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

Abstract

In one aspect, a suspension control system is provided to dynamically adjust pistons located near the wheels of an agricultural machine to account for squat or tire deflection under varying loads. Articulation, tilt, roll, and / or machine height can be determined from pressure measurements on the machine to apply such tire height corrections. For sprayers, this allows control of clearance and suspension height to keep the boom parallel to the ground to prevent damage.

Description

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

[001] The invention typically relates 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, pressure sensors, electronically controlled valves and a processor configured to determine downward forces on the tires from the pressures indicated by the pressure sensors, determine tire height corrections for the tires from the downward forces, and control the valves to apply the tire 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, which improves application efficiency. These sprayers may encounter a variety of ground surface conditions such as rocks, bumps, hills, holes, ramps, slopes, and the like, many of which can affect different wheels of the machine at different times. As a result, a lateral extension of the sprayer booms 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 stuck, or create other operational hazards. To minimize the effect of these conditions, operators typically travel at low speeds (on the order of 5 mph or less) when there is a risk of encountering uneven ground surface conditions.However, traveling at low speeds has the disadvantage of requiring more time to tend to an agricultural field, which... Petition 870260063237, dated 06 / 26 / 2026, pp. 48 / 83 / 32, may result in operator fatigue, machine wear and tear, and / or loss of productivity. For this reason, it is desirable to improve the suspension system for these 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 account for squat or tire deflection under varying loads. Articulation, tilt, roll, and / or machine height can be determined from pressure measurements on the machine to apply such tire height corrections. For sprayers, this allows control of clearance and suspension height to keep the boom parallel to the ground to prevent damage.

[004] A piston may be located near each wheel at four corners of an agricultural machine (typically four wheels, although two or more wheels may be proportioned to 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 to move fluid flow, and a closed-loop controller (which may be a Proportional Integral Derivative (PID) controller) to adjust the piston stroke to a target setpoint while minimizing feedback error measured by the piston sensor. Each piston may also be in communication with a diagonally opposite piston to control fluid flow in the diagonally opposite piston, which includes as described in US Patent No. 8,297.634 incorporated by way of reference. A control system may be provided on the agricultural machine to dynamically adjust the pistons located near each wheel. The control system may... Petition 870260063237, dated 06 / 26 / 2026, page 49 / 83 / 32, implement a logic to: (1) continuously access articulation, tilt, roll, and / or machine height relative to the wheels based on sensor readings from pistons located near the wheels; (2) determine the target height adjustment for each wheel to provide machine orientation above the ground surface so as to protect the lateral extension of the sprayer booms (and / or substantially equalize 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 that operates continuously to adjust the piston to the target.Articulation can be determined by (1) capturing the stroke of each piston using the corresponding piston sensors; (2) determining a first mean stroke between a first diagonal pair of sensors and a second mean stroke between a second diagonal pair of sensors; and (3) subtracting the second mean stroke from the first mean 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. Offset, or forward-to-backward tilt, can be determined by calculating a piston measurement differential between the front and rear of the machine. Roll, or side-to-side tilt, can also be determined by calculating a piston measurement differential between sides of the machine.The control system can determine the fluid flow in the suspension system by estimating the total fluid in each closed-loop piston system. Fluid flow 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 monitoring fluid flow between diagonally opposed pistons. After determining articulation, inclination, etc. Petition 870260063237, dated 06 / 26 / 2026, page 50 / 83 / 32 bearing and / or machine height, the control system can calculate a target height for each corner of the machine (near each piston / wheel), and can translate each target height to a corresponding stroke adjustment for each piston based on a predetermined machine geometry (e.g., wheel radius, piston stroke angle, collector 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 a captured feedback error to achieve the calculated stroke adjustment. Consequently, the captured 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 achieve the provided stroke adjustment for each piston.

[005] Specifically, one aspect of the present invention may provide a suspension system for an agricultural machine, which includes: multiple suspension assemblies, wherein each suspension assembly includes an assembly of articulated frames and a cylinder, wherein each cylinder includes a piston rod configured to extend and retract relative to a base, wherein the assembly of articulated frames is coupled to the agricultural machine at a pivot point and is coupled to a wheel at a hub point, and which includes the cylinder operationally coupled to the agricultural machine at a cylinder point and is also operationally coupled to the assembly of articulated frames at an actuation point distal from the pivot point such that the action of the cylinder at the actuation point causes the assembly of articulated frames to pivot at the pivot point; multiple tires, wherein each tire is mounted to a wheel;Multiple electronically controlled valves, wherein each electronically controlled valve is configured to control a fluid flow to and from a control volume to operate a cylinder; multiple pressure sensors, wherein each; Petition 870260063237, dated 06 / 26 / 2026, page 51 / 83 / 32: a pressure sensor is configured to generate a signal indicating a pressure from a control volume; and a processor in communication with the electronically controlled valves and the pressure sensors, wherein the processor executes a program stored on a non-transient medium to: determine a downforce for each tire from a pressure indicated by a pressure sensor from a control volume to a cylinder of a suspension assembly to which the tire is mounted; determine a tire height correction for each tire from the downforce; and control the electronically controlled valves to change the control volumes to apply the tire height corrections.

[006] Other aspects, objects, functions, and advantages of the invention will be better apparent to those skilled in the art from the subsequent detailed description and accompanying figures. It should be understood, however, that the detailed description and specific examples, while indicating particular embodiments of the present invention, are given by way of illustration and not limitation. Many changes and modifications may be made within the scope of the present invention without departing from its spirit, and the invention includes all such modifications. Brief Description of the Figures

[007] Exemplary embodiments of the invention are illustrated in the accompanying figures where equal reference numerals represent equal parts along the length. 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 diagrammatic view of an exemplary suspension assembly for the agricultural machine in Figure 1; Petition 870260063237, dated 06 / 26 / 2026, pages 52 / 83 / 32 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 interconnected 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 schematic for providing height corrections in the suspension control system of Figure 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 illustrating a chassis angle to the horizon that cancels the chassis angle to the horizon, respectively; and Figure 10 is a simplified diagrammatic view of an alternative suspension assembly according to one aspect of the invention. Detailed Description of Achievements

[008] Referring now to the figures and specifically to Figure 1, a machine is shown here as a self-propelled agricultural sprayer vehicle or self-propelled sprayer 15 having a spray boom 17, such as those available from CNH Industrial, which include the Nitro Miller and Condor series sprayers and New Holland Guardian series sprayers. The sprayer 15 includes a chassis 20 which has a chassis frame 25 supporting 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 hydrostat arrangement to provide hydraulic pressure to operate hydraulic components within the hydraulic system 40. For sprayers Petition 870260063237, dated 06 / 26 / 2026, page 53 / 83 / 32 with hydrostatic transmissions, hydraulic motors are operatively connected to the hydraulic pump (or pumps) for rotating wheels 44 with tires 45 mounted on them. In mechanical drive applications, a mechanical transmission receives power from the motor 35 and releases power to rotate the wheels 44 (and tires 45) by means of power-transmitting drive system components such as drive shafts, differentials, and other gear assemblies in portals, crankcases, or other housings. In one aspect, the sprayer 15 may include four wheels 44, which include: a front left wheel 44a (with a front left tire 45a mounted on it), a front right wheel 44b (with a front right tire 45b mounted on it), a rear left wheel 44c (with a rear left tire 45c mounted on it) and a rear right wheel 44d (with a rear right tire 45d mounted on it).Although an arrangement with four 44 wheels is shown as an example, in another aspect, larger or smaller numbers of 44 wheels can be implemented, such as a sprayer 15 with six 44 wheels. Furthermore, although 44 wheels with 45 tires mounted on them are shown as an example, in another aspect, continuous strips of tracks or track plates can be driven instead of two or more wheels each.

[009] Still referring to Figure 1, a product system 7 may include a product storage system 47 with a product tank 49 that stores an agricultural liquid product 50 in the chassis 20. The product 50 may include any variety of agricultural liquid products, such as various pesticides, herbicides, fungicides, liquid fertilizers, and other liquids that include 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. Furthermore, a system of Petition 870260063237, dated 06 / 26 / 2026, page 54 / 83 / 32 air purification 11 may include a compressed air storage system that has an air compressor 57 operationally connected to an air tank 59 that stores 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 paths through the sprayer 15 and lance 17, depending on whether a spraying procedure, a rinsing procedure, or a pneumatic purification or lance cleaning procedure is performed. During spraying and rinsing procedures, the flow system may activate a pump 61 to transport both liquid product 50 and rinsing liquid 54 to the lance 17.

[010] In operation, the pump 61 can push either liquid product 50 or rinsing liquid 54 through piping components such as interconnected pieces of production pipes and through a lance flow system 63 that includes segments of lance production pipes 65 for release of spray lance nozzles 70 that are spaced from each other along the width of the lance 17 during spraying or rinsing operations of the sprayer 15 (according to activation / deactivation states that can be implemented, for example, with the use of electronically controlled switches). Consequently, these piping components can connect the product storage system 47, the rinsing liquid storage system 51 and the lance 17 by means of an on-board valve system and lance valve system.During spraying procedures, groups of 70 nozzles defined in spray sections along the boom 17 can selectively release product 50 for application in an agricultural field at locations that correspond to the positions of activated spray sections. The boom 17 is connected to the chassis 20 with a lifting arm assembly 75 that is configured. Petition 870260063237, dated 06 / 26 / 2026, page 55 / 83 / 32 to move lance 17 up and down to adjust the application height of product 50.

[011] With further reference to Figure 2, the boom 17 may include multiple boom segments 80 connected longitudinally to provide the width corresponding to the boom assembly 17. Boom segments 80 include a central section 85 and left and right boom arms 87, 89 extending 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 spacing boom segments 100 extending in opposite directions along the respective left and right boom arms 87, 89, mirrored around a longitudinal axis of the sprayer 15. The corresponding left and right segments of the pairs of primary, secondary, and spacing boom segments 90, 95, 100 are substantially identical, so only one will be described, with the description applicable to both left and right boom arm segments 87, 89.Primary boom segment 90 has an inner primary boom terminal 105 that is connected with hinge 110 to the outer terminal of the center section 115, with hinge 110 configured to normally allow horizontal pivoting to the rear of the primary, secondary, and spacing boom segments 90, 95, 100 toward the chassis 20 when folding the boom 17 to reach a stored position. Primary boom segment 90 extends from the inner primary boom terminal 105 away from the center section 85 to the outer primary boom terminal 120. Hinge 125 is disposed between the outer primary boom terminal 120 and the inner secondary boom terminal 130 and is configured to allow folding of secondary and spacing segments 95, 100 relative to the primary boom segment 90 to reach the stored position. For horizontal folding of the secondary and spacing segments... Petition 870260063237, dated 06 / 26 / 2026, page 56 / 83 / 32 offset 95, 100 against the primary boom segment 90, hinge 125 allows horizontal pivoting of the secondary and offset segments 95, 100 towards the primary boom segment 90. For vertical bending of the secondary and offset segments 95, 100 against the primary boom segment 90, hinge 125 allows vertical pivoting of the secondary and offset segments 95, 100 towards the primary boom segment 90. Secondary boom segment 95 extends from the inner terminal of the secondary boom 130 away from the primary boom segment 90 to the outer terminal of the secondary boom 135.The spacing joint 140 is disposed between the outer secondary boom terminal 135 and the inner spacing boom terminal 145 and is configured to allow momentary deflection of the spacing boom segment 100 away from its extended outward position during collisions with crops, the ground, and / or other obstacles. The spacing boom segments 100 extend from the inner spacing boom terminal 145 away from the secondary boom segment 95 to the outer spacing boom terminal 150. In the stored boom position 17, the secondary and spacing boom segments 95, 100 are folded against the primary boom segment 90.The primary boom segment 90 is bent towards the chassis 20 so that the outer spacing boom terminal 150 is close to the inner primary boom terminal 105 bent forward of the sprayer 15 with the outer primary boom terminal 120 and inner secondary boom terminal 130 bent backward of the 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 55. A suspension assembly 160 is illustrated in Figure 3a Petition 870260063237, dated 06 / 26 / 2026, page 57 / 83 / 32 example title. For sprayer 15, left and right front and left and right rear suspension assemblies 160a, 160b, 160c and 160d, respectively, can be configured similarly. However, alternative aspects may provide larger or smaller numbers of suspension assemblies.

[013] Furthermore, although not specifically shown, one or more of the 160 suspension assemblies may include steering elements, such as the front left and front right suspension assemblies 160a and 160b, respectively, for two steering wheels, and optionally, the rear left and rear right suspension assemblies 160c and 160d, respectively, for four steering wheels. Additionally, although not specifically shown, the 160 suspension assembly may be configured as part of an axle slide assembly (or “sliding drawer”) that may move forward and backward on the chassis 20 to change the distance (or width) between wheels 44 on opposite sides of the sprayer 15. In such an arrangement, front and rear wheels on the given sides, such as the front left wheel 44a and the rear left wheel 44c, may be attached to the same axle slide to ensure rear wheel alignment behind the front wheels.These concepts are further described in U.S. Patent No. 8,297,634, which is incorporated by reference.

[014] Each suspension assembly 160 may include an articulated frame assembly 162 and a cylinder 164. The cylinder 164 may be a single-acting or double-acting cylinder that is responsive 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 articulated frame assembly 162 may connect to the sprayer 15 at a pivot point 170 which may be at a relative corner of the chassis 20. The articulated frame assembly 162 may also Petition 870260063237, dated 06 / 26 / 2026, page 58 / 83 / 32 connect to one or more wheels 44, with tires 45 mounted on them, at a hub point 172 (or multiple wheels, which includes driving a continuous band of tracks or track plates). The cylinder 164 can be operationally coupled to the agricultural machine at a cylinder point 174 which can also be at a relative corner of the chassis 20. The cylinder 164 can also be operationally coupled to the articulated frame assembly 162 at an actuation point 176 distal to the pivot point 170. This arrangement allows the action of the cylinder 164 at the actuation point 176 to cause the articulated frame assembly 162 to pivot at the pivot point 170.Connections between the articulated frame assembly 162 and the pivot point 170, the articulated frame assembly 162 and the hub point 172, the cylinder 164 and the cylinder point 174, and / or the cylinder 164 and the actuation point 176, can be made, for example, by pins fixed between holes in the articulated frame assembly 162 and / or in the cylinder 164 and in the corresponding channels in the chassis 20 and / or in the wheels 44, and mounting supports included in certain cases. 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 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 the cursor “S”) can configure a relative suspension height (indicated by “Hs”) for the suspension assembly 160. In operation, with the cylinder 164 being a double-acting cylinder, the piston rod 166 can be adjusted to a predetermined stroke length, and can extend and retract from the predetermined stroke length with Petition 870260063237, dated 06 / 26 / 2026, page 59 / 83 / 32 movement of the sprayer 15 on the ground, which can serve to suppress and control the pivot movement of the articulated frame assembly 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). These predetermined parameters may include: a distance between the pivot point 170 and the 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 belly pan) that provides clearance for the sprayer 15 over crops and the ground below (indicated by “Hbp”); a cylinder length 164 when the piston rod 166 is fully retracted or folded (indicated by “HCmin”); and a piston rod length of 166 when fully extended from cylinder 164 (where a piston rod “S” cursor of 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 stroke of piston rod 166 (S). By way of example, the vertical distance between pivot point 170 and the lowest central area of ​​chassis 20 (Hbp) may be approximately 38.38448 centimeters (15.112 inches); the distance between pivot point 170 and hub point 172 (D) may be approximately 175.6918 centimeters (69.170 inches); the distance between pivot point 170 and actuation point 176 (A) may be approximately 73.66 centimeters (29 inches); the distance between pivot point 170 and cylinder point 174 (F) can be about 73.66 centimeters (29 inches); the length of piston rod 166 when fully extended from cylinder 164 (Smax) can be, for example, about 20.32 centimeters (8 inches); and the length of cylinder 164. Petition 870260063237, dated 06 / 26 / 2026, page 60 / 83 / 32 when the piston rod 166 is fully retracted (HCmin) can be approximately 48.26 centimeters (19 inches). From the predetermined parameters, additional parameters can be derived, including: an angle of the arm to the cylinder between a first line between the cylinder point 174 and the actuation point 176 and a second line between the actuation point 176 and the pivot point 170 (indicated by the angle “ac”); and an angle of the wheel to the arm between a third line between the hub point 172 and the pivot point 170 and a fourth line horizontally between the 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 relative to the base 168, which corresponds to the stroke (S). For example, with the piston rod 166 having a length of approximately 20.32 centimeters (8 inches), the piston rod 166 can be set to a predetermined stroke that is a midpoint of 10.16 centimeters (4 inches) (S = 10.16). When the piston rod 166 is fully extended (Smax), the stroke length can be 20.32 centimeters (8 inches) (S = 20.32), and when the piston rod 166 is fully retracted (Smin), the stroke length can be 0 centimeters (0 inches) (S = 0).

[018] From the predetermined and derived parameters mentioned above, and the position of the 180 position sensor indicating the travel (S), the suspension height (Hs) for any 160 suspension assembly can then be calculated geometrically, 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 the suspension rod Petition 870260063237, dated 06 / 26 / 2026, p. 61 / 83 / 32 piston 166 is fully retracted (indicated by “Hmin”) plus a suspension height correction (indicated by “Hcor”). As an example, the suspension height when the piston 166 rod is fully retracted (Hmin) can be approximately 41.0083 centimeters (16.145 inches).

[020] In addition, each 45 tire may have a static load bearing circumference (indicated by “Rsl”) that provides a height dimension from the hub point 172 to the ground. As an example, the static load bearing circumference of the 45 tire (Rsl) may be approximately 86.36 centimeters (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 a total clearance for the sprayer 15 (indicated by “C”) over crops and the ground below. The clearance (C) may be an adjustable value set by the operator, such as 190.5 centimeters (75 inches).

[021] However, the static load bearing circumference (Rsl) can be reduced by variable amounts depending on the downward force or load exerted on tire 45. For example, as additional force (including weight) is applied to tire 45, such as by loading product tank 49 with agricultural liquid product 50, tire 45 will deflect increasingly by a deflection value (indicated by “Rcor”), also known as tire squat, and the static load bearing circumference (Rsl) will consequently decrease. Conversely, as the force is reduced on tire 45, such as by emptying product tank 49 during spraying operations, tire 45 will deflect less by the deflection value (Rcor) and the static load bearing 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) that compares such tire dimensions. Petition 870260063237, dated 06 / 26 / 2026, pp. 62 / 83 / 32 with forces applied in a working range. Data structure 238 may include multiple unique datasets for different tires, each dataset being based on tire size, type, and the like, according to tire manufacturers. From data structure 238, a precise static load rolling circumference (Rsl), reduced by a deflection value (Rcor), can be determined for each tire 45. Although a suspension system with “front” and “rear” arms is normally described above by way of example, in other respects, suspension systems with sliding and / or “fork” configurations may also be implemented. In these alternative aspects, 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 164d. System 200 also includes accumulators 202a-d, various lines, hoses, and adapters, such as T-adapters 204a-d, and electronically controlled dual valves 206a-d to control fluid, such as oil (hydraulic) or gas (pneumatic), stored in a reservoir 216 (Figure 5), which flows to and from control volumes 218 of fluid in the system.Each accumulator 202 may have two chambers or portions separated by a diaphragm, with a portion of incompressible fluid 212 in one and a portion of compressible gas in the other. Petition 870260063237, dated 06 / 26 / 2026, p. 63 / 83 / 32

[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 through the base port 208 (and exiting through the rod port 210 in a control volume 218c) causes the piston rod 166 to extend, and fluid in the control volume 218b entering through the rod port 210 (and exiting through 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 by means of an associated T-adapter 204b.In operation, when the right front wheel 44b passes over a bump, for example, the piston rod 166 retracts, causing fluid to exit through the base port 208 and flow into the fluid portion 212 of the associated accumulator 202b. When the sprayer 15 passes over the bump, 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 fluid resistance in the interconnected lines essentially acts as a damper or shock absorber.

[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 articulated frame assemblies 162, and the desired vehicle height can be achieved for the sprayer 15. Petição 870260063237, de 26 / 06 / 2026, pág. 64 / 83 / 32

[025] System 200 also cross-connects the 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 (via adapter T 204b) with the rod port 210 of cylinder 164c, and the base port 208 of cylinder 164c completes the circuit by connecting (via another adapter 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 the sprayer 15.Specifically, the base port 208 of cylinder 164a is in fluid communication (via adapter T 204a) with the rod port 210 of cylinder 164d, and the base port 208 of cylinder 164d completes the circuit by connecting (via another adapter T 204d) to the rod port 210 of cylinder 164a. These interconnections are cross-channeled in this manner so 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 turning the sprayer 15), then the associated cylinder 164d or 164c, respectively, in the diagonally opposite assembly would also be pressed into 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 would be pressed 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 all four wheels is maintained. Petition 870260063237, dated 06 / 26 / 2026, pages 65 / 83 / 32

[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 when indicating a corresponding control volume 218. In one aspect, the pressure sensors 220 can be arranged as in-line adapters with the valves 206. For example, as shown in Figure 5, a pressure sensor 220b, arranged as an in-line adapter 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 by indicating a temperature of a corresponding control volume 218. In one aspect, the temperature sensors 222 can be arranged as in-line adapters with the valves 206.For example, as shown in Figure 5, a temperature sensor 222b, arranged as an in-line adapter with valve 206b, can generate a signal indicating a temperature of the control volume 218b.

[027] A level sprayer orientation 15 maintains approximately constant weight distribution between the wheels 44 and the tires 45. This, in turn, reduces overall soil compaction, reduces crop root damage, and improves traction effort when low soil adhesion conditions exist, such as under muddy conditions. Suspension Control

[028] Referring 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 Petition 870260063237, dated 06 / 26 / 2026, page 66 / 83 / 32, regarding valves 206. Controller 232 can communicate with position sensors 180, pressure sensors 220, temperature sensors 222 and / or valves 206, for example, via a Society of Automotive Engineers (SAE) J1939 bus, International Organization for Standardization (ISO) 11783 bus, ISO 11898 bus and / or another Control Area Network (CAN) bus or other communication system. Controller 232 can communicate with position sensors 180, pressure sensors 220, temperature sensors 222 and / or 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 herein.

[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 configured relative to a cylinder 164 of the suspension assembly 160, which provides a stroke (S), enclosed 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 articulation (A), bearing (R), clearance (P), and / or machine height (H) characteristics of sprayer 15 in block 242, as described herein, to determine articulation height corrections (indicated by “AHcor”), bearing height corrections (indicated by “RHcor”), clearance height corrections (indicated by “PHcor”), and / or machine height corrections (indicated by Petition 870260063237, dated 06 / 26 / 2026, page 67 / 83 / 32 “MHcor”), respectively. Each of the stated height corrections can be calculated in order of priority to determine the respective contributions to the height corrections (Rcor), to the target height corrections (Rcor'), to optimize the suspension assemblies 160. In this way, the suspension control system can consider multiple suspension characteristics, one after the other, provided that adequate suspension heights (Hs) are available, including to maintain a user-defined clearance (C) and / or a zero orientation frame relative to the horizon (Figure 8). These suspension heights (Hs) can be limited by maximum piston rod lengths 166 (Smax).

[030] Although any articulation, roll, clearance, and / or machine height feature may be considered in the suspension system in any order of priority, articulation is particularly considered first. Articulation is a comparison between diagonally opposite sprayer suspension heights (HS). 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 to determine articulation height corrections (AHcor). The articulation height corrections (AHcor) can then be applied to the target height corrections (Rcor') for the suspension assemblies 160 in a first summation block 244, as long as proper suspension height (Hs) remains.

[031] Bearing is a comparison between left-side and right-side suspension heights (Hs) of sprayer 15. Bearing 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 Petition 870260063237, dated 06 / 26 / 2026, p. 68 / 83 / 32 right front and right rear suspension assemblies 160b, 160d to determine ride height corrections (RHcor). The ride height corrections (RHcor) can then be applied to the target height corrections (Rcor') for the 160 suspension assemblies in the first summation block 244, to the extent that proper suspension height (Hs) remains.

[032] Slope or clearance is a comparison between front and rear suspension heights (HS) of the sprayer 15. Clearance can be calculated as a difference between a first average of suspension heights (Hs) of the front left and front right suspension assemblies 160a, 160b and a second average of suspension heights (Hs) of the rear left and rear right suspension assemblies 160c, 160d to determine clearance height corrections (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 proper suspension height (HS) remains.

[033] Machine height is a comparison between a total clearance for the sprayer 15 (C) over crops and the ground below, which can be provided as an operator contribution, and the sum of the rolling circumference (Rsl) and the vertical distance between the pivot point 170 and the lowest central area of ​​the chassis 20 (Hbp). The clearance (C), an adjustable value, can typically be selected by an operator at 190.5 centimeters (75 inches). Mathematically, the machine height can be expressed as C - (Rsl + Hbp). An average of the machine height can be determined and applied homogeneously to each of the suspension assemblies 160 as machine height corrections (MHcor). The machine height corrections (MHcor) can then be applied to the target height corrections (Rcor') for the suspension assemblies 160 in the first summation block 244, insofar as the appropriate suspension height (HS) Petition 870260063237, dated 06 / 26 / 2026, page 69 / 83 / 32 remains.

[034] Next, target height corrections (Rcor') can be applied to the suspension heights when piston rod 166 is fully retracted (Hmin) in a second summation block 246 to determine target suspension heights (Hs') that are optimized for suspension assemblies 160. From the target suspension heights (Hs'), and the predetermined and derived parameters mentioned earlier, the target strokes (S') can then be calculated geometrically, 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 drain fluid to or from the control volumes 218 to minimize an error value (E) between certain (target) values ​​and measured values. Tire Deflection

[036] Furthermore, in one aspect, in block 250, the controller 232 can be run to determine the static load bearing suspension height circumference (Rsl) for each tire 45 from a pressure indicated by a pressure sensor 220 configured relative to a control volume 218 to operate a cylinder 164 of the suspension assembly 160, providing a pressure (indicated by “p”), included as described above in relation to Figure 5. In particular, the controller 232 can convert the pressures (p) to determine the downward forces on the tires 45. The downward forces on the tires 45 can be determined, for example, by first calculating the first pressure forces on the first sides of the cylinders 164 of suspension assemblies 160 in which the tires 45 are mounted, and then calculating the second pressure forces. Petition 870260063237, dated 06 / 26 / 2026, page 70 / 83 / 32 on the second sides of the cylinders 164 of the suspension assemblies 160 on which the tires 45 are mounted, and when comparing the first and second forces. The first sides of the cylinders 164 may include the base 168 and the base port 208, and the second side of the cylinder may include the piston rod 166 and the rod port 210. The first force is then a product of the first pressure and an area of ​​the first side, and the second force is then a product of the second pressure and an area of ​​the second side. However, given a portion of the area of ​​the second side that is taken up 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 forces down, the processor can then reference data structure 238 to compare tire dimensions (indicated by “R”) with applied forces (indicated by “F”) in a working range (indicated by “WR”), as described above in relation to Figure 3. Typically, in the working range (WR), tire dimensions (R) change proportionally with the applied force (F). From data structure 238, the precise static load rolling circumference (Rsl), reduced by a deflection value (Rcor), can be determined for each tire 45.

[038] As the above calculations relate to suspension heights (Hs), with the static load rolling circumference (Rsl) for each tire calculated, controller 232 can be run to calculate one or more articulation (A), rolling (R), clearance (P), and / or machine height (H) characteristics of sprayer 15, in block 252, due to tire deflection or squat, to determine tire articulation height corrections (indicated by “ARcor”), tire rolling height corrections (indicated by “RRcor”), tire clearance height corrections (indicated by “PRcor”), and / or tire height machine corrections (indicated by “MHRcor”), respectively. Each of the height corrections Petition 870260063237, dated 06 / 26 / 2026, page 71 / 83 / 32 announced tire height can be calculated in order of priority to determine 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 consider multiple tire deflection or squat characteristics, one after the other, as long as suitable suspension heights remain available.

[039] Although any articulation, bearing, clearance, and / or tire 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 static load bearing circumferences (Rsl) of the sprayer 15. Articulation can be calculated with a difference between a first average static load bearing circumference (Rsl) of the front left and rear right tires 45a, 45d and a second average static load bearing circumference (Rsl) of the front right and rear left tires 45b, 45c to determine tire articulation height corrections (ARcor).Tire linkage height corrections (ARcor) can then be applied to target height corrections (Rcor') for the 160 suspension assemblies in the first summation block 244, as long as the proper suspension height (HS) remains.

[040] The bearing is a comparison between static load bearing circumference (Rsl) of the left and right sides of the sprayer 15. The bearing can be calculated as a difference between a first average static load bearing circumference (Rsl) of the front left and rear left tires 45a, 45c and a second average static load bearing circumference (Rsl) of the front right and rear right tires 45b, 45d to determine height corrections. Petition 870260063237, dated 06 / 26 / 2026, p. 72 / 83 / 32 of tire rolling (RRcor). The tire rolling height corrections (RRcor) can then be applied to the target height corrections (Rcor') for the 160 suspension assemblies in the first summation block 244, as long as proper suspension height (HS) remains.

[041] The pitch or clearance is a comparison between the front and rear static load bearing circumference (RSL) of the sprayer 15. The clearance can be calculated as a difference between a first average static load bearing circumference (Rsl) of the front left and front tires 45a, 45b and a second average static load bearing circumference (Rsl) of the rear left and rear right 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 proper suspension height (HS) remains.

[042] Machine height is a comparison between static load bearing circumference (Rsl) of each tire 45 of sprayer 15. An average static load bearing circumference (Rsl) can be calculated to determine machine tire height corrections (MHRcor). The machine tire height corrections (MHRcor) can then be applied to the target height corrections (Rcor') for the suspension assemblies 160 in the first summation block 244, as long as proper suspension height (HS) remains.

[043] Then, 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 Petition 870260063237, dated 06 / 26 / 2026, page 73 / 83 / 32 suspension sets 160. From the target suspension heights (Hs'), and the predetermined and derived parameters mentioned above, the target strokes (S') can then be geometrically calculated to provide a closed-loop control system 260 as described above. Closed-Loop Control

[044] Referring now to Figure 8, the controller 232 can execute the closed-loop control system 260 to control the valves 206 to drain fluid to or from the control volumes 218 to minimize an error value (E) between certain (target) values ​​and measured values. In particular, in block 262, the controller 232 can determine target control volumes 218 (indicated by “CV’”) that correspond to target strokes (S’) for cylinders 164 and a pressure (p) indicated by a pressure sensor 220 from a control volume 218 to cylinder 164 to finally produce the target strokes (S’) in a steady-state or equilibrium condition.Furthermore, in block 264, the controller 232 can determine a measured fluid quantity in each control volume 218 using a position indicated by a position sensor, the 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.

[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 which 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 Petition 870260063237, dated 06 / 26 / 2026, pp. 74 / 83 / 32 cylinder 164 diagonally opposed having a third portion of the control volume 218 (like the piston rod side 166 of cylinder 164c having a third portion of the control volume 218b). In most systems, the interconnected lines between cylinders 164, accumulators 202 and valves 206 may be negligible; however, an additional constant may be added to consider this volume within the scope of the invention.

[046] The base volume 168 of cylinder 164 can be easily 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 fluid portion volume 212 of accumulator 202 can be calculated indirectly by first determining a volume of the gas portion 214 of accumulator 202, then subtracting the gas portion volume 214 from a 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 gas pressure in gas portion 214; “V” is the volume of gas portion 214 to be reconditioned; “n” is the amount of gas (in moles) in 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 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 an operating constant. Petition 870260063237, dated 06 / 26 / 2026, page 75 / 83 / 32 predetermined, or alternatively, it can be approximated to be equal to the temperature provided by 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 the closed-loop control 268, such as through proportional integral derivative (PID) control, to control the valves 206 to drain 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 unwanted twisting. For example, the sprayer 15 may encounter decreasing slopes to the left or right, or decreasing ramps forward or backward, twisting the chassis, affecting spraying operations and / or risking loss of control. The sprayer 15 can be enabled to maintain a substantially constant chassis orientation to the horizon, particularly of about 0°, by using an Inertial Measurement Unit (IMU) 270, an electronic device configured to measure and report a specific body force, angular velocity and / or magnetic field surrounding the body, using a combination of accelerometers, gyroscopes and / or magnetometers.The IMU 270 can detect, for example, orientations with respect to at least two axes, which include: an x-axis to detect slopes in the chassis toward the horizon that cause rolling; and a y-axis to detect ramps in the chassis toward the horizon that cause drift. For example, with further reference to... Petition 870260063237, dated 06 / 26 / 2026, pp. 76 / 83 / 32 In Figure 9A, the IMU 270 can detect an angle Θ indicating chassis rolling toward the horizon to the right (which may be caused by a decreasing tilt to the right).

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

[050] In another aspect, whether an IMU is present or not, operator input 274 can be provided by an operator in the cab to provide desired adjustment settings, such as a clearance (C). A vehicle speed sensor and a turning angle sensor can provide measurements used by the controller 232 to compare to a guidance frame 278. If a transmission from the speed sensor and / or turning angle sensor exceeds a threshold, the 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, the guidance frame 278 can drive overcompensation (beyond zero) of the suspension to counteract Petition 870260063237, dated 06 / 26 / 2026, page 77 / 83 / 32 “twisting” between chassis frame 25 and spray lance 17. Alternative Suspension System

[051] It should be noted that several aspects of the invention may also apply to alternative suspension systems. For example, with further reference to Figure 10, an alternative suspension system 300 may be implemented in 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 that is responsive 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 may be operationally coupled to an upper support assembly 308, which operates as an articulated frame assembly, at an actuation point 310, such as actuation point 176, which may be at a relative corner of the chassis 20.Cylinder 302 can also be operationally coupled to a middle support assembly 312 at a cylinder point 314, such as cylinder point 174. Suspension system 300 can also include a pneumatic air bag 316 for shock absorption. The air bag 316 can be operationally coupled to the middle support assembly 312, mounted below. The air bag 316 can also be operationally coupled to a lower support assembly 318. The lower support assembly 318 can include a hub point 320, such as hub point 172, for mounting wheel 44 (or multiple wheels, included for driving a continuous band of tracks 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 sliding upper guides 324 mounted on an upper side of the middle support assembly 312, between the middle support assembly 312 and the chassis 20. This arrangement. Petition 870260063237, dated 06 / 26 / 2026, pp. 78 / 83 / 32 also allows the action of the air bag 316 to cause the lower support assembly 318 to slide up and down at the sliding points 326, along lower sliding guides 328 mounted on a lower side of the middle support assembly 312. In one aspect, the base 306 of each cylinder can be operationally coupled at the actuation point 310, and a piston rod 166 of each cylinder can be operationally coupled at the cylinder point 314, as shown in Figure 10. However, in another aspect, the base 168 of each cylinder can be operationally coupled at the cylinder point 314, and a piston rod 166 of each cylinder can be operationally coupled at the actuation point 310.Cylinder 302 and air bag 316 can allow the suspension system 300 to be set to a predetermined adjustable clearance (C), as determined by the operator, in order to provide the sprayer's full height 15. The suspension control system 230 (Figure 6) can be applied in relation to cylinder 306 to allow it to travel on rougher terrain, which can be provided by the bag 316.

[052] Although the best observed mode of embodiment of the present invention by the inventors is described above, practice of the invention above is not limited beyond that. It will be shown that various additions, modifications and rearrangements of the functions of the present invention can be made without departing from the spirit and scope of the underlying inventive concept.

Claims

1. SUSPENSION CONTROL SYSTEM PROVIDING TIRE HEIGHT CORRECTIONS FOR AN AGRICULTURAL MACHINE comprising: a plurality of suspension assemblies (160), wherein each suspension assembly (160) comprises an articulated frame assembly (162) and a cylinder (164), wherein each cylinder (164) comprises a piston rod (166) configured to extend and retract relative to a base (168), wherein the articulated frame assembly (162) is coupled to the agricultural machine (15) at a pivot point (170) and is coupled to a wheel (44) at a hub point (172), and wherein the cylinder (164) is operationally coupled to the agricultural machine (15) at a cylinder point (174) and is also operationally coupled to the articulated frame assembly (162) at an actuation point (176) distal to starting from the pivot point (170) so that the action of the cylinder (164) at the actuation point causes the set of articulated frames (162) to pivot at the pivot point (170);a plurality of tires (45), wherein each tire is mounted to a wheel (44); a plurality of electronically controlled valves (206), wherein each electronically controlled valve is configured to control a fluid flow to and from a control volume (218) to operate a cylinder (164); a plurality of pressure sensors (220), wherein each pressure sensor is configured to generate a signal indicating a pressure (p) of a control volume (218); and a controller (232) in communication with the plurality of electronically controlled valves (206) and the plurality of pressure sensors (220), wherein the tire deflection control is done by a Petition 870260063237, dated 06 / 26 / 2026, page. 80 / 83 2 / 3 controller (232) that: determines a downward force for each tire (450) from a pressure indicated by a pressure sensor (220) from a control volume (218) to a cylinder (164) of a suspension assembly (160) to which the tire is mounted;determines a tire height correction for each tire from the downward force; and controls the electronically controlled valves (206) to change the control volumes to apply the tire height corrections; characterized in that the downward force for a tire (45) is determined by calculating a first force from a first pressure on a first side of a cylinder (164) of a suspension assembly (160) to which the tire is mounted, calculating a second force from a second pressure on a second side of the cylinder (164) of the suspension assembly (160) to which the tire is mounted, and comparing the first and second forces.

2. SUSPENSION CONTROL SYSTEM, according to claim 1, characterized in that the first side of the cylinder (164) includes the base (168) and a base port (208) for extending the piston rod (166) when fluid flows to the base port (208), and the second side of the cylinder (164) includes the piston rod (166) and a rod port (210) for retracting the piston rod (166) when fluid flows to the rod port.

3. SUSPENSION CONTROL SYSTEM, according to claim 2, characterized in that the first force is a product of the first pressure and an area of ​​the first side, and the second force is a product of the second pressure and an area of ​​the second side less an area taken up by the piston rod (166).

4. SUSPENSION CONTROL SYSTEM, according to Petition 870260063237, dated 06 / 26 / 2026, page 81 / 83 3 / 3 with claim 3, characterized in that the base (168) of each cylinder (164) is operationally coupled to the agricultural machine (15) at the cylinder point (174) and the piston rod (166) of each cylinder (164) is operationally coupled to the articulated frame assembly (162) at the actuation point (176).

5. SUSPENSION CONTROL SYSTEM, according to claim 1, characterized in that the controller (232) is additionally executed to make reference to a data structure that compares tire dimensions to forces to determine tire height corrections.

6. AGRICULTURAL SPRAYER characterized by having a suspension system as defined in claims 1 to 5.

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