Work Element Actuator Input Filtering for Resonance Control
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Solution Overview
Problem
Conventional power machine control systems fail to effectively mitigate unwanted vibrations and noise introduced by operator input devices, particularly around resonant frequencies, leading to sub-optimal operator control and potential excessive vibration of work elements.
Innovation Solution
Implementing a band-stop filter in the control system to attenuate vibrational resonant frequency components of operator input signals, allowing for filtered actuation commands to be sent to actuators, thereby reducing unwanted vibrations and improving control precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If conventional control systems directly transmit operator input signals to actuators, then the system remains simple and responsive, but unwanted vibrations and noise at resonant frequencies are not mitigated, leading to excessive vibration of work elements
Solution Approach 1:
A band-stop filter is introduced as an intermediary component between the operator input device and the actuator. This filter selectively attenuates signals within the resonant frequency band while allowing other frequencies to pass through, thereby mitigating vibrations and noise without completely blocking the control signal path
Solution Approach 2:
The control system modifies the frequency domain parameters of the operator input signal by applying a band-stop filter characterized by specific center frequency, bandwidth, and attenuation depth parameters. This selectively changes the signal characteristics to eliminate resonant frequencies while preserving useful control inputs
2Reliability
If operator input signals are filtered to remove resonant frequency components, then work element vibration is reduced, but the control system requires additional filtering components and processing
Solution Approach 1:
The band-stop filter serves as a mediating device that selectively processes the control signal to remove harmful frequency components while preserving the essential control information, achieving improved reliability without requiring complex multi-stage filtering systems
Solution Approach 2:
The filtering action is applied locally only to the specific frequency range causing problems (the resonant band), rather than applying broad-spectrum filtering to the entire signal. This targeted approach maintains control precision for non-resonant frequencies while eliminating vibrations in the problematic band
3Object-affected harmful factors
If the band-stop filter attenuates signals within the resonant frequency band, then unwanted vibrations are reduced, but signals at those frequencies are also weakened
Solution Approach 1:
The band-stop filter parameters (center frequency, bandwidth, attenuation depth) are carefully selected and tuned to match the specific resonant characteristics of the work element. This ensures maximum attenuation at the problematic resonant frequency while minimizing impact on adjacent frequency ranges, preserving overall signal transmission effectiveness
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The band-stop filter effectively reduces unwanted vibrations and noise, enhancing operator control by filtering out resonant frequency components, thus improving the stability and precision of work element movements.
Implementation Method 1
filtering of this type can generally help to prevent excessive vibration of an implement during command oscillation (i.e., shaking) of the implement, or other detrimental effects that might otherwise occur during operation to move the implement with particular frequencies
Implementation Method 2
The band-stop filter can be used to reduce unwanted frequency input during control of an implement, including to reduce command oscillation of the implement
Data Source
AI summary
A control system for controlling movement of a work element of a power machine can include a control device, and an operator input device in communication with the control device. The control device can be configured to receive, from the operator input device, a signal for controlling an actuator of the work element. The signal can be filtered, using a digital notch filter, to generate a filtered signal, and an actuator of the work element can be controlled based on the filtered signal.