Procedimento di controllo delle vibrazioni di un braccio articolato per il pompaggio di calcestruzzo e relativo dispositivo

Active control method to control the vibrations of an articulated arm (10) consisting of a plurality of segments articulated with respect to each other, by means of an electronic controller, comprising the following steps: a) construction of a modal model of the articulated arm (10) starting from experimental data or from structural models; b) assignation of gains of electronic controller; c) multiplication of gains by the difference between the reference modal coordinates and those calculated through the modal model starting from directly measured quantities, in order to determine the control forces to be applied to the arm (10), or to at least part of the relative segments; d) evaluation of the modal coordinates by means of a states estimator; e) comparison between measurements estimated using the modal coordinates and real measurements (32) and correction of the estimate, so that it converges on real values.