Abstract
A stable spray boom provides a more homogeneous distribution of pesticides and a reduced amount of sprayliquid. An active suspension to attenuate the horizontal boom movements yawing and jolting of a commercial spray boomis described. Horizontal boom vibrations, measured by two accelerometers, are fed back to a controller, activating twoelectrohydraulic actuators mounted in the suspension. Drifting of the hydraulic cylinders, caused by the servo valves, isavoided by providing each actuator with a proportional position feedback loop. Based on a model identified by the non-linearleast squares black box frequency domain identification method, a controller is designed, minimizing an H 8designcriterion. To avoid numerical problems, the size of the controller is split into small subsystems. A high-pass filter preventsthe actuators from drifting caused by small variations in the offset voltage of the accelerometers. Validation of the activesuspension on a shaking table shows robust performance and stability.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
