パワーショベルにおける人間ハンチング現象の解析と制御

抄録

Construction vehicle is widely used in construction works. Especialy in town area, a small-sized construction vehicle is often used, since it is usable in narrow place and low cost. However, the small-sized construction vehicle has characteristic problem of human hunting, and it make difficult to opereat. This paper deals with Human Hunting phenomena(HHP), which is one of the coupled vibration phenomena between the vehicle and the operator on board, appearing at the operation of the small-sized excavator and degrades operativity. This phenomena is related not only to the vehicle dynamical characteristic but also to human-operator's dynamical characteristic. To analize this phenomenon, it is necessary to consider the vehicle-operator dynamic model. We derived a mathematical model, which has six degrees of freedom to analyze this phenonmenon. Up and down motion of the excavator-boom is simurated. And it agrees with the phenomenon well. The linearized mathematical model shows that some control lever parameters are related to stability criterion. By simulation, it is confirmed that the proper selected control parameters can suppress the HHP.