A Numerical and Experimental Analysis for the Active Vibration Control of a Concrete Placing Boom
Concrete placing booms are subjected to vibrations causing an increase of mechanical stress and a reduction of the boom lifetime. The aim of this paper is the development of an active control methodology in order to suppress boom vibrations using the same actuators performing the boom large motion. The control logic is based on two contributions, a feed-forward and a feed-back one. In this work, a nonlinear flexible multibody model has been created in order to simulate the dynamic behavior of the boom. Moreover, this model has been used in order to develop and test the control logic. Finally the control methodology has been validated on an experimental test rig.
KeywordsModal Control Modal Shape Control Force Control Logic Gain Matrix
The research has been developed with the financial support of CIFA S.p.A.