In order to reduce vibration of the work platform of cherry picker and to suppress the residual vibration, the EI, ZV and ZVD input shapers are designed.The mathematical model is established and the dynamic characteristic equations are derived.The amplitudes and durations of the pulses of the three input shapers are calculated respectively.Comparing the swing angles of the work platform with and without the input shaper, it is found that the EI, ZV and ZVD input shapers are effective in reducing the system vibration and suppressing the residual vibration, and the EI input shaper is the best of the three.%为了减少折叠式高空作业车的作业平台的振动以及抑制其残留振荡,设计EI整形器、ZV整形器和ZVD整形器.通过建立系统的数学模型,求出动态特性方程,计算出这三种输入整形器脉冲序列的幅值和时间.对比整形前后作业平台的摆角,表明EI整形器、ZV整形器和ZVD整形器都有效地减少系统的振动和抑制了残留振荡,EI整形器的效果最好.
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