Synthesis of active boom control in wheel loader for attenuation of whole-body vibration

Abstract

Random vibration and frequent shocks can affect wheel loader operators' health. Random vibrations from driving on rough terrain or repetitive shocks from speed bumps are significant sources of induced vibration on a seated operator. Vibration can also affect the load's bucket stability. This study aims to eliminate operator vibration while stabilising the bucket load when the wheel loader operates at a steady pace. Multi-input, multi-output system used a model predictive control (MPC) system to achieve the controller's goals. The appropriate control parameters were determined using MATLAB Simscape Multibody program. The proposed control approach utilised the boom's existing hydraulic valve. Fewer vibration disturbances and more stability were achieved numerically. Crossing speed control bumps reduced the root mean square (RMS) values of repeated shocks by 30.2% in some simulation cases. The proposed control approach reduced random vibration produced by driving through uneven terrain by 17%.