Dynamic multibody model of a turntable ladder truck considering unloaded outriggers and sensitivity-based parameter identification

Turntable ladders are flexible large-scale manipulators, so an active oscillation damping is highly valuable. Aiming to support the development and parametrization of the controller, a precise dynamic model of the vehicle is desired. Previous work considering solely the dynamic oscillations of the ladder parts is extended by a dynamic model of the chassis and support structure that includes flexible deformation of the chassis. All contact forces to the ground are calculated because they provide potential for determining dynamic outreach limits in future. As it can happen in practice, the outriggers are able to become fully unloaded in the simulation model. This behaviour is validated by measurements. A sensitivity analysis is used to establish a suitable approach for identification of model parameters. Dynamical measurements illustrate that the combination of two dynamic models of ladder and chassis improves representation of the dynamic oscillations that are crucial for the active oscillation damping control.