Title :
Dynamical analysis and suppression of human hunting in the excavator operation
Author :
Arai, Fumihito ; Tateishi, Jun ; Fukuda, Toshio
Author_Institution :
Dept. of Micro Syst. Eng., Nagoya Univ., Japan
Abstract :
The paper deals with human hunting phenomena, which is one of the coupled vibration phenomena between the vehicle and the operator on board, appearing at the operation of the small-sized excavator and degrades operativity. This phenomena is related not only to the vehicle dynamical characteristic but also to human-operator´s dynamical characteristic. To analyze this phenomenon, it is necessary to consider the vehicle-operator dynamic model. We first derived a mathematical model, which has six degrees of freedom to analyze this phenomenon. Up and down motion of the excavator-boom is simulated, and it agrees with the phenomenon well. The linearized mathematical model shows that some control lever parameters are related to a stability criterion. By simulation, it is confirmed that the proper selected control parameters can suppress the human hunting phenomena
Keywords :
control system synthesis; dynamics; excavators; man-machine systems; coupled vibration phenomena; dynamical analysis; dynamical characteristic; excavator operation; human hunting; linearized mathematical model; vehicle-operator dynamic model; Automotive engineering; Control system synthesis; Control systems; Degradation; Humans; Power system modeling; Systems engineering and theory; Turning; Vehicle dynamics; Vibration control;
Conference_Titel :
Robot and Human Interactive Communication, 2000. RO-MAN 2000. Proceedings. 9th IEEE International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-6273-X
DOI :
10.1109/ROMAN.2000.892530