System for vertical boom corrections on hilly fields

Deprez, Koen; Anthonis, Jan; Ramón, Herman

doi:10.1016/s0022-460x(03)00588-1

Cited by 18 publications

(15 citation statements)

References 5 publications

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“…Boom suspension tries to keep the boom at right angles to gravity by isolating the boom from vibrations of the vehicle, induced by soil unevenness. An extensive study has shown that the transfer functions of the different vertical boom suspension, relating the output of the actuator which is used for leveling the boom, to the rolling boom motions, are similar in shape [23,24] .…”

Section: Performance Specifications Of Boom Suspensionmentioning

confidence: 99%

“…Several investigators have studied a number of boom suspension techniques, both theoretically and experimentally [19][20][21][22] . In these works, different control methods such as proportional (P), proportional-integral (PI) and H∞ control theory have been tried to control the motion of boom [23][24][25][26][27] .…”

Section: Introductionmentioning

confidence: 99%

“…It is based on ultrasonic sensors for measuring the distance to the field or the canopy of the plants and a heuristic controller for the leveling actions. These systems can ensure satisfactory performance at moderate speeds in large plains with flat terrain and large areas of cultivated land, but have problems at higher speeds in hills and mountains [23,24] . However, the cultivated land resources in China are mainly hilly and mountainous areas, and the planting area is dispersed.…”

Section: Introductionmentioning

confidence: 99%

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Design and experiment of electro hydraulic active suspension for controlling the rolling motion of spray boom

Cui¹,

Xue²,

Le³

et al. 2019

International Journal of Agricultural and Biological Engineering

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Boom sprayer is one of the most commonly used plant protection machinery for spraying pesticide. Studies have shown that the efficiency of chemicals is highly correlated with the uniformity of spray distribution patterns. As the boom is a large and flexible structure, boom rolling leads to overlapping and leakage of the pesticides. In order to improve spray uniformity, the boom attitude should be kept parallel to the ground slope or to the crop canopy beneath the boom. Passive suspension can attenuate frequencies above its resonance frequency, but nothing can be done to align the boom to the sloping ground. Therefore, an active suspension system is designed, which includes DSP-based controller, a servo valve, a hydraulic cylinder, two ultrasonic sensors, one inertial attitude sensor, and the developed control procedures. In order to prevent the wrong response of the control system caused by the high frequency component due to uneven crop canopy or rough ground. A special signal processing algorithm was proposed, including the limiting filter, smoothing algorithm and data fusion algorithm based on optimal weight. The transient and steady-state performances of the boom control system using velocity feedforward PID algorithm were tested on a six DOF motion simulator. It can be seen that the low-frequency tracking performance of the boom was greatly improved after the electro-hydraulic active suspension was added. At the resonance frequency, the peak angle of active suspension and passive suspensions are 0.72° and 1.29° respectively, and the resonance peak is greatly reduced. The controller was implemented on a self-propelled boom sprayer and validated under field conditions, the standard deviation of the roll angle of the boom with active suspension is 0.40°, compared with 1.04° of the sprayer chassis. Experimental results show that the active suspension control system can effectively reduce the effect of ground excitation disturbance on the application process, and has good tracking performance for low frequency terrain change.

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Section: Performance Specifications Of Boom Suspensionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design and experiment of electro hydraulic active suspension for controlling the rolling motion of spray boom

Cui¹,

Xue²,

Le³

et al. 2019

International Journal of Agricultural and Biological Engineering

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“…One of the most important methods to supply the plants with agrochemicals is by using spray boom [1,2] . Owing to large spray boom widths, flexible behavior of spray booms becomes important.…”

Section: Introductionmentioning

confidence: 99%

Design optimization and test for a pendulum suspension of the crop sprayer boom in dynamic conditions based on a six DOF motion simulator

Cui

Mao

Xue

et al. 2018

International Journal of Agricultural and Biological Engineering

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Spray deposit distribution from a field sprayer is mainly affected by the boom movements when the tractor is driven over a rough soil surface, the pendulum suspension that used to reduce and control the movement of spray boom by isolating the boom from vibrations of the tractor will directly enhance uniform deposition of chemicals. However, how to match the parameters of the suspension with the properties of the boom is the key problem. The dynamic rigid-flexible coupling model of the virtual prototype of the spray boom suspension system was established by using ADAMS and ABAQUS software. An optimization of the suspension parameters for a large spay boom was carried out based on the optimal Latin hypercube design, radial basis function neural network, and multi-objective genetic algorithm NSGA-II. After modified parameters of the suspension, the travel of the sprayer on a typical field motion track was simulated based on a six DOF motion simulator, and the dynamic behavior of the boom suspension was measured. The results show that RMS of the measured boom roll angle and the boom center displacement for optimized solution were reduced by 14.76% and 12.43% compared with the original suspension. Finally, the inertial measurement unit (IMU) was used to measure the movements of the sprayer vehicle during the pesticide application on the Hongze Lake Farm, the experiment of field condition reproduced by using the six DOF motion simulator, the standard deviation of the roll angle and vibration displacement for the optimized sprayer boom are only 0.6382° and 62.279 mm respectively. The research provides theoretical basis and experimental method for parameter optimization of large scale boom suspension.

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“…Many theoretical and experimental studies have been carried out on passive and active suspension system applications (Musillami et al 1982;Frost 1984;Frost & O'Sullivan 1986;Marchant & Frost 1989;Kennes et al 1999;Deprez et al 2002;Deprez et al 2003;Anthonis et al 2005;Sun & Miao 2011;Koc & Keskin 2011;Pontelli & Mucheroni 2012). These systems control the vertical height of all or parts of the boom arms carrying the spray nozzles, and they keep the boom parallel to the ground.…”

Section: Introductionmentioning

confidence: 99%

Design of a Nozzle-Height Control System Using a Permanent Magnet Tubular Linear Synchronous Motor

Ilıca

Boz

2018

Tarım Bilimleri Dergisi

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In agricultural spraying, keeping the spray at the correct height reduces pesticide drift and provides uniformly distributed pesticide accumulation on the target plant. In this study, an agricultural nozzle-height control test system was developed using a permanent magnet tubular linear synchronous motor (PMTLSM) that can adjust the height between the spraying nozzle and the plant. The developed system was experimentally tested in the laboratory environment and under field conditions. According to the experimental results, the nozzle height coefficient of variation (CV) value decreased from 16.77% to 5.17%, while the uniformity of distribution in the forward direction increased from 56.57% to 86.11% at 12 km h-1 under field conditions. Under test conditions it was found that the developed system keeps the distance between differently sized plants and the nozzle at the set point with minimum error.

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System for vertical boom corrections on hilly fields

Cited by 18 publications

References 5 publications

Design and experiment of electro hydraulic active suspension for controlling the rolling motion of spray boom

Design and experiment of electro hydraulic active suspension for controlling the rolling motion of spray boom

Design optimization and test for a pendulum suspension of the crop sprayer boom in dynamic conditions based on a six DOF motion simulator

Design of a Nozzle-Height Control System Using a Permanent Magnet Tubular Linear Synchronous Motor

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