Dynamic Analysis And Study On Active Vibration Control Of Boom System Of Concrete Pumup Truck

Concrete pump truck is a kind of construction machinery which can combine concrete transportation with concrete pouring. It is widely used in the construction of high-rise buildings, bridges and high-speed railways because of its efficiency and high quality. However, when concrete pump truck working, the boom system will have low frequency vibration which is bad to accurate position, affecting the efficiency and quality of construction, and will accelerate the fatigue damage of boom system.In this paper, the boom system of the HB52 A concrete pump truck which is from a construction machinery company is considered as the study object. Considering the five-boom system as an open-looped movement chain, and utilizing Lagrange’s equations of the second kind to establish the rigid multi-body dynamic model based on multi-body dynamics theory. As the length of each boom is long, flexible deformation has great impact on the movement and control, the Lagrange’s equations of the second kind was combined with assumed mode method to establish and analysis the flexible multi-body dynamic model of the boom system. Based on the flexible multi-body dynamic equation the first ten natural frequencies and modes of vibration of the boom system were solved by using the model analysis theory, finding out the main cause of the boom system vibration and analysing the influence on the natural frequency of several structural parameters. We proposed a commandless input shaping technique(CIST) which is used to suppress the vibration of the boom system.Field experiments were conducted, the natural frequency of the boom system was found by applying Fast Fourier Transform(FFT) technique, and the result verified the theoretical analysis. The CIST was applied to suppress the residual vibration and forced vibration, it was found that the levels of vibration were reduced by 62% and 50% respectively, proved that the CIST is practical and effective.