Study on Active Vibration Control of Arm for Construction Machinery : Modeling and Linear Control Simulation

摘要

According to the trend toward high performance construction machinery, designers have been designing larger and heavier arm structures than those of the current types. But such design policy causes instability in the entire body, caused especially by arm vibration in the low-frequency range of 2 to 3 Hz, and it is very difficult to control this vibration by passive techniques. This vibration has had to be reduced substantially to prevent harm to the operator. In such a situation, applications of active vibration control technology have spread to many engineering fields, e. g., tall buildings, bridges, robots and suspensions. Furthermore for construction machinery, use of this technology can solve vibration problems, which otherwise could not be controlled easily, such as arm vibration. Therefore this paper deals with modal identification of arm vibration, mathematical modeling of an active control system involving hydraulics, and numerical simulation using a LQG (linear quadratic Gaussian) control method.