Abstract
AbstractMobile earthmoving machines typically do not have wheel suspension. Consequently, vehicle dynamics are under-damped, 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 f...
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