Vibration damping performance of the electrohydraulic self-leveling unit of the tracked platform of robotic bricklaying combine.

The study proposes the use of a semi-active hydro-pneumatic spring damper unit for damping pressure pulsations in the servohydraulic leveling system of an electrohydraulic selfleveling unit of a tracked platform of a robotic bricklaying combine (RBC). The semi-active hydro-pneumatic spring damper unit consisted of a gas spring in the hydro-pneumatic accumulator and a controlled hydraulic damping valve. A model of a hydro-pneumatic accumulator with a connection tube was presented, using lumped hydraulic elements in the form of resistance, inductance, and capacitance (RLC). This model was transformed into a form of frequency impedance, from which the amplitude and phase characteristics were determined. The complex impedance of the throttle valve was determined, in which the real part is resistance and the imaginary part is reactance. Finally, the damping performance characteristics of a semi-active hydro-pneumatic spring damper unit were analyzed.