Input shaping control for suppression of boom vibrations

Abstract

This paper shows that motion induced boom vibrations can be effectively suppressed by an input shaping control scheme. As typical heavy equipments such as excavators use pressurized hydraulic fluid; an operator control unit; and a boom cylinder coupled to the boom arm. The vibratory motion of boom manipulator systems provides a negative influence in operational efficiency as well as on the operator's health. However, the boom vibratory motion is difficult to suppress using conventional feedback controllers due to hydraulic circuit time delay. This paper describes an input shaping controller that monitors the hydraulic pressure profile of the boom cylinder to sense boom vibrations. The input shaping controller generates a command input to help cancel out the boom vibrations.