Sprayer Boom Motion, Part 1: Derivation of the Mathematical Model using Experimental System Identification Theory

Clijmans, Luc; Swevers, Jan; Baerdemaeker, Josse De; Ramón, Herman

doi:10.1006/jaer.2000.0530

Cited by 16 publications

(6 citation statements)

References 7 publications

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“…Further, we shall assume the boom to be rigid. Incidentally, this latter assumption is confirmed as reasonable by the manufacturer of the machine (based on empirical observations) and by Parloo et al (2005), Clijmans et al (2000), Langenakens et al (1999) and Anthonis et al (2005) on the basis that the resonant frequency of vertical boom suspensions for long booms is generally of the order of 0.1 Hz and the first flexible vertical mode is usually located in the range between 0.6-1.5 Hz.…”

Section: The Design Problemmentioning

confidence: 56%

Improving machine dynamics via geometry optimization

Tudose

Stănescu

Sóbester

2011

Struct Multidisc Optim

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The central thesis of this paper is that the dynamic performance of machinery can be improved dramatically in certain cases through a systematic and meticulous evolutionary algorithm search through the space of all structural geometries permitted by manufacturing, cost and functional constraints. This is a cheap and elegant approach in scenarios where employing active control elements is impractical for reasons of cost and complexity. From an optimization perspective the challenge lies in the efficient, yet thorough global exploration of the multi-dimensional and multi-modal design spaces often yielded by such problems. Moreover, the designs are often defined by a mixture of continuous and discrete variables-a task that evolutionary algorithms appear to be ideally suited for. In this article we discuss the specific case of the optimization of crop spraying machinery for improved uniformity of spray deposition, subject to structural weight and manufacturing constraints. Using a mixed variable evolutionary algorithm allowed us to optimize both shape and topology. Through this process we have managed to reduce the maximum roll angle of the sprayer by an order of magnitude, whilst allowing only relatively inexpensive changes to the baseline design. Further (though less dramatic) improvements were shown to be possible when we relaxed the cost constraint. We applied the same approach to the inverse problem of reducing the mass while maintaining an acceptable roll angle-a 2% improvement proved possible in this case.

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Section: The Design Problemmentioning

confidence: 56%

Improving machine dynamics via geometry optimization

Tudose

Stănescu

Sóbester

2011

Struct Multidisc Optim

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“…An actuator was considered to remove the unwanted rolling using a controller. Besides, it has been assumed that boom frame is rigid (Ramon and De Baerdemaeker, 1997; Langenakens et al., 1999; Clijmans et al., 2000), so there is no Coriolis torque. It means that the effective terms were torque due to inertia and internal and external disturbances and that the equation can be described as: where τ, I , θ··, θ·o, θ·i, c and τe are total required torque, boom mass moment of inertia (kgm 2 ), boom angular acceleration (rad/s 2 ), boom angular velocity (rad/s), sprayer body angular velocity (rad/s), internal friction coefficient (Nms/rad) and external disturbance torque (Nm), respectively.…”

Section: Methodsmentioning

confidence: 99%

Vibration suppression of sprayer boom structure using active torque control and iterative learning. Part I: Modelling and control via simulation

Tahmasebi

Mailah

Gohari

et al. 2017

Journal of Vibration and Control

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Since one of the influential factors that affects the spray distribution pattern is the spray boom movements which are mostly induced by soil unevenness, most of the recent sprayers are equipped with suspensions for improving the uniformity of spray application in the field. This paper investigates the suitability of improving the sprayer suspension dynamics performance by employing a robust intelligent control scheme, namely active torque control (ATC) based method in reducing the undesired vibration through a simulation study. The ATC scheme with a self-tuning fuzzy proportional-integral-derivative (PID) (ATC-STF-PID) controller was first designed and simulated. Then an artificial intelligence (AI) method using iterative learning (IL) was embedded and implemented into the ATC loop to compute the estimated inertial parameter of the system; this scheme is known as ATCAIL. Thereafter, the performance of the ATCAIL scheme is later compared to the ATC with artificial neural network (ATCANN), ATC-STF-PID and STF-PID controllers in time and frequency domains. The results of simulation work affirm that ATC-based schemes can improve the system performance of the active rolling suspension in relation to roll vibration suppression. In other words, both the ATCAIL and ATCANN schemes show better responses in comparison to the ATC-STF-PID controller scheme. The results also imply that the ATCAIL scheme is indeed effective in suppressing the vibration of a sprayer boom structure.

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“…Modelling the inoperation dynamics of a sprayer boom, to investigate the effect of vibration on irregular spray deposit in the field, is an example of a possible agricultural engineering application [29,30].…”

Section: Possible Applicationsmentioning

confidence: 99%