Development of a DSP-based electronic control system for the active spray boom suspension

Cui, Longfei; Xue, Xian; Ding, Suming; Le, Feixiang

doi:10.1016/j.compag.2019.105024

Cited by 19 publications

(18 citation statements)

References 18 publications

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“…However, the boom height variation characteristics obtained through laboratory and field experiments provide a theoretical basis for boom structure optimization and research on a boom height balance control algorithm. Some boom height adjustment algorithms have been proposed based on the boom height variation characteristics [22]- [25]. These algorithms perform well when driving at moderate speeds over large plains with flat terrain and large areas of cultivated land, but they are not suitable for high speeds or hilly environments.…”

Section: Introductionmentioning

confidence: 99%

Field Variation Characteristics of Sprayer Boom Height Using a Newly Designed Boom Height Detection System

et al. 2021

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To ensure boom sprayer safety and spraying efficiency, the sprayer boom height must be adjusted during pesticide application. The field variation characteristics of the sprayer boom height are the basis of the boom balance adjustment. A boom height detection system based on ultrasonic sensors was designed. Field tests were performed in 2.0 ha of vacant fields and 13.44 ha of wheat stubble fields. A signal processing method based on the K-means clustering algorithm was used to preprocess the ultrasonic sensor data. The results showed that the K-means clustering algorithm could effectively improve the detection accuracy of an ultrasonic sensor. The boom height variation was greatest at the sides of the boom, and the primary frequencies of the boom height variation were concentrated within a low-frequency band from 0 Hz to 1 Hz. The U-turn operation was more likely to cause the boom to contact the crop canopy or the ground than row operation. As the spraying speed increased, the maximum boom height variation and maximum roll angle increased; these primary components decreased in frequency, and the amplitude clearly increased. The maximum boom height variation exceeded 50 cm, and the maximum roll angle exceeded 3°, which not only aggravated the droplet drift but also caused damage to the boom and nozzles due to contact with the ground or the crop canopy. These findings can provide a theoretical basis for use in the development of an automatic boom height adjustment system.

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Section: Introductionmentioning

confidence: 99%

Field Variation Characteristics of Sprayer Boom Height Using a Newly Designed Boom Height Detection System

et al. 2021

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“…The sensor was installed at the connection of the boom and the suspension to detect the displacement of the boom relative to the swing rod and the damper It can detect the swing displacement of the boom High installation requirements Cui et al [11] Ultrasonic sensor-based autonomous H b control systems have been developed. Cui et al [14,15] developed an automatic H b control system based on a digital signal processor (DSP) and proposed a signal processing method that integrates limit filtering, data smoothing, and an optimum weight-based data fusion algorithm. This system can effectively control changes in H b and meet field operating requirements.…”

Section: Fast Response and Less External Interferencementioning

confidence: 99%

“…Ultrasonic sensor-based autonomous H b control systems have been developed. Cui et al [ 14 , 15 ] developed an automatic H b control system based on a digital signal processor (DSP) and proposed a signal processing method that integrates limit filtering, data smoothing, and an optimum weight-based data fusion algorithm. This system can effectively control changes in H b and meet field operating requirements.…”

Section: Introductionmentioning

confidence: 99%

A LiDAR Sensor-Based Spray Boom Height Detection Method and the Corresponding Experimental Validation

Dou

Wang

Zhai

et al. 2021

Sensors

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Sprayer boom height (Hb) variations affect the deposition and distribution of droplets. An Hb control system is used to adjust Hb to maintain an optimum distance between the boom and the crop canopy, and an Hb detection sensor is a key component of the Hb control system. This study presents a new, low-cost light detection and ranging (LiDAR) sensor for Hb detection developed based on the principle of single-point ranging. To examine the detection performance of the LiDAR sensor, a step height detection experiment, a field ground detection experiment, and a wheat stubble (WS) height detection experiment as well as a comparison with an ultrasonic sensor were performed. The results showed that the LiDAR sensor could be used to detect Hb. When used to detect the WS height (HWS), the LiDAR sensor primarily detected the WS roots and the inside of the WS canopy. HWS and movement speed of the LiDAR sensor (VLiDAR) has a greater impact on the detection performance of the LiDAR sensor for the WS canopy than that for the WS roots. The detection error of the LiDAR sensor for the WS roots is less than 5.00%, and the detection error of the LiDAR sensor for the WS canopy is greater than 8.00%. The detection value from the LiDAR sensor to the WS root multiplied by 1.05 can be used as a reference basis for adjusting Hb, and after the WS canopy height is added to the basis, the value can be used as an index for adjusting Hb in WS field spraying. The results of this study will promote research on the boom height detection method and autonomous Hb control system.

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“…， (10) According to Eq. ( 10), the relative order of the system is 3, which is smaller than the order of the equation state of the original system.…”

Section: Auto Load-levelling Control Model Of the Sprayer Chassismentioning

confidence: 99%

Auto Load-Levelling Control of a Large Sprayer Chassis Using the Sliding Mode Method

Chen

Zhang

et al. 2021

INMATEH

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When a sprayer travels on a ramp or a rough road, the load exerted on each wheel changes. If an unbalanced wheel load is maintained for long periods of time, the wheels may slip, the sprayer’s manoeuvrability is affected, and a rollover accident may occur. In this study, the air suspension of a self-propelled sprayer chassis was investigated, and the potential load imbalance conditions of the sprayer suspension were analysed. A mathematical model of the inflation/deflation of the suspension was established based on air nonlinear thermodynamics and vertical dynamics theory and a ¼-scale vertical dynamics model of the sprayer chassis was developed. A control strategy to balance the sprayer’s wheel load was developed. Considering the nonlinear characteristics of the air suspension, a sliding mode variable structure control method was used to balance the wheel load. Simulation experiments were conducted under different working conditions. The simulation results showed that the sliding mode variable structure control provided good control response and precision. The proposed auto load-levelling controller was tested under different working conditions, including different roll and pitch angles and navigating a rough road; the controller successfully changed the load on each spring to ensure that the sprung mass of the suspension was equal and the wheel load was balanced. The results of this study provide reference information for auto load-levelling control of large sprayers.

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Development of a DSP-based electronic control system for the active spray boom suspension

Cited by 19 publications

References 18 publications

Field Variation Characteristics of Sprayer Boom Height Using a Newly Designed Boom Height Detection System

Field Variation Characteristics of Sprayer Boom Height Using a Newly Designed Boom Height Detection System

A LiDAR Sensor-Based Spray Boom Height Detection Method and the Corresponding Experimental Validation

Auto Load-Levelling Control of a Large Sprayer Chassis Using the Sliding Mode Method

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