Test for active control of boom vibration of a concrete pump truck

Boom vibration of a concrete pump truck not only affects the running quality,but also increases the structure's stress and reduces its fatigue life.Based on independent modal space control method,test for active control of boom vibration of a concrete pump truck in horizontal position was carried out.Firstly,the flex-rigid multi-body dynamical model of the boom system was established.Then,an active control strategy was designed,it utilized a modal filtering and optimal control theory to implement independent modal space control of boom vibration.Finally,the real-time control test was performed,the controlled oil-cylinders' movement provided a control force to reduce the boom's 1st modal vibration.Results showed that the amplitude of the boom vibration can be reduced about 80% in horizontal position.