REDUCING OPERATOR-INDUCED MACHINE VIBRATION USING A COMPLEX POLE/ZERO PREFILTER

A systematic prefilter design process for reducing operator-induced rigid body vibrations of rubber tire mounted machines is presented. The contribution of this work is the development of a systematic prefilter design process and interpretation of the results. The class of heavy equipment considered in this work are those machines having rigid body main frame vibrations dominated by linear dynamics. The reduction in machine vibrations is accomplished through the design of prefilters that reduce the machine resonant frequencies from the operator commands. The machine information required for the design process includes the bandwidth of the electro-hydraulic (E/H) valves and rigid body resonant frequencies of the machine mainframe. The prespecified performance in the design process is the desired attenuation of machine resonant frequencies which is related to the acceptable level of machine vibration. The design methodology has been applied to a telescopic boom lift to illustrate the procedure and the effectiveness of the design.