Active Vibration Control of Three-Stage Mast of Reach Truck

초록

The reach truck, which is currently used mainly in warehouses, is required to have high-mast to improve work efficiency and space utilization. The high-mast can take advantage of more vertical space. However, vibration at the end of the high-mast is easily generated and is more severe. This vibration of high-mast may cause a collision at work or misplacement of loading location. In this study, the vibration characteristic of three-stage high-mast of reach truck is analyzed, and an active vibration controller is designed to reduce this vibration. Three-stage high-mast beam’s mathematical model is designed using Euler-Bernoulli beam theory. The vibration characteristic of the mast is analyzed by comparing the mathematical model with the experimental data. Also, confirm the vibration of the three-stage high-mast by using multibody dynamics analysis software(DAFUL). In the multibody dynamics modeling, the contact conditions between the rollers and masts are added to account for the vibration characteristics of the three-stage high-mast. The design of the PID controller is done through the interface with DAFUL and Simulink. Ziegler-Nichols Method determines the gain values of the PID controller. A miniature model experiment verifies the performance of the active vibration controller. An electric motor drives a miniature model and controlled by the designed controller. An acceleration sensor is installed at the end of the three-stage high-mast to measure the displacement and evaluate the control performance. By applying an active vibration controller designed for a real reach truck, the reach truck can be operated more efficiently by reducing the amplitude of vibration.