Vibration Control of the Boom System of Truck-Mounted Concrete Pump Based on Constant-Position Commandless Input Shaping Technique

摘要

Vibration of the boom system is inevitably caused by periodic disturbances, which are induced by pumping concrete. In this paper, an active control strategy of constant-position commandless input shaping technique is developed to suppress vibration. Based on a set of independent modal equations obtained by adopting modal approach, the double-impulse control with reverse direction is proposed, which is aiming at not only suppressing vibration, but also avoiding the variation of the equilibrium position of the boom system after active control action. And the characteristic of time-lag existing in real system is also taken into account for optimizing the control action. Experiments of vibration control were implemented on a 52-meter-long five-boom system to verify the proposed control strategy.