Authors G.E. Veselov, A.S. Sinitsyn
Month, Year 03, 2017 @en
Index UDC 681.51
Abstract Operators of earth-moving machinery are very often exposed to low-frequency vibration. This situation is very unfavorable for a human and leads to loss of concentration, fatigue and a decrease in effectiveness of performed work. In a conventional machine of this class very often no system for wheels amortization exist, so the seat suspension is the only system that can protect the worker from shocks and vibration. Thus, the object of the study is the active suspension control system for the operator seat in earth-moving machines. The aim of the research presented in this paper is the development of algorithm that enhances the comfort level for the earth-moving machines operators. The main task solved in this paper is a synthesis of adaptive synergistic laws of active amortization system control in earth-moving machine operator seats. The proposed structure of the control system is built on the basis of a regulator synthesized by the AKAR method and a logic control unit for solenoid valves. Using the principle of integral adaptation, an integrated chain is included in the control loop, ensuring a consistent level of vibration isolation of the object, regardless of its mass. The effectiveness of the proposed approach is demonstrated by the computer simulation method in the Simscape environment. As a result of the performed work the obtained regulator provides: 1) effective absorption of vibrations and shocks arising during the operation of the earth-moving machine (SEAT factor less than 0.024); 2) absence of the resonant frequency in the range from 0 to 20 Hz. Numerical modeling results have shown that characteristics of seat suspension systems are maintained even under conditions of uncertainty values insulated mass. Numerical simulation also showed that neglecting the time constants of proportional valves leads to the fact that the amortization system loses its efficiency in the frequency range above 13.6 Hz.

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Keywords Active suspension; nonlinear controller; adaptation; synergetics approach.
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