A lumped parameter model of the boom of a mobile concrete pump

The use of active vibration damping control can improve the handling and safety of mobile concrete pumps. In model-based control design, dynamic models of the system are needed. On the one hand, these models should capture the dominant dynamic effects of the system. On the other hand they need to be computational efficient to run on the control unit of the vehicle. In this paper a computationally efficient lumped parameter model of a concrete pump is derived. The multibody system takes into account the flexibility of the segments and the hydraulic actuators as well as the mechanical linkage of the cylinder to the joint. For validation, the model is compared with measurements of a real concrete pump.