建設機械のアーム部のアクティブ振動制御に関する研究 : 第1報, 数式モデルおよび線形シミュレーション

抄録

According to the trend of giving high performance to construction machinery, designers have been attaching larger and heavier arm structures than the current type. But such design policy causes an instability problem 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 ruduced substantially to prevent harm to the operator. This paper deals with a modal synthesis of arm vibration, a mathematical modelling of an active control system involving hydraulics, and a linear simulation using a LQG (linear quadratic gaussian) control method.