Synthesis of Controlling the Movement of Digging Mechanisms of Excavators on the Basis of Inverse Dynamic Problems

Investigation of the Effectiveness of Oscillation Control in a Three-Mass System Based on the Additional Feedbacks

“…In order to test the effectiveness of using the proposed additional feedbacks numerical modeling of the equations of motion of the three-mass mechanical system (1-3) was performed with the driving torques determined by expressions (17) and (20) with the following system parameters: . These parameters are contrasted to the parameters of the three-mass mechanical system used in [18] and provide a strong connection of partial subsystems.…”

“…An effective way to limit the oscillatory movements in these machines is to use program motion drive based on the use of elastic deformation feedbacks. To synthesize the structure and parameters of feedback in [17] and [18] it was proposed to use the concept of inverse dynamic problems [4]. In this case, the determination of feedback parameters by elastic deformation and its derivative in [18] was carried out on the basis of dividing a three-mass oscillatory system into two partial subsystems and expressing the connection between the elastic torque and a given torque in one partial subsystem and then establishing the connection of the elastic torque with the driving torque in another partial subsystem.…”

“…It should be noted that the gain V K should always be negative, while the gain C K can take both positive and negative values. To implement the control according to the law (17), it is sufficient to use a standard speed sensor with differentiation of its signal to obtain acceleration of the drive. Now we define the structure and parameters of the oscillation control system based on additional feedbacks on the elastic torque…”