Operator induced oscillation filter to prevent instability from operator

摘要

A system for controlling manual input device damping, and a related method and computer program product are disclosed. The system may comprise a manual input device mounted on a machine, a sensor that transmits to a controller an input signal indicative of the motion, acceleration, and/or deceleration of the machine, a variable damper that selectively alters the resistance of the input device to displacement based on a command signal transmitted by the controller, and a controller configured to adjust the resistance of the input device by adjusting the damping provided by the variable damper based on filtering of a historical trend of oscillation amplitudes at a frequency of concern.

主权项

1. A control system comprising:
a manual input device mounted to a machine and including a pivotable body; a sensor that transmits to a controller an input signal indicative of a motion, acceleration or deceleration of the machine in a current time period; a variable damper that selectively alters a resistance of the body to displacement based on a command signal transmitted by the controller, the variable damper operably connected to the body; and the controller in operable communication with the sensor and the variable damper, the controller configured to:
process a signal based on the input signal to determine a current amplitude at a frequency of concern;filter a historical trend of a plurality of amplitudes at the frequency of concern, the plurality of amplitudes including the current amplitude and preceding amplitudes, each of the preceding amplitudes obtained from input signals transmitted by the sensor during past time periods that precede the current time period; andbased on the filter of the historical trend, to adjust the resistance of the body to movement by adjusting a damping provided by the variable damper to the body.