SISTEMA DE CONTROLE DE SUSPENSÃO QUE PROPORCIONA CORREÇÕES DE ALTURA DE SUSPENSÃO PARA UMA MÁQUINA AGRÍCOLA E PULVERIZADOR AGRÍCOLA

Abstract

This is a suspension control system designed to dynamically adjust pistons located near the wheels of an agricultural machine to substantially equalize the machine's weight distribution on each wheel and / or provide a desired, substantially constant orientation of the machine above a ground surface, thus protecting the spray booms that extend laterally from contact with the ground. The articulation, spacing, roll, and / or height of the machine can be determined from piston measurements on the machine to apply these height corrections. For sprayers, this allows control of the suspension clearance and height to keep the boom parallel to the ground to prevent damage.

Description

"SUSPENSION CONTROL SYSTEM THAT PROVIDES SUSPENSION HEIGHT CORRECTIONS FOR AN AGRICULTURAL MACHINE AND AGRICULTURAL SPRAYER" Field of Invention

[001] The invention relates generally to agricultural product application equipment, such as self-propelled sprayers and, in particular, to a suspension system for an agricultural machine that includes suspension assemblies, position sensors, electronically controlled valves and a processor configured to determine a height for each suspension assembly, calculate at least one of the articulation, spacing and roll of the agricultural machine to determine a height correction for each suspension assembly and control the electronically controlled valves to change a control volume to apply the height corrections. Background of the Invention

[002] High-clearance sprayers are becoming larger and more complex to allow for increased coverage in a single pass, improving application efficiency. Such sprayers may encounter a variety of soil surface conditions, such as rocks, bumps, mounds, holes, inclines, slopes, and the like, many of which can affect different machine wheels at different times. As a result, spray booms that extend laterally may come into contact with the ground at times, potentially resulting in damage. Furthermore, uneven weight distribution of the agricultural machine on certain wheels can cause the machine to lose traction, become stalled, or create other operational hazards. To minimize the effect of such conditions, operators typically travel at low speeds (on the order of 8.04 km / h (5 mph) or less) when there is a risk of encountering such conditions. Petition 870260063201, dated 06 / 26 / 2026, page 48 / 83 / 33 of the soil surface. However, moving at low speeds has the disadvantage of requiring more time to treat an agricultural field, which can result in operator fatigue, wear and / or loss of machine productivity and / or loss of productivity. Therefore, it is desirable to improve the suspension system for such machines. Description of the Invention

[003] In one aspect, a suspension control system is provided to dynamically adjust pistons located near the wheels of an agricultural machine to substantially equalize the machine's weight distribution on each wheel and / or provide a substantially constant desired orientation of the machine above a ground surface, thereby protecting spray booms that extend laterally upon contact with the ground. The articulation, clearance, roll, and / or height of the machine can be determined from piston measurements on the machine to apply these height corrections. For sprayers, this allows control of the clearance and suspension height to keep the boom parallel to the ground and prevent damage.

[004] A piston may be located near each wheel on four edges of an agricultural machine (typically four wheels, although two or more wheels may be proportioned at each wheel location). Each piston may be operable to adjust the height of the agricultural machine relative to its proximal wheel by means of a piston stroke. Each piston may be in communication with a sensor to determine the piston stroke, an accumulator to hold fluid for the piston, a control valve for the fluid drive flow, and a closed-loop controller (which may be a Proportional Integral Derivative (PID) controller) to set the piston stroke to a defined target point while minimizing feedback error as measured by the piston sensor. Each piston may also Petition 870260063201, dated 06 / 26 / 2026, pp. 49 / 83 / 33, being in communication with a diagonally opposed piston to control the fluid flow in the diagonally opposed piston, including as described in US Patent Application No. 8,297,634 incorporated by reference. A control system may be provided on the agricultural machine to dynamically adjust the pistons located near each wheel.The control system can implement logic to: (1) continuously evaluate the articulation height, clearance, and / or roll of the machine relative to the wheels based on sensor readings from pistons located near the wheels; (2) determine target height settings for each wheel to provide machine orientation above the ground surface, thus protecting the laterally extending spray booms (and / or substantially equalizing the machine weight distribution on each wheel); and (3) send a stroke setpoint based on the target height to a closed-loop controller (which may be a PID controller) in communication with each piston, continuously operating to adjust the piston to the target.Articulation can be determined by (1) detecting the stroke of each piston through the corresponding piston sensors; (2) determining a first average stroke between a first diagonal pair of sensors and a second average stroke between a second diagonal pair of sensors; and (3) subtracting the second average stroke from the first average stroke. The resulting magnitude can represent the average amount of articulation in a pair of diagonally opposite wheels relative to another pair of diagonally opposite wheels, and the resulting sign can represent the direction of articulation, which can be clockwise or counterclockwise. Forward / reverse roll or tilt can be determined by calculating a piston measurement differential between the front and rear of the machine. Side-to-side roll or tilt can also be determined by calculating a piston measurement differential between the sides of the machine. The system of... Petition 870260063201, dated 06 / 26 / 2026, page 50 / 83 / 33 control can determine the fluid flow in the suspension system by estimating the total fluid in each closed-loop piston system. The fluid can be estimated using a pressure sensor and / or transducer on each piston and applying the ideal gas law (pV = nRT) with respect to each accumulator and tracking the fluid flow between diagonally opposed pistons. By determining the articulation, clearance, roll, and / or height of the machine, the control system can calculate the target height for each edge of the machine (near each piston / wheel) and can convert each target height into a corresponding stroke setting for each piston based on a predetermined machine geometry (e.g., wheel radius, piston stroke, angle, tray height, and so on).The calculated stroke adjustment is sent to each piston, and the closed-loop controller for each piston can operate to minimize any detected feedback error in order to obtain the calculated stroke adjustment. Consequently, the detected feedback error can be provided as part of two closed loops: (1) a first circuit that runs the control system to determine the calculated stroke adjustment; and (2) a second circuit to obtain the provided stroke adjustment in each piston.

[005] Specifically, then, one aspect of the present invention may provide a suspension system for an agricultural machine, which includes: several suspension assemblies, each suspension assembly including an oscillating frame assembly and a cylinder, wherein each cylinder includes a piston rod configured to extend and retract relative to a base, wherein the oscillating frame assembly is coupled to the agricultural machine and wherein the cylinder is operationally coupled to the oscillating frame assembly at an actuation point; multiple position sensors, each position sensor configured relative to a cylinder, wherein each position sensor is configured to generate a signal indicating a Petition 870260063201, dated 06 / 26 / 2026, page 51 / 83 / 33 position of a rod in relation to a base; multiple electronically controlled valves, each electronically controlled valve configured to control a fluid flow to and from a control volume to operate a cylinder; and a processor communicating with the position sensors and the electronically controlled valves, wherein the processor executes a program stored on a non-transient medium to: determine a height for each suspension assembly from a position indicated by a position sensor, configured in relation to a cylinder of the suspension assembly;Calculate at least one of the following: the articulation, clearance, and roll of the agricultural machine to determine a height correction for each suspension assembly, where articulation is a comparison between diagonally opposite heights of the agricultural machine, clearance is a comparison between the heights of the front and rear of the agricultural machine, and roll is a comparison between the heights of the left and right sides of the agricultural machine; and control the electronically controlled valves to change the control volumes to apply the height corrections.

[006] Other aspects, objectives, features and advantages of the invention will become apparent to those skilled in the art from the detailed description that follows and the accompanying drawings. It should be understood, however, that the detailed description and specific examples, while indicating preferred embodiments of the present invention, are given by way of illustration and not limitation. Many changes and modifications can be made within the scope of the present invention without departing from the spirit of the invention, and the invention includes all such modifications. Brief Description of the Figures

[007] Exemplary embodiments of the invention are illustrated in the accompanying drawings, in which the reference numbers equal Petition 870260063201, dated 06 / 26 / 2026, pp. 52 / 83 / 33 represent equal parts over time. Figure 1 is a side elevation of an exemplary agricultural machine according to the present invention; Figure 2 is a front elevation view of the agricultural machine shown in Figure 1; Figure 3 is a simplified schematic view of an exemplary suspension assembly for the agricultural machine in Figure 1; Figure 4 is an illustrative portion of a suspension system for the agricultural machine in Figure 1; Figure 5 is a schematic view of a pair of cross-connected suspension assemblies from Figure 4; Figure 6 is a diagram of a suspension control system for the agricultural machine in Figure 1; Figure 7 is a diagram for providing height corrections in the suspension control system 6; Figure 8 is a schematic for controlling electronically controlled valves to apply the height corrections of Figure 7; Figures 9A and 9B are diagrams that illustrate an angle between the chassis and the horizon and cancel the angle between the chassis and the horizon, respectively; and Figure 10 is a simplified schematic view of an alternative suspension assembly according to one aspect of the invention. Detailed Description of Achievements

[008] With reference now to the drawings and specifically to Figure 1, an agricultural machine is shown here as a self-propelled agricultural sprayer vehicle or a self-propelled sprayer 15 with a spray lance 17, such as those available from CNH Industrial, including the Miller Nitro and Condor Series sprayers and the New Holland sprayers. Petition 870260063201, dated 06 / 26 / 2026, p. 53 / 83 / 33 Guardian Series. The sprayer 15 includes a chassis 20 with a chassis frame 25 that supports various assemblies, systems, and components. These various assemblies, systems, and components include a cab 30, an engine 35, and a hydraulic system 40. The hydraulic system 40 receives power from the engine 35 and includes at least one hydraulic pump which may be in a hydrostatic arrangement to provide hydraulic pressure to operate hydraulic components within the hydraulic system 40. For hydrostatically driven sprayers, the hydraulic motors are operatively connected to the hydraulic pump (or hydraulic pumps) to rotate the wheels 44 with tires 45 mounted thereon. In mechanically driven applications, a mechanical transmission receives power from the engine 35 and delivers power to rotate the wheels 44 (and tires 45) via power transmission components such as drive shafts, differentials, and other gear assemblies in the portal, crankcase, or other housings.In one aspect, the sprayer 15 may include four wheels 44, which include: a left front wheel 44a (with a left front tire 45a mounted thereon), a right front wheel 44b (with a right front tire 45b mounted thereon), a left rear wheel 44c (with a left rear tire 45c mounted thereon), and a right rear wheel 44d (with a right rear tire 45d mounted thereon). Although an arrangement with four wheels 44 is shown by way of example, in other aspects, a greater or lesser number of wheels 44 could be implemented, such as a sprayer 15 with six wheels 44. Furthermore, although wheels 44 with tires 45 mounted thereon are shown by way of example, in another aspect, continuous tread bands or track plates could instead be driven by two or more wheels each.

[009] Still referring to Figure 1, a product system 7 may include a product storage system 47 with a tank of Petition 870260063201, dated 06 / 26 / 2026, page 54 / 83 / 33 product 49 that stores an agricultural liquid product 50 in the chassis 20. The product 50 may include any of a variety of agricultural liquid products, such as various pesticides, herbicides, fungicides, liquid fertilizers and other liquids including beneficial liquid suspensions for application in agricultural fields by means of a spray lance 17. A rinsing system 9 may include a rinsing liquid storage system 51 that has a rinsing tank 53 that stores a rinsing liquid 54, such as water or other suitable rinsing liquid. In addition, an air purging system 11 may include a compressed air storage system that has an air compressor 57 operationally connected to an air tank 59 that stores the air 60 compressed by a compressor 57.A flow system is configured to selectively direct liquid product 50, rinsing liquid 54 and / or air 60 through various defined flow passages through the sprayer 15 and lance 17, depending on whether a spraying procedure, a rinsing procedure, or a pneumatic purge or lance expansion procedure is being performed. During spraying and rinsing procedures, the flow system may power a pump 61 to transport liquid product 50 or rinsing liquid 54 to the lance 17.

[010] In operation, the pump 61 can push the liquid product 50 or the rinsing liquid 54 through piping components, such as interconnected pieces of production pipes and through a lance flow system 63 that includes segments of production pipes 65 for release at the spray lance nozzles 70 which are spaced apart along the width of the lance 17, during spraying or rinsing operations of the sprayer 15 (according to the activation / deactivation states that can be implemented, for example, using electronically controlled switches). Consequently, such Petition 870260063201, dated 06 / 26 / 2026, page 55 / 83 / 33 piping components can connect the product storage system 47, the rinse liquid storage system 51, and the lance 17 through an onboard valve system and a lance valve system. During spraying procedures, nozzle groups 70 defined in spray sections along the lance 17 can selectively release the product 50 for release onto an agricultural field at locations corresponding to the positions of the activated spray sections. The lance 17 is connected to the chassis 20 with a lifting arm assembly 75 that is configured to move the lance 17 up and down to adjust the application height of the product 50.

[011] With further reference to Figure 2, the boom 17 may include multiple boom segments 80 connected longitudinally to provide the corresponding width of the assembled boom 17. The boom segments 80 include a central section 85 and left and right boom arms 87, 89 that extend in opposite directions from the central section 85. The left and right boom arms 87, 89 have multiple segments with pairs of primary boom segments 90, secondary boom segments 95, and splitting boom segments 100 that extend in opposite directions along the respective left and right boom arms 87, 89, mirrored around a longitudinal geometric axis of the sprayer 15.The corresponding left and right segments of the primary, secondary, and separating boom segment pairs 90, 95, 100 are substantially identical, therefore only one will be described, with the description applying to both the left and right segments of the left and right boom arms 87, 89. The primary boom segment 90 has an inner primary boom end 105 which is connected by hinge 110 to the outer end of the center section 115, with hinge 110 configured to allow horizontal rotation, generally backward, of the primary, secondary, and separating segments. Petition 870260063201, dated 06 / 26 / 2026, page 56 / 83 / 33 90, 95, 100 extends towards chassis 20 when bending boom 17 to achieve a stored position. Primary boom segment 90 extends from the inner end of primary boom 105 of center section 85 to the outer end of primary boom 120. Hinge 125 is disposed between the outer end of primary boom 120 and the inner end of secondary boom 130 and is configured to allow bending of secondary and separating segments 95, 100 relative to primary boom segment 90 to achieve the stored position. For horizontal bending of secondary and separating segments 95, 100 against primary boom segment 90, hinge 125 allows horizontal pivoting of secondary and separating segments 95, 100 towards primary boom segment 90.For vertical bending of the secondary and separating segments 95, 100 against the primary boom segment 90, the hinge 125 allows vertical pivoting of the secondary and separating segments 95, 100 towards the primary boom segment 90. The secondary boom segment 95 extends from the inner end of the secondary boom 130 of the primary boom segment 90 to the outer end of the secondary boom 135. The separating joint 140 is disposed between the outer end of the secondary boom 135 and the inner end of the separating boom 145 and is configured to allow momentary deflection of the separating boom segment 100 away from its extended outward position during collisions with crops, soil and / or other obstacles. The separating boom segment 100 extends from the inner end of the separating boom 145 of the secondary boom segment 95 to the outer end of the separating boom 150.In the stored position of boom 17, the secondary boom and separation boom segments 95, 100 are folded against the primary boom segment 90. The primary boom segment 90 is folded towards the chassis 20 so that the outer end of the separation boom 150 is close to the... Petition 870260063201, dated 06 / 26 / 2026, page 57 / 83 / 33 inner end of primary lance 105 bent towards the front of sprayer 15 with outer end of primary lance 120 and inner end of secondary lance 130, bent towards the rear of sprayer 15. Suspension System

[012] As explained in more detail below, the sprayer 15 may include a suspension system with four separate suspension assemblies 160, each corresponding to a respective wheel 44 of the sprayer 15. A suspension assembly 160 is illustrated in Figure 3 by way of example. For the sprayer 15 suspension assemblies, the left front, right front, left rear and right rear parts 160a, 160b, 160c and 160d, respectively, may be configured similarly. However, alternative aspects may provide a greater or lesser number of suspension assemblies.

[013] Furthermore, although not specifically shown, one or more suspension assemblies 160 may include steering elements, as in the left front and right rear suspension assemblies 160a and 160b, respectively, for two-wheel steering and, optionally, in the left rear and right rear suspension assemblies 160c and 160d, respectively, for four-wheel steering. Additionally, although not specifically shown, the suspension assembly 160 may be configured as part of a sliding axle assembly (or “sliding drawer”) that may move back and forth on the chassis 20 to alter the distance (or tread width) between the wheels 44 on opposite sides of the sprayer 15. In such an arrangement, front and rear wheels on certain sides, such as the left front wheel 44a and the left rear wheel 44c, may be attached to the same sliding axle to ensure alignment of the rear wheels behind the front wheels.These concepts are additionally... Petition 870260063201, dated 06 / 26 / 2026, p. 58 / 83 / 33 described in US Patent No. 8,297,634 incorporated by reference.

[014] Each suspension assembly 160 may include an oscillating frame assembly 162 and a cylinder 164. The cylinder 164 may be a single-acting or double-acting cylinder that responds to a fluid in a control volume, such as an oil (hydraulic) or gas (pneumatic). The cylinder 164 may include a piston rod 166 configured to extend and retract relative to a base 168. The oscillating frame assembly 162 may connect to the sprayer 15 at a pivot point 170 which could be on a relative edge of the chassis 20. The oscillating frame assembly 162 may also connect to one or more wheels 44, with the tires 45 mounted thereon, at a wheel hub point 172 (or multiple wheels, including to drive a continuous band of treads or track plates). Cylinder 164 can be operationally coupled to the agricultural machine at a cylinder point 174, which could also be on a relative edge of chassis 20.Cylinder 164 can also be operationally coupled to the oscillating frame assembly 162 at an actuation point 176 distal to the pivot point 170. This arrangement allows the action of cylinder 164 at the actuation point 176 to cause the oscillating frame assembly 162 to rotate at the pivot point 170. Connections between the oscillating frame assembly 162 and the pivot point 170, the oscillating frame assembly 162 and the wheel hub point 172, cylinder 164 and the cylinder point 174 and / or cylinder 164 and the actuation point 176, could be made, for example, by pins fastened through holes in the oscillating frame assembly 162 and / or in the cylinder 164 and corresponding channels in the chassis 20 and / or in the wheels 44 and which includes mounting brackets in certain instances.In one aspect, the base 168 of each cylinder can be operationally coupled to the cylinder point 174 and the piston rod 166 of each cylinder can be operationally coupled to the actuation point 176, as shown in Figure 3. However, in another... Petition 870260063201, dated 06 / 26 / 2026, page 59 / 83 / 33 aspect, the base 168 of each cylinder can be operationally coupled to the actuation point 176 and the piston rod 166 of each cylinder can be operationally coupled to the cylinder point 174.

[015] Consequently, a position of the piston rod 166 relative to the base 168 (indicated by arrow S) can set a relative suspension height (indicated by Hs) for the suspension assembly 160. In operation, since cylinder 164 is a double-acting cylinder, the piston rod 166 can be adjusted to a standard stroke length and can extend and retract from the standard stroke length with the movement of the sprayer 15 over the ground, which can serve to dampen and control the pivot movement of the oscillating frame 162.

[016] Several parameters of the suspension assembly 160 can be predetermined and stored in a suspension control system to calculate the suspension height (Hs). Such predetermined parameters may include: a distance between the pivot point 170 and the wheel hub point 172 (indicated by “D”); a distance between the pivot point 170 and the cylinder point 174 (indicated by “F”); a distance between the pivot point 170 and the actuation point 176 (indicated by “A”); a vertical distance between the pivot point 170 and a lower central area of ​​the chassis 20 (or crankcase) that provides clearance for the sprayer 15 over the crop and the ground below (indicated by “Hbp”); a cylinder length 164 when the piston rod 166 is fully retracted or collapsed indicated by “HCmin”); and a piston rod length of 166 when fully extended from cylinder 164 (where a piston rod slider “S” 166 becomes “Smax”).It should be noted that any length of cylinder 164 (indicated by “HC”) is therefore equal to the length of cylinder 164 when piston rod 166 is fully retracted (HCmin), plus the piston rod 166 slider (S). By way of example, the vertical distance between the point. Petition 870260063201, dated 06 / 26 / 2026, p. 60 / 83 / 33 of pivot point 170 and the lowest central area of ​​chassis 20 (Hbp) may be approximately 0.38 m (15.112 inches); the distance between pivot point 170 and wheel hub point 172 (D) may be approximately 1.75 m (69.170 inches); the distance between pivot point 170 and actuation point 176 (A) may be approximately 0.73 m (29 inches); the distance between pivot point 170 and cylinder tip 174 (F) may be approximately 0.73 m (29 inches); The length of piston rod 166 when fully extended from cylinder 164 (Smax) could be, for example, about 0.20 m (8 inches); and the length of cylinder 164 when piston rod 166 is fully retracted (HCmin) could be about 0.48 m (19 inches).From the predetermined parameters, additional parameters can be derived, which include: an arm-to-cylinder angle between a first line through the cylinder point 174 and the actuation point 176 and a second line through the actuation point 176 and the pivot point 170 (indicated by the angle “ac”); and a wheel-to-arm angle between a third line through the wheel hub point 172 and the pivot point 170 and a fourth line horizontally through the wheel hub point 172 (indicated by “tc”).

[017] In addition, a position sensor 180 can be arranged in relation to each cylinder 164. Each position sensor 180 can be configured to generate an electrical signal to the suspension control system, to indicate a corresponding piston rod position 166 in relation to the base 168, corresponding to the stroke (S). For example, with the piston rod 166 having a length of about 0.20 m (8 inches), the piston rod 166 could be set to a standard stroke that is a midpoint of 0.10 m (4 inches) (S = 0.10). When the piston rod 166 is fully extended (Smax), the stroke length can be 0.20 m (8 inches) (S = 0.20), and when the piston rod 166 is fully retracted (Smin), the stroke length can be 0 m (0 Petition 870260063201, dated 06 / 26 / 2026, page 61 / 83 / 33 inches) (S = 0).

[018] From the aforementioned predetermined and derived parameters and the position of the 180 position sensor indicating the travel (S), the suspension height (Hs) for any 160 suspension assembly can then be geometrically calculated, as per the equation: Hs =_D*COS(_tc-(ACOS((_AA2+_FA2-(S+_HCMiN)A2) / (2*_A*_F))-_ac)).

[019] Furthermore, as explained in more detail below, the suspension height (Hs) is equal to the suspension height when piston rod 166 is fully retracted (indicated by “Hmin”), plus a suspension height correction (indicated by “Hcor”). As an example, the suspension height when piston rod 166 is fully retracted (Hmin) can be about 0.41 m (16.145 inches).

[020] In addition, each 45 tire may have a static load bearing circumference (indicated by “Rsl”) providing a height dimension from the wheel hub point 172 to the ground. As an example, the static load bearing circumference of the 45 tire (Rsl) could be approximately 0.86 m (34 inches). A sum of the bearing circumference (Rsl), the suspension height (Hs), and the vertical distance between the pivot point 170 and the lowest central area of ​​the chassis 20 (Hbp) provides an overall clearance for the sprayer 15 (indicated by “C”) over the crop and the ground below. The clearance (C) may be an adjustable value set by the operator, such as 1.90 m (75 inches).

[021] However, the static load rolling circumference (Rsl) can be reduced, varying the amounts depending on the downward force or load exerted on the tire. For example, as additional force (including weight) is applied to tire 45, such as loading product tank 49 with agricultural liquid product 50, tire 45 will increasingly deviate from a deflection value (indicated by “Rcor”), also known as Petition 870260063201, dated 06 / 26 / 2026, page 62 / 83 / 33 tire squat and the static load rolling circumference (Rsl) will decrease accordingly. Conversely, as the force is reduced from tire 45, such as emptying the product tank 49 during spraying operations, tire 45 will deflect decreasingly by the deflection value (Rcor) and the static load of the rolling circumference (Rsl) will increase. Variable deflection values ​​(Rcor) can be specified in a lookup table or other data structure 238 in a suspension control system (see Figure 6) by comparing these tire dimensions with forces applied in a work area. Data structure 238 can include multiple unique datasets for different tires, with each dataset based on tire size, type, and similar factors, according to tire manufacturers.From data structure 238, a precise static load rolling circumference (Rsl) can be determined, reduced by a deflection value (Rcor), for each tire 45. Although a suspension system with “front” and “rear” arms is generally described above by way of example, in other respects, suspension systems with sliding and / or fork-type configurations could also be implemented. In such alternative respects, the geometric calculations described above may differ to achieve the same result. Control Volume

[022] Figure 4 is a schematic view of a portion of a suspension system 200 for the sprayer 15, provided according to one aspect of the invention. In particular, in similar arrangements, as noted above, the left front suspension assembly 160a may include a left front cylinder 164a; the right front suspension assembly 160b may include a right front cylinder 164b; the left rear suspension assembly 160c may include a left rear cylinder 164c; and the right rear suspension assembly 160d may include a right rear cylinder Petition 870260063201, dated 06 / 26 / 2026, pages 63 / 83 / 33 164d. The system 200 also includes accumulators 202a-d, various lines, hoses and fittings, such as the T-fittings 204a-d and the two electronically controlled valves 206a-d to control the fluid, such as oil (hydraulic) or gas (pneumatic), stored in a reservoir 216 (Figure 5), which flows to and from the control volumes 218 of fluid in the system. Each accumulator 202 may have two chambers or portions separated by a diaphragm, with an incompressible fluid portion 212 in one and a compressible gas portion in the other 214.

[023] Each of the cylinders 164 is similar to the others and operates in a similar manner. Specifically, with further reference to Figure 5, with respect to the right front cylinder 164b, it includes a base port 208, a rod port 210, and a movable piston rod 166. Fluid in a control volume 218b entering the base port 208 (and exiting the rod port 210 in a control volume 218c) causes the piston rod 166 to extend and flow in the control volume 218b entering the rod port 210 (and exiting the base port 208 in the control volume 218c) causes the piston rod 166 to retract. Consequently, the base port 208 of cylinder 164b is in fluid communication via the control volume 218b with the fluid portion 212 of a respective associated accumulator 202b, via an associated T-fitting 204b.In operation, when the right front wheel 44b passes over a bump, for example, the piston rod 166 retracts, causing fluid to exit the base port 208 and flow into the fluid portion 212 of the associated accumulator 202b. When the sprayer 15 moves past the impact, the fluid from this chamber of the accumulator 202b flows back into the base port 208, causing the piston rod 166 to extend to its previous position. In this way, the accumulator essentially operates as a spring and the fluid resistance in the interconnecting lines essentially acts as a damper or absorber. Petition 870260063201, dated 06 / 26 / 2026, p. 64 / 83 / 33 impact.

[024] The valves 206 control the amount of fluid in the associated accumulator 202 so that a desired neutral position (approximately the mid-stroke position) of the piston rod 166 in each of the cylinders 164 can be achieved based on the sprayer load 15. In this way, each piston rod 166 is movable in a sufficient amount in each direction to achieve the necessary pivoting movement of the oscillating frame assemblies 162 and the desired vehicle height can be achieved for the sprayer 15.

[025] System 200 also cross-connects independent suspension assemblies. In particular, cylinder 164 of each suspension assembly 160 is in fluid communication with a cylinder 164 of a diagonally opposite suspension assembly 160. For example, in Figure 5, cylinder 164b is in fluid communication with the identical cylinder 164c on the diagonally opposite side of the sprayer 15. Specifically, the base port 208 of cylinder 164b is in fluid communication (through fitting T 204b) with the rod port 210 of cylinder 164c, and the base port 208 of cylinder 164c completes the circuit by connecting (through another fitting at T 204c) to the rod port 210 of cylinder 164b. Similarly, cylinder 164a is in fluid communication with the identical cylinder 164d on the diagonally opposite side of sprayer 15.Specifically, the base port 208 of cylinder 164a is in fluid communication (through the T-fitting 204a) with the rod port 210 of cylinder 164d, and the base port 208 of cylinder 164d completes the circuit, connecting (through another T-fitting 204d) to the rod port 210 of cylinder 164a. These cylinder interconnections are crossed in such a way that when cylinders 164a or 164b in an assembly move to an extended or retracted position (due to irregularities in the terrain or forces associated with the sprayer 15 in. Petition 870260063201, dated 06 / 26 / 2026, page 65 / 83 / 33 rotation), then the associated cylinder 164d or 164c, respectively, in the diagonally opposite assembly, would also be induced to the same extended or retracted position. Similarly, if cylinder 164d or 164c is forced into an extended or retracted position, then the associated cylinder 164a or 164b, respectively, in the diagonally opposite assembly, will be pushed into the same extended or retracted position. This cross-action of the cylinders helps to keep the sprayer 15 in a stable horizontal orientation, so that the chassis 20 remains level and the approximately constant weight distribution to the four wheels is maintained.

[026] In addition, a pressure sensor 220 can be arranged in relation to each control volume 218. Each pressure sensor 220 can be configured to generate an electrical signal to the suspension control system to indicate a pressure of a corresponding control volume. In one aspect, the pressure sensors 220 could be arranged as in-line fittings with the valves 206. For example, as shown in Figure 5, a pressure sensor 220b, arranged as an in-line fitting with the valve 206b, can generate a signal indicating a pressure of the control volume 218b. Similarly, an optional temperature sensor 222 can be arranged in relation to each control volume 218. Each temperature sensor 222, when configured, can generate an electrical signal to the suspension control system to indicate a temperature of a corresponding control volume. In one aspect, the temperature sensors 222 can be arranged as in-line fittings with the valves 206.For example, as shown in Figure 5, a temperature sensor 222b, arranged as an in-line fitting with valve 206b, can generate a signal indicating a temperature of the control volume 218b.

[027] A level orientation of the sprayer 15 maintains an approximately constant weight distribution between the wheels 44 and the tires. Petition 870260063201, dated 06 / 26 / 2026, pages 66 / 83 / 33 45. This, in turn, reduces overall soil compaction, reduces damage to crop roots, and improves traction effort when low soil adhesion conditions exist, such as in muddy conditions. Suspension Control

[028] With reference now to Figure 6, a suspension control system 230 can be configured to provide suspension control for the sprayer 15. The suspension control system 230 may include a controller 232 that communicates with the position sensors 180, the pressure sensors 220, the temperature sensors 222 and the valves 206. The controller 232 may communicate with the position sensors 180, the pressure sensors 220, the temperature sensors 222 and / or the valves 206, for example, via a Society of Automotive Engineers (SAE) J1939 bus, an International Organization for Standardization (ISO) 11783 bus, an ISO 11898 bus and / or another controller area network (CAN) bus or other communication system.The controller 232 can communicate with the position sensors 180, the pressure sensors 220, the temperature sensors 222 and / or the valves 206 periodically, for example, with an update rate on the order of at least 50 milliseconds. The controller 232 can execute a program 234 stored on a non-transient medium 236 to receive signals from the position sensors 180, the pressure sensors 220 and / or the temperature sensors 222 and provide signals to the valves 206 to change the control volumes 218, in order to optimally control the suspension system as described in this document.

[029] With further reference to Figure 7, in one aspect, in block 240, controller 232 can be run to determine a suspension height (Hs) for each suspension assembly 160 from a position indicated by a position sensor 180, set relative to a Petition 870260063201, dated 06 / 26 / 2026, p. 67 / 83 / 33 cylinder 164 of suspension assembly 160, providing a stroke (S), including as described above in relation to Figure 3. With the suspension heights (Hs) for each of the suspension assemblies 160 calculated, controller 232 can then be run to calculate one or more of the articulation (A), roll (R), clearance (P) and / or machine height (H) characteristics of sprayer 15 in block 242, as described in this document, to determine articulation height corrections (indicated by “RHcor”), clearance height corrections (indicated by “PHcor”) and / or machine height corrections (indicated by “MHcor”), respectively. Each of the preceding height corrections can be calculated in order of priority to determine their respective contributions to height corrections (Rcor), as target height corrections (Rcor'), to optimize the suspension assemblies.In this way, the suspension control system can be responsible for multiple suspension characteristics, one after the other, provided that the appropriate suspension heights (Hs) are available, including maintaining a user-defined clearance (C) and / or a frame orientation at zero with respect to the horizontal (Figure 8). Such suspension heights (Hs) can be limited by maximum piston rod lengths (Smax).

[030] Although any articulation, roll, clearance and / or height feature of the machine may be considered in the suspension system in any order of priority, articulation is particularly considered first. Articulation is a comparison between diagonally opposite suspension heights (Hs) of the sprayer 15. Articulation can be calculated as a difference between a first average of suspension heights (Hs) of the left front and right rear suspension assemblies 160a, 160d and a second average of suspension heights (Hs) of the right front and left rear suspension assemblies 160b, 160c for Petition 870260063201, dated 06 / 26 / 2026, p. 68 / 83 / 33, determines joint height corrections (AHcor). The joint height corrections (AHcor) can then be applied to the target height corrections (Rcor') for the 160 suspension assemblies in a first summation block of 244, as long as the proper suspension height (Hs) remains.

[031] Roll is a comparison between the suspension heights (Hs) of the left and right sides of the sprayer 15. Roll can be calculated as a difference between a first average of suspension heights (Hs) of the left front and left rear suspension assemblies 160a, 160c and a second average of suspension heights (Hs) of the right front and right rear suspension assemblies 160b, 160d to determine roll height corrections (RHcor). The roll height corrections (RHcor) can then be applied to the target height corrections (Rcor') for the suspension assemblies 160 in the first summation block 244, as long as the proper suspension height (Hs) remains.

[032] The clearance is a comparison between the front and rear suspension heights (Hs) of the sprayer 15. The clearance can be calculated as a difference between a first average of suspension heights (Hs) of the left and right front suspension assemblies 160a, 160b and a second average of suspension heights (Hs) of the left and right rear suspension assemblies 160c, 160d to determine the clearance height correction (PHcor). The clearance height corrections (PHcor) can then be applied to the target height corrections (Rcor') for the suspension assemblies 160 in the first summation block 244, as long as the appropriate suspension height (Hs) remains.

[033] The machine height is a comparison between an overall clearance for the sprayer 15 (C) over the crop and the ground below, which can be provided as input from an operator, and a sum of the rolling circumference (Rsl) and the vertical distance between the pivot point 170 and the area. Petition 870260063201, dated 06 / 26 / 2026, p. 69 / 83 / 33 lowest central chassis 20 (Hbp). The clearance (C), an adjustable value, can normally be set by an operator to 1.90 m (75 inches). Mathematically, the machine height can be expressed as C - (Rsl + Hbp). An average machine height can be determined and applied uniformly to each of the 160 suspension assemblies as machine height corrections (MHcor). The machine height corrections (MHcor) can be applied to the target height corrections (Rcor') for the 160 suspension assemblies in the first summation block 244, as long as the proper suspension height (Hs) remains.

[034] Next, target height corrections (Rcor') can be applied to the suspension heights when rod 166 is fully retracted (Hmin) in a second summation block 246, to determine target suspension heights (Hs') that are optimized for the suspension assemblies 160. From the target suspension heights (Hs') and the aforementioned predetermined and derived parameters, the target strokes (S') can then be calculated geometrically, such as according to the equation: S' = (_AA2+_FA2-2*_A*_F*COS(ACOS((Hs') / _D)-_tc-_ac))A0.5-_ HCmin.

[035] Then, with further reference to Figure 8, the controller 232 can be run to control the valves 206 in a closed-loop control system 260 (see Figure 8) to flow fluid to or from the control volumes 218 to minimize an error value (E) between determined (target) values ​​and measured values. Tire Deflection

[036] Furthermore, in one aspect, in block 250, controller 232 can be run to determine the static load bearing circumference (Rsl) suspension height for each tire 45 from a pressure indicated by a pressure sensor 220 set in relation to a control volume 218, to operate a cylinder 164 of the assembly Petition 870260063201, dated 06 / 26 / 2026, page 70 / 83 / 33 of suspension 160, providing a pressure (indicated by “p”), including as described above with respect to Figure 5. In particular, the controller 232 can convert the pressures (p) to determine downward forces on the tires 45. The downward forces on the tires 45 can be determined, for example, by first calculating the first forces from the first pressures on the first sides of the cylinders 164 of the suspension assemblies 160, to which the tires 45 are mounted, calculating the secondary forces from the second pressures on the second sides of the cylinders 164 of the suspension assemblies 160, to which the tires 45 are mounted, and comparing the first and second forces. The first sides of cylinders 164 may include base 168 and base port 208, and the second side of the cylinder may include piston rod 166 and rod port 210.The first force is then a product of the first pressure and the area of ​​the first side, and the second force is then a product of the second pressure and the area of ​​the second side. However, given that a portion of the area of ​​the second side is consumed by the piston rod 166, this portion is subtracted from the area of ​​the second side to determine the second force. The downward force is then determined as a differential between the first and second forces.

[037] With the downward forces, the processor can then reference data structure 238 to compare the tire dimensions (indicated by R) with applied forces (indicated by F) in a working area (indicated by WR) as described above with respect to Figure 3. In general, in the working area (WR), the tire dimensions (R) change proportionally with the applied force (F). From data structure 238, a precise static load rolling circumference (Rsl), reduced by a deflection value (Rcor), can be determined for each tire 45.

[038] As with the calculations above regarding suspension heights (Hs), with the static load of the rolling circumference (Rsl) Petition 870260063201, dated 06 / 26 / 2026, p. 71 / 83 / 33 for each tire 45 calculated, controller 232 can be run to calculate one or more of the articulation (A), roll (R), clearance (P), and / or machine height (H) characteristics of sprayer 15, in block 252, due to tire deflection or squat, to determine the articulation tire height corrections (indicated by “ARcor”), tire height roll corrections (indicated by “RRcor”), tire height clearance corrections (indicated by “PRcor”) and / or machine height corrections (indicated by “MHRcor”), respectively. Each of the preceding tire height corrections can be calculated in order of priority to determine their respective contributions to tire height corrections (Rcor), as well as target tire height corrections (Rcor'), to further optimize the 160 suspension assemblies.In this way, the suspension control system can take into account the multiple deflection or squat characteristics of the tire, one after the other, as long as the appropriate suspension heights (Hs) remain available.

[039] Although any height characteristic of the articulation, rolling, clearance and / or machine tires may be considered in the suspension system in any order of priority, the articulation is particularly considered first. The articulation is a comparison between the diagonally opposite static load circumferences (Rsl) of the sprayer 15. The articulation can be calculated as the difference between a first average of static load rolling circumferences (Rsl) of the front left and rear right tires 45a, 45d and a second average of static load rolling circumferences (Rsl) and a second average of static load rolling circumferences (ARcor). The articulation tire height corrections (ARcor) can then be applied to the target height corrections (Rcor') for the suspension assemblies 160 in Petition 870260063201, dated 06 / 26 / 2026, page 72 / 83 / 33 first block totaling 244, insofar as the appropriate suspension height (Hs) remains.

[040] Roll is a comparison between the static load rolling circumferences of the left and right sides (Rsl) of the sprayer 15. Roll can be calculated as a difference between a first average of static load rolling circumferences (Rsl) of the left front and left rear tires 45a, 45c and a second average of static load circumferences (Rsl) of the right front and right rear tires 45b, 45d to determine the tire height corrections (RRcor). The tire roll height corrections (RRcor) can then be applied to the target height corrections (Rcor') for the suspension assemblies 160 in the first summation block 244, as long as the proper suspension height (Hs) remains.

[041] The clearance is a comparison between the static load bearing circumferences (Rsl) of the front and rear of the sprayer. The clearance can be calculated as a difference between a first average of circumferences (Rsl) of the left front and front tires 45a, 45b and a second average of static load bearing circumferences (Rsl) of the left rear and right rear tires 45c, 45d to determine tire clearance height corrections (PRcor). The tire clearance height corrections (PRcor) can then be applied to the target height corrections (Rcor') for the suspension assemblies 160 in the first summation block 244, as long as the proper suspension height (Hs) remains.

[042] The machine height is a comparison between the static load bearing circumferences (Rsl) of each tire 45 of the sprayer 15. An average of static load bearing circumferences (Rsl) can be calculated to determine tire height corrections. Petition 870260063201, dated 06 / 26 / 2026, page 73 / 83 / 33 machine (MHRcor). The machine height tire corrections (MHRcor) can then be applied to the target height corrections (Rcor') for the 160 suspension assemblies in the first summation block 244, as long as the proper suspension height (Hs) remains.

[043] Then, the target height corrections (Rcor'), with corrections for suspension assembly and / or tire characteristics 45, can be applied to the suspension heights when the piston rod 166 is fully retracted (Hmin) in the second summation block 246 to determine the target suspension heights (Hs') that are optimized for the suspension assemblies 160. From the target suspension heights (Hs') and the aforementioned predetermined and derived parameters, the target strokes (S') can then be geometrically calculated to provide a closed-loop control system 260 as described above. Closed-Loop Control

[044] With reference now to Figure 8, the controller 232 can execute the closed-loop control system 260 to control the valves 206 to flow fluid to or from the control volumes 218 to minimize an error value (E) between determined (target) values ​​and measured values. In particular, in block 262, the controller 232 can determine the target control volumes 218 (indicated by “CV”) corresponding to the target strokes (S') for the cylinders 164 and a pressure (p) indicated by a pressure sensor 220 from a control volume 218 to the cylinder 164 to ultimately produce the target strokes (S') in steady state or equilibrium condition.Also, in block 264, the controller 232 can determine a measured quantity of fluid in each control volume 218 using a position indicated by a position sensor, stroke (S), configured relative to a cylinder 164 and a pressure (p) indicated by a pressure sensor 220 from a control volume 218 to cylinder 164. Petition 870260063201, dated 06 / 26 / 2026, pp. 74 / 83 / 33

[045] For example, with reference again to Figure 5, the amount of fluid in each control volume 218 can be determined by adding a first volume of a cylinder 164 that has a portion of the control volume 218 (such as the base 168 of cylinder 164b which has a first portion of the control volume 218b), a second volume of the fluid portion 212 of an accumulator 202 that has a second portion of the control volume 218 (such as the fluid portion 212 of accumulator 202b which has a second portion of the control volume 218b) and a third volume of a diagonally opposite cylinder 164 that has a third portion of the control volume 218 (such as the rod side 166 of the piston of cylinder 164c which has a third portion of the control volume 218b).In most systems, the interconnection lines between cylinders 164, accumulators 202 and valves 206 may be insignificant; however, an additional constant could be added to account for this volume within the scope of the invention.

[046] The base volume 168 of cylinder 164 can be readily calculated based on the dimensions of cylinder 164 and the stroke (S) of piston rod 166 for the measured control volume (CV) (or the stroke (S') for the target control volume (CV')). The piston rod side volume 166 of cylinder 164 can be calculated based on the dimensions of cylinder 164 and the stroke (S) of piston rod 166, less the volume consumed by piston rod 166 in the stroke (S), for the measured control volume (CV) (or the stroke (S') for the target control volume (CV')). The volume of fluid portion 212 of accumulator 202 can be calculated indirectly by first determining the volume of gas portion 214 of accumulator 202, then subtracting the volume of gas portion 214 from the total volume of accumulator 202. The volume of gas portion 214 can be approximated using the ideal gas law: pV = nRT; where “p” is the pressure of the gas in gas portion 214; “V” is the volume of the portion. Petition 870260063201, dated 06 / 26 / 2026, page 75 / 83 / 33 of gas 214 to be resolved; “N” is the amount of gas (in moles) in the gas portion 214; R is the ideal or universal gas constant, equal to the product of the Boltzmann constant and the Avogadro constant; and “T” is the absolute temperature of the gas. The gas pressure “p” in the gas portion 214 can be approximated to be equal to the pressure (p) of the control volume 218 provided by the pressure sensors 220. The amount of gas “n” can be determined in advance according to the manufacture of the accumulator 202. The gas temperature “T” can be fixed at a predetermined operating constant or, alternatively, can be approximated to be equal to the temperature provided by the temperature sensors 222.

[047] With the target control volumes 218 (CV') and the measured control volumes (CV) determined, the controller 232 can then be run to compare the target control volumes 218 (CV') and the measured control volumes 218 (CV) in a closed-loop summation 266 to produce error values ​​(E) between the two sets. The error values ​​(E) can then be applied with closed-loop control 268, such as via Proportional Integral Derivative (PID) control, to control the valves 206 to flow fluid to or from the control volumes 218, to minimize the error values ​​(E). Orientation Control

[048] The sprayer 15 can also be configured to control the orientation of the chassis frame 25 relative to the suspension assemblies 160 to prevent undesirable twisting. For example, the sprayer 15 may encounter downhill slopes to the left or right, or downhill slopes forward or backward, twisting the chassis, affecting spraying operations and / or risking loss of control. The sprayer 15 can be activated to maintain a substantially constant orientation between the chassis and the horizon, preferably around 0°, using a Unit Petition 870260063201, dated 06 / 26 / 2026, page 76 / 83 / 33 of Inertial Measurement Unit (IMU) 270, an electronic device configured to measure and report a specific body force, angular rate, and / or magnetic field around the body, using a combination of accelerometers, gyroscopes, and / or magnetometers. The IMU 270 can detect, for example, chassis-to-horizon slope orientations causing roll; and a geometric y-axis to detect chassis-to-horizon classes causing drift. For example, with further reference to Figure 9A, the IMU 270 can detect an angle Θ indicating chassis-to-horizon displacement to the right (which may be caused by a descending slope to the right).

[049] If enabled to maintain a substantially constant chassis orientation to the horizon and a chassis-to-horizon angle is detected, in block 272, controller 232 can be run to apply a correction factor corresponding to the correction target to provide self-leveling. In the example of Figure 9A, this could result in a corresponding increase in the target suspension height (Hs') to the right side to substantially level the chassis frame 25, such as by roll height corrections (RHcor), to control roll, such as to decrease roll, as shown in Figure 9. Similarly, for a detected offset, controller 232 could be run to apply a correction factor corresponding to the correction target to provide self-leveling, such as by offset height corrections (PHcor), to control offset, such as to decrease offset.

[050] In another aspect, whether an IMU is present or not, operator input 274 could be provided by an operator in the cab to provide the desired settings, such as clearance (C). A vehicle speed sensor and a turning angle sensor can provide measurements used by the controller 232 for comparison with a lookup table. Petition 870260063201, dated 06 / 26 / 2026, pp. 77 / 83 / 33 278. If an output from the speed sensor and / or the turning angle sensor exceeds a limit, controller 232 can be run to apply clearance height corrections (PHcor) and / or roll height corrections (RHcor) to control clearance and / or roll to a desired target, which can be adjusted to decrease clearance and / or roll. In one aspect, lookup table 278 could drive the suspension overcompensation (going off zero) to counter-wind between the chassis frame 25 and the spray boom 17. Alternative Suspension System

[051] It should be noted that several aspects of the invention could also be applied to alternative suspension systems. For example, with further reference to Figure 10, an alternative suspension system 300 could be implemented on the sprayer 15. The suspension system 300 may include a cylinder 302, such as cylinder 164. Cylinder 302 may be a single-acting or double-acting cylinder responding to a fluid in a control volume, such as an oil (hydraulic) or gas (pneumatic). In addition, cylinder 302 may include a piston rod 304 configured to extend and retract relative to a base 306. Cylinder 302 could be operationally coupled to an upper support assembly 308, operating as an oscillating frame assembly, at an actuation point 310, such as actuation point 176, which could be on a relative edge of the chassis 20.Cylinder 302 could also be operationally coupled to an intermediate support assembly 312 at a cylinder point 314, such as cylinder point 174. The suspension system 300 could also include a pneumatic air cushion (air bag) 316 to absorb bumps. The air cushion (air bag) 316 could be operationally coupled to the intermediate support assembly 312, mounted below. The air cushion (air bag) 316 could also be operationally coupled to a lower support assembly 318. Petition 870260063201, dated 06 / 26 / 2026, pp. 78 / 83 / 33 The lower support assembly 318 may include a wheel hub point 320, such as wheel hub point 172, for mounting wheel 44 (or multiple wheels, including for driving a continuous band of treads or track plates). This arrangement allows the action of cylinder 302 at actuation point 310 to cause the upper support assembly 308 to slide up and down at sliding points 322, along upper sliding guides 324 mounted on an upper side of the center support assembly 312, between the center support assembly 312 and the chassis 20. This arrangement also allows the action of the air cushion (air bag) 316 to cause the lower support assembly 318 to slide up and down at sliding points 326, along lower sliding guides 328 mounted on a lower side of the center support assembly 312.In one aspect, the base 306 of each cylinder can be operationally coupled to the actuation point 310 and the piston rod 166 of each cylinder can be operationally coupled to the cylinder point 314, as shown in Figure 10. However, in another aspect, the base 168 of each cylinder can be operationally coupled to the cylinder point 314 and the piston rod 166 of each cylinder can be operationally coupled to the actuation point 310. The cylinder 302 and the air bag 316 can allow the suspension system 300 to be fixed to a predetermined adjustable clearance (C), as determined by the operator, providing a total sprayer height of 15. The suspension control system 230 (Figure 6) can be applied in relation to the cylinder 306 to allow it to proceed on more uneven terrain than that provided by the air bag 316.

[052] Although the particular embodiment contemplated by the inventors of the present invention is disclosed above, the practice of the invention is not limited thereto. It will be evident that various additions, modifications and rearrangements of the features of the present invention may be Petition 870260063201, dated 06 / 26 / 2026, pp. 79 / 83 / 33 made without deviating from the spirit and scope of the underlying inventive concept.

Claims

1. SUSPENSION CONTROL SYSTEM PROVIDING SUSPENSION HEIGHT CORRECTIONS FOR AN AGRICULTURAL MACHINE comprising: a plurality of suspension assemblies (160), each suspension assembly (160) comprising an oscillating frame assembly (162) and a cylinder (164), each cylinder (164) comprising a piston rod (166) configured to extend and retract relative to a base (168), wherein the oscillating frame assembly (162) is coupled to the agricultural machine and wherein the cylinder (164) is operationally coupled to the oscillating frame assembly (162) at an actuation point (176); a plurality of position sensors (180), wherein each position sensor is configured in relation to a corresponding cylinder (164) of each suspension assembly (160), wherein each position sensor is configured to generate a signal indicating a position of a piston rod (166) in relation to a base (168);a plurality of electronically controlled valves (206), each electronically controlled valve (206) being configured to control a fluid flow to and from a control volume (218) to operate a corresponding cylinder (164); wherein the suspension control is performed by a controller (232) in communication with the plurality of position sensors (180) and the plurality of electronically controlled valves (206), wherein the controller (232) determines a height for each suspension assembly (160) from a position indicated by a position sensor configured relative to a cylinder (164) of the suspension assembly (160);calculates a height correction for each suspension assembly (160) in response to the articulation, spacing, and roll of the agricultural machine, wherein articulation is a comparison between diagonally opposite heights of the agricultural machine, spacing is a comparison between the heights of the front and rear of the agricultural machine, and roll is a comparison between the heights of the left and right sides of the agricultural machine; and controls the electronically controlled valves (206) to change the control volumes to apply the height corrections; characterized in that: the articulation, spacing, and roll of the agricultural machine are calculated to determine an articulation height correction (AHcor), a spacing height correction (PHcor), and a roll height correction (RHcor) for each suspension assembly (160), respectively;The height correction for each suspension assembly (160) comprises a sum of the joint height correction (AHcor), the clearance height correction (PHcor) and the roll height correction (RHcor).

2. AGRICULTURAL SPRAYER, characterized by having a suspension system as defined in claim 1.

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