ISHS Acta Horticulturae 406: II IFAC/ISHS Workshop :Mathematical & Control Applications in Agriculture & Horticulture
GAIN SCHEDULING BASED CONTROLLER FOR ACTIVE CAB SUSPENSION ON AGRICULTURAL TRACTORS |
| Author: | P.-A. Hansson |
| Abstract:
The use of cab suspensions on agricultural tractors increases the possibilities to reduce the vibration load on the driver within the limits imposed by the major constraint, i.e. the available travel space. The conclusion from earlier studies of fully active cab suspensions is that the controller must be able to adjust the feedback gains depending on the characteristics of the frame movements in order to get a favourable average vibration damping potential, i.e., the controller must be adaptive. This paper describes an adaptive cab suspension controller based on LQG technique and Gain Scheduling control. This means that feedback gain vectors are precalculated for different values on the penalty on the suspension travel state. If the average travel becomes too large with respect to the actual damper geometry, a controller calculated with a higher penalty on the suspension travel is chosen. If the travel is, instead, sensed to become unnecessarily small, a controller allowing more travel is used to get better vibration damping capacity. The choice of state feedback gains is controlled by a traditional PI-controller using the time weighted average suspension travel as feedback signal. | |
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