ACTIVE DAMPING OF VERTICAL VIBRATIONS OF A TRACTOR CABIN

摘要

This paper describes the tuning process and some test results considering an experiment with active damping of the vertical motions of a tractor cabin. The active suspension mechanism is simple, the passive elements are replaced with hydraulic cylinders at the rear edge of the cabin. The control system keeps the average position of the cylinders at the middle using low frequency position feedback control. The higher frequency active damping in the range of 1-10 Hz is controlled with feedback control from an acceleration sensor attached to the cabin floor. The damping controller is tuned using frequency response modelling and minimisation of the H{sub}∞ norm of the weighted sensitivity of the feedback loop. The tests show, that good performance can be achieved in the most important band around the resonance frequency of the back tires.