Abstract
Longitudinal spray distribution is mainly affected by the horizontal speed variations of the nozzles. Manufacturers classically try to reduce unwanted nozzles movements using horizontal boom suspension but these methods have performance and price limitations. This paper describes a spray controller aiming to compensate the effect of the horizontal boom movements on the spray deposits homogeneity. The controller is based on three main components: a control law describing the relationship between nozzle speed, nozzle flow and spray deposit; a real time measurement of the boom horizontal speed variations using micro-machined capacitive accelerometers, and pulse width modulation (PWM) nozzle flow actuators. To assess the feasibility of such a controller, a single nozzle prototype was developed and tested in the laboratory, using a nigrosine solution. Spray coverage was measured using image analysis for field representative nozzle speed variations. The spray coverage uniformity using the controller showed about 51% compensation of the variations observed without it.
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