Power plants – Pressure fluid source and motor – Having means controlling or attenuating shock vibration,...
Patent
1996-10-08
1998-11-10
Lopez, F. Daniel
Power plants
Pressure fluid source and motor
Having means controlling or attenuating shock vibration,...
91433, 91361, F16D 3102
Patent
active
058327304
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention generally relates to a device and a method for suppressing vibration of a working machine. More particularly, this invention relates to a device and a method for suppressing vibration of a working machine which are suitable for excavators (such as, a hydraulic shovel or the like), a lifting machine (such as, a crane or the like), and industrial equipment, etc., which employ working machines driven by oil pressure.
2. Description of the Relevant Art
Generally, working machines driven by an oil hydraulic actuator generate vibration when the machines are operated such that they are abruptly accelerated. Consequently, the residual vibration after the operation is completed (especially, immediately after the operation is completed) detrimentally influences the operability, ride comfort, etc., of the working machines. The following publications are cited and discussed for explaining the conventional methods and structural arrangements which attempt to suppress the above-discussed vibration.
First, a method for suppressing speed fluctuation by adding speed damping by an acceleration feedback circuit has been known (see, Japanese Patent Application Publication No. 5-58091). According to such method, vibration is suppressed by attaching a pressure sensor to the hydraulic cylinder for driving a working machine, by calculating the thrusting force of the hydraulic cylinder from the value of the pressure sensor, etc. Then, the acceleration compensating value is calculated by multiplying the value subjected to filter processing by the amount of feedback gain, and negative feedback of this signal is performed to an operating lever signal. Other inventions which suppress vibration by using an accelerometer instead of a pressure sensor have been known (see, for example, Japanese Patent Application Laid-Open No. 61-23212).
However, in such method, the acceleration compensating value is calculated by multiplying the amount of acceleration feedback gain which is a specified fixed value. Thus, such method is advantageous in that the response to start and halt a hydraulic cylinder by an operation lever is deteriorated and inefficient when a large acceleration feedback gain suitable for suppressing residual vibration is set. Accordingly, it has been necessary in such method to set the amount of acceleration feedback gain by determining a point of compromise between suppression of residual vibration and response.
In another conventional method, the acceleration of a working machine used in construction equipment etc., which is driven by an oil hydraulic actuator (such as, a hydraulic cylinder or the like) is detected; then, the acceleration compensating value is operated by multiplying such detected value by an output saturated type nonlinear gain. Consequently, the acceleration compensating value is compared to a lever operation command value by an operator, then the larger value is outputted to an electromagnetic proportional pressure control valve, and thereafter, a directional control valve is controlled so as to be in a direction to reduce the residual vibration of an oil hydraulic actuator (see, e.g., Japanese Patent Application Laid-Open No. 5-163746). By the aforementioned structural arrangement, residual vibration can be suppressed with a mere operator's feeling of an ordinary lever operation without deteriorating the response, and thereby resulting in ride comfort being obtained.
However, in work requiring a smaller operation (for example, when a load is lifted down to a position with a specified height by a crane or the like), it is required for the width of residual vibration to be reduced in a short period of time and the precise position to be located. However, such requirements sometimes cannot be met.
SUMMARY OF THE INVENTION
The present invention is provided in order to eliminate the above-discussed disadvantages or drawbacks of the conventional art.
It is thus an object of the present invention to provide a device and a method for su
REFERENCES:
patent: 4164167 (1979-08-01), Imai et al.
patent: 4336745 (1982-06-01), Lund
Komatsu Ltd.
Lopez F. Daniel
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