Abstract: A method for controlling an aerial apparatus with a telescopic boom, strain gauge sensors for detecting the bending state of the telescopic boom in horizontal and vertical directions, a gyroscope attached to the top of the telescopic boom and a control arrangement for controlling movement of the aerial apparatus on the basis of signal values gained from the sensors and the gyroscope, the method including the following steps: obtaining raw signals from the sensors and the gyroscope, calculating reference signals from the raw signals, reconstructing a first oscillation mode and a second oscillation mode from the reference signals and additional model parameters related to construction of the aerial apparatus, calculating a compensation angular velocity value from the reconstructed oscillation modes, and adding the calculated compensation angular velocity value to a feedforward angular velocity value to result in a drive control signal.

Abstract: Method for controlling an aerial apparatus with a telescopic boom, strain gauge sensors for detecting the bending state of the telescopic boom in a horizontal and a vertical direction, a gyroscope attached to the top of the telescopic boom and control means for controlling a movement of the aerial apparatus on the basis of signal values gained from the SG sensors and the gyroscope, said method comprising the following steps: obtaining raw signals SGRaw, GYRaw from the SG sensors and the gyroscope, calculating reference signals from the raw signals SGRaw, GYRaw, including an SG reference signal SGRef, representing a strain value, and a gyroscope reference signal GYRef, representing an angular velocity value, and an angular acceleration reference signal AARef derived from angular position or angular velocity measurement values, reconstructing a first oscillation mode f1 and at least one second oscillation mode f2 of higher order than the first oscillation mode f1 from the reference signals and additional mod