Lateral vibration behaviors of the straight boom of the aerial work platform in the horizontal linear motion

Abstract

Comparing to the scaffolding on building construction, Aerial work platforms (AWP) can transport human and materials to the working height quickly and conveniently. However, the sender boom of the AWP is vulnerable to elastic vibration due to the limited stiffness. This paper proposes an accurate dynamic modeling of the AWP in the linear motion, which takes telescopic and luffing movements into consideration simultaneously. Considering the influence of the luffing hydraulic cylinder and the overlap of boom sections, the cylinder is regarded as the elasticity support, and the telescopic boom is divided into a limited number of boom parts. Then, the Hamilton's principle is utilized to establish the governing equations of the motion of each boom part, which will be discretized in time domain. The transient vibration characteristics is calculated based on the modal superposition. Subsequently, their functions with respect to boom length are obtained through polynomial fitting method to approximate the mode shape of entire boom. Based on the modal parameters, the Galerkin method is employed to truncate the first two order modes to establish dynamic model and transform it into the state space form. Finally, an actual example of AWP is performed in Matlab/Simulink to obtain the vibration response of the boom tip to validate the proposed method. With the comparison of the model ignoring the influence of the elasticity support and the overlap, the results can be obtained to indicate that these simplifications can bring amplitude deviation. The dynamic modeling presented in this paper can provide a theoretical reference for the active vibration damping control of the AWP in the linear trajectory movement.