Development of controller-based compensation for biodynamic feedthrough in a backhoe

作者：Humphreys Heather C^*; Book Wayne J; Feigh Karen M

来源：Proceedings of the Institution of Mechanical Engineers Part I-Journal of Systems and Control Engineering, 2014, 228(2): 107-120.

DOI：10.1177/0959651813506188

• Biodynamic feedthrough
• vibration compensation
• motion control
• mobile hydraulics
• operator interface
• human-in-the-loop control

Biodynamic feedthrough can occur in many types of human-controlled machines where the operator is also a passenger. The motion of the controlled machine excites motion of the human operator's body, causing motion of the operator's hand, creating undesirable input. Backhoes are one example of a machine that is susceptible to significant performance degradation from biodynamic feedthrough. This study investigates and models the system dynamics, including the human operator and biodynamic feedthrough, develops two methods of compensation for biodynamic feedthrough based on those models, compares them with similar controllers without vibration compensation, and experimentally validates the performance of the biodynamic feedthrough compensation. The performance results, as well as operator survey results, show that the operators perform better and prefer the vibration-compensating controllers over their non-vibration-compensating counterparts.

• 出版日期2014-2