Manipulators.
Fluid Power Net Pty Ltd.
Streiter, R., Riege, B., Boller, M., Schneider, R. and
Himmelstein, G. 2001. Active Lateral Suspension
for High-Speed Trains. World Congress on Railway
Research 2001, Cologne, Germany.
Sunamura, K., Tomikawa, O. and Hirata, T. 1990.
Hydraulic system for boom cylinder of working apparatus.
EP Patent No. 0.378.129.
Sunamura, K., Tomikawa, O. and Hirata, T. 1990.
Anti vibration apparatus in a hydraulic system for
boom cylinder of working apparatus. US Patent No.
048.296.
Ufheil, S. and Rector, S. W. 1996. Programmable
Ride Control. US Patent No. 5.520.499.
Ulrich, A. 1980. Fahrzeug mit angekoppelten und/oder
festangebauten Heck- und/oder Frontanbaugeräten
und/oder seitlich angebaute Geräte. DE Patent No.
856.583. (in German)
Walters, R. B. 2000. Hydraulic and electric-hydraulic
control systems. Norwell, Dordrecht: Kluwer Academic
Publishers.
Weber, J. 2000. Funktionelle Flexibilität durch Elektrohydraulik
am Radlader. 2. IFK (2nd Int. Fluid
Power Conference), Dresden, Germany, pp. 65-73.
(in German)
Yamagata, E. 1993. Vibration Suppressing Control
Device for Operation Device of Hydraulic Working
Machine. JP Patent No. 5.321.297.
Zähe, B., Linden, D. and Gawlikowski, R. 1993.
Load-Sensing als Mehrgrößenregelung. Ölhydraulik
und Pneumatik 37 (1993) No. 8.
Zhang, Y. and Alleyne, A. 2003. A Simple Novel
Approach to Active Vibration Isolation with Electrohydraulic
Actuation. ASME Journal of Dynamic
Systems, Measurement and Control, Vol. 125, pp.
-128.
