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.%考虑混凝土泵车臂架结构特点,采用独立模态空间控制方法对泵送混凝土激励下的臂架末臂节振动响应进行了主动控制试验研究.针对泵车臂架系统的动力学模型,采用模态滤波技术和最优控制理论设计主动控制策略,通过优选臂节油缸的作动控制以实现对臂架一阶模态振动响应的实时控制.实验结果表明,采用该主动减振控制后水平工况下臂架末端的减振精度可达80％,取得了显著的减振实验效果.
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