Title: Synthesis of active boom control in wheel loader for attenuation of whole-body vibration

Authors: Jasem Baroon; Emad Khorshid; Abdulaziz Al-Fadhli

Addresses: Department of Mechanical Engineering, College of Engineering and Petroleum, Kuwait University, Sabah Al Salem University City, Kuwait ' Department of Mechanical Engineering, College of Engineering and Petroleum, Kuwait University, Sabah Al Salem University City, Kuwait ' Automotive and Marine Engineering Department, Public Authority for Applied Education and Training, Kuwait

Abstract: Random vibration and frequent shocks can affect wheel loader operators' health. Random vibrations from driving on rough terrain or repetitive shocks from speed bumps are significant sources of induced vibration on a seated operator. Vibration can also affect the load's bucket stability. This study aims to eliminate operator vibration while stabilising the bucket load when the wheel loader operates at a steady pace. Multi-input, multi-output system used a model predictive control (MPC) system to achieve the controller's goals. The appropriate control parameters were determined using MATLAB Simscape Multibody program. The proposed control approach utilised the boom's existing hydraulic valve. Fewer vibration disturbances and more stability were achieved numerically. Crossing speed control bumps reduced the root mean square (RMS) values of repeated shocks by 30.2% in some simulation cases. The proposed control approach reduced random vibration produced by driving through uneven terrain by 17%.

Keywords: wheel loaders; active damping; model predictive control; MPC; design optimisations; mathematical modelling; whole-body vibration.

DOI: 10.1504/IJVNV.2022.128280

International Journal of Vehicle Noise and Vibration, 2022 Vol.18 No.3/4, pp.212 - 231

Received: 28 Mar 2022
Received in revised form: 18 Sep 2022
Accepted: 18 Sep 2022
Published online: 16 Jan 2023 *

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