The vibration of boom's tip of a concrete pump truck affects safety of equipment and staff on-site, and the time-delay problem of hydraulic control system also affects the efficiency of boom's vibration suppression, it is needed to resolve this problem and improve the efficiency of active vibration suppression. Refers to this problem, this paper used historical vibration displacement data of the boom's tip, applied time-series approach to predict vibration attitude for the boom's tip in advance, to compensate the system's nonlinear time-delay dynamically, made the boom's predicted vibration attitude be close to its real attitude possibly, and supplied a feasible reference trajectory for the boom's active vibration suppression. Based on this reference trajectory each boom's hydraulic cylinder was controlled, opposite forces were brought on the boom, and vibration suppression for each boom linkage was achieved. Simulation and field test results show that the time-delay compensation algorithm can compensate the system's nonlinear time-delay effectively, and the active vibration control strategy that is based on time-delay compensation approach can reduce the magnitude of vibration displacement for the boom tip up to 80% under horizontal working conditions, a significant vibration suppressing effect achieves, and thus a new approach provides for the active vibration suppression problem of the boom of concrete pump truck. This active vibration suppression approach has high intelligence and high adaptability, and is applicable to the conditions of variable displacements, variable attitudes and variable pumping materials.
