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Research Papers

A Feedback and Feedforward Vibration Control for a Concrete Placing Boom

[+] Author and Article Information
G. Cazzulani, F. Resta

Department of Mechanical Engineering, Politecnico di Milano, Via La Masa 1, 20156 Milan, Italy

F. Ripamonti

Department of Mechanical Engineering, Politecnico di Milano, Via La Masa 1, 20156 Milan, Italyfrancesco.ripamonti@polimi.it

J. Vib. Acoust 133(5), 051002 (Jul 26, 2011) (8 pages) doi:10.1115/1.4003932 History: Received October 16, 2009; Revised January 11, 2011; Published July 26, 2011; Online July 26, 2011

Concrete placing booms are subjected to vibrations that increase mechanical stress and reduce the boom’s working life. The aim of this paper is to develop an active control methodology to suppress boom vibrations using the same actuators that produce the large motion of the boom. The control logic is based on two contributions, a feedforward and a feedback one. In this study, a nonlinear flexible multibody model was created to simulate the boom’s dynamic behavior. This model was also used to develop and test the control logic. Finally, the control methodology was validated on an experimental test rig.

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Copyright © 2011 by American Society of Mechanical Engineers
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Figures

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Figure 2

The sketch of flexible boom 2D model

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Figure 3

Numerical/experimental comparison of the transfer function amplitude between the first actuator displacement and the tip acceleration

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Figure 4

Block diagram of the active modal control logic

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Figure 5

Block diagram of the modal observer

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Figure 6

Large motion reference for the boom links; starting/final configuration (a) and links rotation reference time history (b)

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Figure 7

Numerical comparison of the boom third link end acceleration with and without modal control; the large motion time history (a) and the spectrum of its final part (b)

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Figure 11

Experimental data without (initial) and with (final) the FF control logic application; the third link end acceleration time history with one active actuator

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Figure 10

Experimental comparison of the boom third link end acceleration with and without modal control; the large motion time history (a) and the spectrum of its final part (b)

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Figure 9

Numerical simulations without (initial) and with (final) the FF control logic application; the three-link ends acceleration time histories with one (case A) and three (case B) active actuators

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Figure 8

Block diagram of the feedforward control logic

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