SISTEMA DE CONTROLE DE SUSPENSÃO QUE FORNECE CONTROLE DE CICLO FECHADO DE VOLUMES DE FLUIDO HIDRÁULICO PARA UMA MÁQUINA AGRÍCOLA E PULVERIZADORA AGRÍCOLA

Abstract

In one aspect, it is a control system that determines fluid flow in a suspension system for an agricultural machine by determining the total fluid in a closed-loop piston system. The fluid is determined using position sensors and a pressure transducer, and by applying ideal gas relative to each accumulator. Thus, a closed-loop control system can target a specific amount of fluid for ideal suspension control.

Description

"SUSPENSION CONTROL SYSTEM PROVIDING CLOSED-LOOP CONTROL OF HYDRAULIC FLUID VOLUMES 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, in particular to a suspension system for an agricultural machine that includes suspension assemblies, position sensors, pressure sensors, electronically controlled valves and a processor configured to determine a measured quantity of hydraulic fluid in a control volume to operate a hydraulic cylinder of a suspension assembly, calculate an error value as a difference between a target quantity of hydraulic fluid for the control volume and the measured quantity and control a valve in a closed-loop control system to flow hydraulic fluid to or from the control volume to minimize the error value. Background of the Invention

[002] Long-range sprayers are becoming increasingly larger and more complex to allow for greater coverage in a single pass, improving application efficiency. Such sprayers may encounter a variety of soil surface conditions such as rocks, bumps, mounds, holes, grades, slopes, and the like, and many of these can affect different wheels of the machine at different times. As a result, sometimes the spray booms that extend laterally may come into contact with the ground, potentially resulting in damage. In addition, uneven weight distribution of the agricultural machine on certain wheels can cause the machine to lose traction, become stuck, or create other operational problems. In order to minimize the effect of such conditions, operators typically travel at low speeds (on the order of 8 km / h or Petition 870260063273, dated 06 / 26 / 2026, pp. 51 / 87 / 32 miles / hour or less) when there is a risk of encountering such soil surface conditions. However, driving at low speeds has the disadvantage of requiring more time to treat an agricultural field, which can result in operator fatigue, machine wear and tear, and / or lost productivity. Therefore, it is desirable to improve the suspension system for such machines. Description of the Invention

[003] In one aspect, it is a control system that determines the fluid flow in a suspension system for an agricultural machine by determining the total fluid in a closed-loop piston system. The fluid is determined using position sensors and a pressure transducer and by applying the ideal gas in relation to each accumulator. Thus, a closed-loop control system can target a quantity of fluid for ideal suspension control.

[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 provided at each wheel location). Each piston may be operable to adjust the height of the agricultural machine relative to its nearest wheel via 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 actuate the fluid flow, and a closed-loop controller (which may be a Proportional Integral Derivative (PID) controller) to set the piston stroke to target the setpoint while minimizing a feedback error measured by the piston sensor. Each piston may also be in communication with a diagonally opposite piston to control the fluid flow in the diagonally opposite piston, including as described in US Patent Document No. 8,297.634 which is incorporated by way of reference. A control system. Petition 870260063273, dated 06 / 26 / 2026, pp. 52 / 87 / 32, may be provided on the agricultural machine to dynamically adjust the pistons located near each wheel. The control system may implement logic to: (1) constantly evaluate the articulation, clearance, roll, and / or height of the machine relative to the wheels based on sensor readings from the pistons located near the wheels; (2) determine the target height settings for each wheel to provide machine orientation above the ground surface, thereby protecting the laterally extending spray booms (and / or substantially equalizing the machine weight on each wheel); and (3) send a stroke setting point based on the target height to a closed-loop controller (which may be a PID controller) in communication with each continuously operated piston 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 signal can represent the direction of articulation, which can be clockwise or counterclockwise. Forward / reverse drift 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 sides of the machine.The control system can determine the fluid flow in the suspension system by estimating the total fluid in each closed-cycle 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 by tracking the flow. Petition 870260063273, dated 06 / 26 / 2026, page 53 / 87 / 32 fluid between diagonally opposed pistons. By determining the articulation, clearance, roll 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 into a corresponding stroke adjustment 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 to achieve the calculated stroke adjustment.Consequently, the detected feedback error can be provided as part of two closed loops: (1) a first loop that executes the control system to determine the calculated stroke adjustment; and (2) a second loop to achieve the provided stroke adjustment in each piston.

[005] So, specifically, one aspect of the present invention may provide a suspension system for an agricultural machine that includes: multiple suspension assemblies, each suspension assembly including a swing frame assembly and a cylinder, each cylinder including a piston rod configured to extend and retract relative to a base, and the swing frame assembly being coupled to the agricultural machine and the cylinder being operationally coupled to the swing frame assembly at an actuation point; multiple position sensors, each position sensor configured to generate a signal indicating a suspension height; multiple electronically controlled valves, each electronically controlled valve configured to control a fluid flow to and from a control volume to operate a cylinder;multiple accumulators, each accumulator including a portion of fluid moving relative to a portion of gas, and each accumulator is configured relative to a cylinder, wherein each control volume for operating a cylinder includes one; Petition 870260063273, dated 06 / 26 / 2026, page 54 / 87 / 32 portion of fluid from an accumulator; multiple pressure sensors, each pressure sensor configured to generate a signal indicating a pressure of a control volume; and a processor communicating with the position sensors, the electronically controlled valves and the pressure sensors, the processor executing a program stored in a non-transient medium to: determine a measured quantity of fluid in each control volume using a position indicated by a position sensor configured relative to a cylinder and a pressure indicated by a pressure sensor from a control volume to the cylinder; calculate an error value for each control volume as a difference between a target quantity of fluid for the control volume and the measured quantity of fluid in the control volume;and to control the electronically controlled valves in a closed-loop control system to flow fluid to or from the control volume to minimize the error value;

[006] Other aspects, objects, functions and advantages of the invention will be apparent to those skilled in the art from the following 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 throughout the attached figures where similar reference numbers represent similar parts. 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. Petition 870260063273, dated 06 / 26 / 2026, pages 55 / 87 / 32 Figure 1; Figure 3 is a simplified diagrammatic 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 transversely 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 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 that illustrate a chassis angle to the horizon and negate 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] Now with reference to the figures and, specifically, to Figure 1, an agricultural machine is shown here as a self-propelled agricultural sprayer vehicle or self-propelled sprayer 15 having a spray lance 17, such as those available from CNH Industrial, including the Miller Nitro and Condor Series sprayers and the 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 Petition 870260063273, dated 06 / 26 / 2026, page 56 / 87 / 32 motor 35 and includes at least one hydraulic pump that may be in a hydrostatic arrangement to provide hydrostatic pressure to operate hydraulic components within the hydraulic system 40. For sprayers with hydrostatic drives, hydraulic drive machines are operationally connected to the hydraulic pump(s) to rotate the wheels 44 with tires 45 mounted thereon. In mechanical drive applications, a mechanical transmission receives power from the motor 35 and distributes power to rotate the wheels 44 (and tires 45) through power-transmitting transmission line components such as drive rods, differentials, and other gear sets in the portal, reduction gearboxes, or other housings.In one aspect, the sprayer 15 may include four wheels 44, including: a front left wheel 44a (with a front left tire 45a mounted thereon), a front right wheel 44b (with a front right tire 45b mounted thereon), a rear left wheel 44c (with a rear left tire 45c mounted thereon), and a rear right wheel 44d (with a rear right tire 45d mounted thereon). Although an arrangement with four wheels 44 is shown as an example, in another aspect, a greater or lesser number of wheels 44, such as a sprayer 15 with six wheels 44, could be deployed. Additionally, although wheels 44 with tires 45 mounted thereon are shown as an example, in another aspect, continuous tracks of furrow plates or carrier plates could 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 product tank 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 that include beneficial liquid suspensions for Petition 870260063273, dated 06 / 26 / 2026, page 57 / 87 / 32 application in agricultural fields in the form of a spray lance 17. A rinsing system 9 may include a rinsing liquid storage system 51 which has a rinsing tank 53 which stores a rinsing liquid 54 such as water or other suitable rinsing liquid. Furthermore, an air purification system 11 may include a compressed air storage system 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 the liquid product 50, the rinsing liquid 54 and / or air 60 through various defined flow passages through the sprayer 15 and / or lance 17 depending on whether a spraying procedure, a rinsing procedure or a pneumatic purification or lance bursting procedure is being performed.During the spraying and rinsing procedures, the flow system can power a pump 61 to transport the liquid product 50 or the rinsing liquid 54 to the lance 17.

[010] In operation, the pump 61 can pressurize the liquid product 50 or rinsing liquid 54 through pumping components such as interconnected pipe pieces via a lance flow system 63 which includes lance pipe segments 65 for release at lance nozzles 70 that are separated from each other 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, with the use of electronically controlled switches). Consequently, such pumping components can connect the product storage system 47, the rinsing liquid storage system 51 and the lance 17 via an integrated valve system and lance valve system. During spraying procedures, groups of nozzles 70 are defined in spray sections along with the lance 17 Petition 870260063273, dated 06 / 26 / 2026, pp. 58 / 87 / 32, allows for the selective delivery of product 50 for release in an agricultural field at locations corresponding to active spraying section positions. The boom 17 is connected to the chassis 20 with a lifting arm assembly 75 that is configured to move the boom 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 corresponding width of the assembled boom 17. The 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 trailing boom segments 100 extending in opposite directions along the respective mirrored left and right boom arms 87, 89 around a longitudinal geometric axis of the sprayer 15. The corresponding left and right segments of the pairs of primary, secondary and trailing boom segments 90, 95, 100 are substantially identical, therefore only one will be described, the description applying to both left and right boom arms 87, 89.The primary boom segment 90 has an inner primary boom end 105 that is connected with hinge 110 to the outer center section end 115, with hinge 110 configured to allow horizontal pivoting, generally backward, of the primary, secondary, and trailing boom segments 90, 95, 100 toward the chassis 20 when folding the boom 17 to reach a stored position. The primary boom segment 90 extends from the inner primary boom end 105 away from the center section 85 to the outer primary boom end 120. Hinge 125 is disposed between the outer primary boom end 120 and the outer secondary boom end 130 and is configured to allow... Petition 870260063273, dated 06 / 26 / 2026, page 59 / 87 / 32 folding of the secondary and escape segments 95, 100 in relation to the primary boom segment 90 to reach the stored position. For the horizontal folding of the secondary and escape segments 95, 100 against the primary boom segment 90, the hinge 125 allows horizontal pivoting of the secondary and escape segments 95, 100 towards the primary boom segment 90. For the vertical folding of the secondary and escape segments 95, 100 against the primary boom segment 90, the hinge 125 allows vertical pivoting of the secondary and escape segments 95, 100 towards the primary boom segment 90. The secondary boom segment 95 extends from the inner end of the secondary boom 130 away from the primary boom segment 90 to the outer end of the secondary boom 135.The escape joint 140 is disposed between the outer end of the secondary boom 135 and the inner end of the escape boom 145 and is configured to allow momentary deflection of the escape boom segment 100 away from its extended position during collisions with crops, soil and / or other obstacles. The escape boom segment 100 extends from the inner end of the escape boom 145 away from the secondary boom segment 95 to the outer end of the escape boom 150. In the stored position of the boom 17, the secondary and escape 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 end of the escape boom 150 is close to the inner end of the primary boom 105 threaded towards the front of the sprayer 15 and the outer end of the primary boom 120 and the inner end of the secondary boom 130 threaded towards the rear of the sprayer 15. Suspension System

[012] As explained in more detail below, sprayer 15 may include a suspension system with four sets of Petition 870260063273, dated 06 / 26 / 2026, page 60 / 87 / 32 separate suspension assemblies 160, each corresponding to a respective wheel 44 of the sprayer 55. A suspension assembly 160 is illustrated in Figure 3 as an example. For sprayer 15, front left, front right, rear left and rear right suspension assemblies 160a, 160b, 160c and 160d, respectively, can be similarly configured. However, alternative aspects may provide larger or smaller numbers of suspension assemblies.

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

[014] Each suspension assembly 160 may include a swing frame assembly 162 and a cylinder 164. The cylinder 164 could 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 Petition 870260063273, dated 06 / 26 / 2026, page 61 / 87 / 32 a base 168. The oscillating frame assembly 162 can connect to the sprayer 15 at a pivot point 170 which could be at a relative corner of the chassis 20. The oscillating frame assembly 162 can also connect to one or more wheels 44, with tires 45 mounted on them, at a central point 172 (or multiple wheels, including to drive a continuous track of furrows or conveyor plates). Cylinder 164 can be operationally coupled to the agricultural machine at a cylinder point 174 which could also be at a relative corner of the 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 actuation point 176 to cause the oscillating frame assembly 162 to pivot at pivot point 170.Connections between the swing frame assembly 162 and the pivot point 170, the swing frame assembly 162 and the center point 172, the cylinder 164 and the cylinder point 174 and / or the cylinder 164 and the actuation point 176 could be made, for example, by pins fastened through holes in the swing frame assembly 162 and / or in the cylinder 164 and corresponding channels in the chassis 20 and / or in the wheels 44 and including mounting structures 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 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 piston rod position 166 relative to base 168 (indicated by the stroke “S”) can set a relative suspension height (indicated by “Hs”) for the suspension assembly 160. In operation, when cylinder 164 is a double-acting cylinder, the piston rod Petition 870260063273, dated 06 / 26 / 2026, pages 62 / 87 / 32 166 can be set to a standard stroke length and can extend and retract from the standard stroke length with movement of the sprayer 15 over the ground, which can serve to dampen and control the pivot movement of the oscillating 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). Such predetermined parameters may include: a distance between the pivot point 170 and the center 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 center area of ​​the chassis 20 (or belly tray) 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 collapsed (indicated by “HCmin”); and a piston rod length of 166 when extended length from cylinder 164 (when a piston rod “S” stroke of 166 becomes “Smax”).It should be noted, therefore, that any length of cylinder 164 (indicated by “HC”) is equal to the length of cylinder 164 when piston rod 166 is fully retracted (HCmin) plus the stroke of piston rod 166 (S). As an example, the vertical distance between pivot point 170 and the lowest central area of ​​chassis 20 (Hbp) could be about 38 centimeters (15.112 inches); the distance between pivot point 170 and center point 172 (D) could be about 175 centimeters (69.170 inches); the distance between pivot point 170 and actuation point 176 (A) could be about 73 centimeters (29 inches); the distance between pivot point 170 and cylinder point 174 (F) could be about 73 centimeters (29 inches); the length of the piston rod 166 when fully extended from the cylinder 164 (Smax). Petition 870260063273, dated 06 / 26 / 2026, pp. 63 / 87 / 32 could be, for example, about 20 centimeters (8 inches) and the length of cylinder 164 when piston rod 166 is fully retracted (HCmin) could be about 48 centimeters (19 inches). From the predetermined parameters, additional parameters can be derived, which include: an arm-to-cylinder angle between a first line through cylinder point 174 and actuation point 176 and a second line through actuation point 176 and pivot point 170 (indicated by the angle “ac”); and a wheel-to-arm angle between a third line through center point 172 and pivot point 170 and a fourth line horizontally through center point 172 (indicated by “tc”).

[017] Additionally, 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 166 position relative to the base 168 that corresponds to the stroke (S). For example, when the piston rod 166 has a length of about 20 centimeters (8 inches), the piston rod 166 could be set with a standard stroke that is a midpoint of 10 centimeters or 4 inches (S = 4). When the piston rod 166 is fully extended (Smax), the stroke length could be 20 centimeters (or 8 inches) (S = 8) and when the piston rod 166 is fully retracted (Smin), the stroke length could be 0 centimeters or 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 geometrically calculated, as per the equation: Hs =_D*COS(_tc-(ACOS((_AA2+_FA2-(S+_HCMíN)A2) / (2*_A*_F))-_ac)). Petition 870260063273, dated 06 / 26 / 2026, pp. 64 / 87 / 32

[019] Additionally, 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 correction height (indicated by “Hcor”). As an example, the suspension height when piston rod 166 is fully retracted (Hmin) could be about 41 centimeters (16.145 inches).

[020] Additionally, each 45 tire may have a static load rolling circumference (indicated by “Rsl”) that provides a height dimension from the center point 172 to the ground. As an example, the static load rolling circumference of the 45 tire (Rsl) could be approximately 86 centimeters (34 inches). A sum of the rolling circumference (Rsl), the suspension height (Hs), and the vertical distance between the pivot point 170 and the lowest center area of ​​the chassis 20 (Hbp) provides an overall clearance for the sprayer 15 (indicated by “C”) between the crops and the ground below. The clearance (C) may be an adjustable value set by the operator, such as 190 centimeters (75 inches).

[021] However, the static load rolling circumference (Rsl) can be reduced by varying amounts depending on the downward force or load exerted on the tire 45. For example, as additional force (including weight) is applied to the tire 45, such as by loading the product tank 49 with the agricultural liquid product 50, the tire 45 will deflect increasingly by a deflection value (indicated by “Rcor”), also known as tire deflection, and the static load rolling circumference (Rsl) will consequently decrease. Conversely, as the force is reduced on the tire 45, such as by emptying the product tank 49 during spraying operations, the tire 45 will deflect increasingly by the deflection value (Rcor) and the static load rolling circumference (Rsl) will increase. Variable deflection values ​​(Rcor) can be specified in Petition 870260063273, dated 06 / 26 / 2026, pp. 65 / 87 / 32 a lookup table or other data structures 238 in a suspension control system (see Figure 6) compared to such tire dimensions with forces applied in a working range. The data structure 238 may include multiple unique data groups to differentiate tires, each data group being based on size, type, and similar factors according to tire manufacturers. From the 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 “leading” and “trailing” arms is generally described above as an example, in other respects, suspension systems with sliding and / or “wing” configurations could also be implemented. In such 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 front left suspension assembly 160a may include a front left cylinder 164a; the front right suspension assembly 160b may include a front right cylinder 164b; the rear left suspension assembly 160c may include a rear left cylinder 164c; and the rear right suspension assembly 160d may include a rear right cylinder 164d. The system 200 also includes accumulators 202a-d, various lines, hoses and fittings, such as T-fittings 204a-d and 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 fluid control volumes 218 in the system.Each 202 accumulator may have two chambers or portions separated by one. Petition 870260063273, dated 06 / 26 / 2026, p. 66 / 87 / 32 diaphragm, with a portion of incompressible fluid 212 in one and a portion of compressible gas 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 a 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 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 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 the 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 the fluid resistance in the interconnecting lines essentially acts as a shock absorber.

[024] Valves 206 control the amount of fluid in the associated accumulator 202 so that a desired neutral position (approximately 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 a sufficient amount in each direction to achieve the necessary pivoting movement of the assemblies. Petition 870260063273, dated 06 / 26 / 2026, page 67 / 87 / 32 of oscillating frame 162 and the desired vehicle height can be achieved for sprayer 15.

[025] System 200 also transversely 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 the T-fitting 204b) with the rod port 210 of cylinder 164c, and the base port 208 of cylinder 164c completes the loop by connecting (through another T-fitting 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 cycle through the connection (through another T-fitting 204d) to the rod port 210 of cylinder 164a. These interconnections are channeled transversely 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 the rotation of the sprayer 15), then the associated cylinder 164d or 164c, respectively, in the diagonally opposite assembly would also be brought 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 would be brought into the same extended or retracted position.This transverse action of the cylinders helps to keep the sprayer 15 in a horizontal orientation, so that the chassis... Petition 870260063273, dated 06 / 26 / 2026, pp. 68 / 87 / 32 remain level and approximately, a constant weight distribution to all four wheels can be maintained.

[026] Additionally, 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 218. 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 218.In one aspect, the temperature sensors 222 could 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 the valve 206b, can generate a signal indicating a temperature of the control volume 218b.

[027] A level orientation of the sprayer 15 maintains the approximately constant weight distribution between the wheels 44 and the tires 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] Referring now to Figure 6, a suspension control system 230 can be configured to provide suspension control for sprayer 15. The suspension control system 230 can include a Petition 870260063273, dated 06 / 26 / 2026, pp. 69 / 87 / 32 controller 232 which has a processor 233 in communication with position sensors 180, pressure sensors 220, temperature sensors 222 and valves 206. The processor 233 can communicate with the position sensors 180, pressure sensors 220, temperature sensors 222 and / or valves 206, for example, through a Society of Automotive Engineers (SAE) J1939 bus, International Organization for Standardization (ISO) 11783 bus, ISO 11898 bus and / or other Controller Area Network (CAN) bus or other communication system. Processor 233 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.Processor 233 can execute a program 234 stored in a non-transient medium 236 to receive signals from position sensors 180, pressure sensors 220 and / or temperature sensors 222 and provide signals to valves 206 to change control volumes 218 to optimally control the suspension system, as described in this document.

[029] With further reference to Figure 7, in one aspect, in block 240, processor 233 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 cylinder 164 of the suspension assembly 160, providing a stroke (S), which includes as described above in relation to Figure 3. With the suspension heights (Hs) for each of the suspension assemblies 160 calculated, processor 233 can then perform calculations of 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 herein, to determine articulation height corrections (indicated by “AHcor”), height corrections Petition 870260063273, dated 06 / 26 / 2026, page 70 / 87 / 32 of rolling (indicated by “RHcor”), clearance height corrections (indicated by “PHcor”) and / or machine height corrections (indicated by “MHcor”), respectively. Each of the aforementioned height corrections can be calculated in order of priority to determine respective contributions to the height corrections (Rcor), as target height corrections (Rcor'), to optimize the suspension assemblies 160. In this way, the suspension control system can account for multiple suspension characteristics, one after another, provided that the appropriate suspension heights (Hs) are available, including maintaining a defined clearance (C) and / or a zero frame orientation relative to the horizon (Figure 8). Such suspension heights (Hs) may be limited by maximum piston rod lengths 166 (Smax).

[030] Although any articulation, roll, clearance, and / or machine height characteristics 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 the suspension heights (Hs) of the front left and front right suspension assemblies 160a, 160d and a second average of the suspension heights (Hs) of the front right and rear left 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 until the point where the proper suspension height (Hs) remains.

[031] Roll is a comparison between suspension heights (Hs) on the left and right sides of the sprayer 15. Roll can be calculated as a difference between a first average of heights of Petition 870260063273, dated 06 / 26 / 2026, p. 71 / 87 / 32 suspension (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 160 suspension assemblies in the first summation block 244 until the point where the appropriate 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 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 until the point where adequate suspension height (Hs) remains.

[033] Machine height is a comparison between an overall clearance for the sprayer 15 (C) over crops and the ground below, which can be provided as operator input, and a 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 set by an operator at 190 centimeters (75 inches). Mathematically, machine height can be expressed as C - (Rsl + Hbp). An average machine height can be determined and applied uniformly 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 assemblies of Petition 870260063273, dated 06 / 26 / 2026, p. 72 / 87 / 32 suspension 160 in the first block of sum 244 up to the point where the appropriate suspension height (Hs) 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 summing 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 geometrically calculated, as according to the equation: S' = (_AA2+_FA2-2*_A*_F*CQS(ACQS((Hs') / _D)-_tc-_ac))A0.5-_ HCmin.

[035] Then, with further reference to Figure 8, the processor 233 can perform the control of 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] Additionally, in one aspect, in block 250, processor 233 can perform static load rolling circumference (Rsl) suspension height determination 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”), including as described above in relation to Figure 5. In particular, processor 233 can convert the pressures (p) to determine downward forces on the tires 45. The downward forces on the tires 45 could 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 in which the tires 45 are Petition 870260063273, dated 06 / 26 / 2026, pp. 73 / 87 / 32 assembled, calculate the second forces of the second pressures on the second sides of the cylinders 164 of the suspension assemblies 160 in which the tires 45 are mounted and compare the first and second forces. The first sides of the cylinders 164 could include the base 168 and the base port 208 and the second side of the cylinder could 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, since a portion of the area of ​​the second side is consumed by the piston rod 166, that 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 (denoted by “R”) with applied forces (denoted by “F”) in a working range (denoted by “WR”), as described above in relation to Figure 3. In general, in the working range (WR), tire dimensions (R) change proportionally to the applied force (F). From data structure 238, an accurate 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, processor 233 can perform the calculation of one or more of the articulation (A), rolling (R), clearance (P) and / or machine height (H) characteristics of sprayer 15, in block 252, due to tire deflection or lowering to determine the articulation tire height corrections (indicated by “ARcor”), rolling tire height corrections (indicated by “RRcor”), clearance tire height corrections (indicated by “PRcor”) and / or machine tire height corrections (indicated by Petition 870260063273, dated 06 / 26 / 2026, pp. 74 / 87 / 32 “MHRcor”), respectively. Each of the previous tire height corrections can be calculated in order of priority to determine their respective contributions to the tire height corrections (Rcor), as target tire height corrections (Rcor'), to further improve the 160 suspension assemblies. In this way, the suspension control system can account for multiple tire deflection or dip characteristics, one after the other, as long as the appropriate suspension heights (Hs) remain available.

[039] Although any articulation, roll, clearance, and / or machine tire height characteristics 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 rolling circumferences (Rsl) of the sprayer 15. Articulation can be calculated as a 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) of the front right and rear left tires 45b, 45c to determine articulation tire height corrections (ARcor).The articulation tire height corrections (ARcor) can then be applied to the target height corrections (Rcor') for the 160 suspension assemblies in the first 244 summation block until the point where the proper suspension height (Hs) remains.

[040] Roll is a comparison between static load rolling circumferences (Rsl) of the left and right sides 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 rolling circumferences (Rsl) of the right front tires Petition 870260063273, dated 06 / 26 / 2026, p. 75 / 87 / 32 and right rear 45b, 45d to determine rolling tire height corrections (RRcor). The rolling tire height corrections (RRcor) can then be applied to the target height corrections (Rcor') for the 160 suspension assemblies in the first sum block 244 up to the point where the proper suspension height (Hs) remains.

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

[042] Machine height is a comparison between static load rolling circumferences (Rsl) of each tire 45 of sprayer 15. An average of static load rolling circumferences (Rsl) can be calculated to determine the machine height tire corrections (MHRcor). The machine height tire corrections (MHRcor) can then be applied to the target height corrections (Rcor') for the suspension assemblies 160 in the first summation block 244 until the point where adequate suspension height (Hs) remains.

[043] Then, target height corrections (Rcor') with corrections for suspension assembly and / or tire characteristics 45 can be applied to suspension heights when piston rod 166 is fully retracted (Hmin) in the second summation block 246 to determine the Petition 870260063273, dated 06 / 26 / 2026, pp. 76 / 87 / 32 target suspension heights (Hs') that are optimized for the suspension assemblies 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 processor 233 can execute the closed-loop control system 260 to control the valves 206 to flow fluid to and from the control volumes 218 to minimize an error value (E) between determined (target) values ​​and measured values. In particular, in block 262, the processor 233 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 finally produce the target strokes (S’) in a steady state or equilibrium condition.Furthermore, in block 264, processor 233 can determine a measured quantity of fluid in each control volume 218 using a position indicated by a position sensor, the stroke (S), set 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 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 Petition 870260063273, dated 06 / 26 / 2026, pp. 77 / 87 / 32 diagonally opposed cylinder 164 having a third portion of the control volume 218 (such as the piston rod side 166 of cylinder 164c having a third portion of the control volume 218b). In most systems, the interconnection lines between cylinders 164, accumulators 202 and valves 206 may be negligible; 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 the fluid portion 212 of accumulator 202 can be indirectly calculated by first determining a volume of the gas portion 214 of accumulator 202, then by subtracting the volume of the 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 gas portion 214 to be dissolved; “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 Avogadro's 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 predetermined according to the manufacture of the accumulator 202. The gas temperature “T” can be fixed at a predetermined operating constant, or alternatively, it can be approximated to be equal to the supplied temperature. Petition 870260063273, dated 06 / 26 / 2026, pp. 78 / 87 / 32 regarding temperature sensors 222.

[047] With the target control volumes 218 (CV') and the measured control volumes (CV) determined, the processor 233 can then perform the comparison of the target control volumes 218 (CV') and the measured control volumes 218 (CV) in a closed-loop sum 266 to produce error values ​​(E) between the two groups. The error values ​​(E) can then be applied with closed-loop control 268, such as through 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 rotation. For example, the sprayer 15 could encounter downward tilts to the left or right or downward degrees forward or backward, rotating the chassis and affecting spraying operations and / or risking loss of control. The sprayer 15 can be enabled to maintain a substantially constant chassis-to-horizon orientation, particularly around 0°, with the use of an Inertial Measurement Unit (IMU) 270, an electronic device configured to measure and report a specific body force, angular rate, and / or magnetic field surrounding the body using a combination of accelerometers, gyroscopes, and / or magnetometers.The IMU 270 can detect, for example, orientations relative to at least two axes, including: a geometric x-axis to detect chassis tilts to the horizon that cause roll; and a geometric y-axis to detect chassis degrees to the horizon that cause drift. For example, with further reference to Figure 9A, the IMU 270 could detect an angle Θ that indicates... Petition 870260063273, dated 06 / 26 / 2026, p. 79 / 87 / 32 chassis roll to the right (which may be caused by a downward tilt to the right).

[049] If a substantially constant chassis orientation to the horizon is allowed to be maintained, and a chassis angle to the horizon is detected, in block 272, processor 233 can perform application of a factor corresponding to the target correction 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 through roll height corrections (RHcor) to control roll, such as to reduce roll, as provided in Figure 9. Similarly, for a detected offset, processor 233 could perform application of a correction factor corresponding to the target correction to provide self-leveling, such as through offset height corrections (PHcor) to control offset, such as to reduce offset.

[050] In another aspect, regardless of whether an IMU is present or not, operator input 274 could be provided by an operator in the cab to provide desired configuration settings, such as clearance (C). A vehicle speed sensor and a turning angle sensor could provide measurements used by processor 233 for comparison with a lookup table 278. If an output from the speed sensor and / or the turning angle sensor exceeds a limit, processor 233 can perform the application of clearance height corrections (PHcor) and / or roll height corrections (RHcor) to control clearance and / or roll to a desired target, which could be set to reduce clearance and / or roll. In one aspect, lookup table 278 could trigger overcompensation (beyond zero) of the suspension to “reverse turn” between the chassis frame 25 and the spray boom 17. Petition 870260063273, dated 06 / 26 / 2026, pages 80 / 87 / 32 Alternative Suspension System

[051] It should be noted that several aspects of the invention could also apply 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 could include a cylinder 302, such as cylinder 164. Cylinder 302 could be a single- 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 could 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 that operates as an oscillating frame assembly, at an actuation point 310, such as actuation point 176, which could be a relative corner 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. Suspension system 300 could also include a pneumatic air bag 316 for shock absorption. The air bag 316 could be operationally coupled to the intermediate support assembly 312 mounted below. The air bag 316 could also be operationally coupled to a lower support assembly 318. The lower support assembly 318 could include a center point 320, such as center point 172, for mounting wheel 44 (or multiple wheels, including driving a continuous track of grooves or conveyor 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 guides 324 mounted on an upper side of the intermediate support assembly 312 between the intermediate support assembly 312 and the chassis 20. This arrangement also allows the action of the air bag 316 to cause the lower support assembly 318 to slide. Petition 870260063273, dated 06 / 26 / 2026, page. 81 / 87 / 32 sliding up and down at sliding points 326, along with lower sliding guides 328 mounted on a lower side of the intermediate 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 set to an adjustable predetermined clearance (C), as determined by the operator, providing an overall sprayer height of 15.The suspension control system 230 (Figure 6) could be applied in relation to cylinder 306 to allow it to follow more resistant terrain than can be provided by bag 316.

[052] Although the best method contemplated by the inventors for carrying out the present invention is disclosed above, practice of the invention above is not limited to it. It will be understood that various additions, modifications and rearrangements of the features of the present invention can be made without departing from the essence and scope of the underlying inventive concept.

Claims

1. SUSPENSION CONTROL SYSTEM PROVIDING CLOSED-LOOP CONTROL OF HYDRAULIC FLUID VOLUMES FOR AN AGRICULTURAL MACHINE comprising: a plurality of suspension assemblies (160), each suspension assembly (160) comprising a swing frame assembly (162) and a cylinder (164), each cylinder comprising a piston rod (166) configured to extend and retract relative to a base (168), the swing frame assembly (162) being coupled to the agricultural machine (15), and the cylinder being operationally coupled to the swing frame assembly (162) at an actuation point (176); a plurality of position sensors (180), each position sensor (180) being configured to generate a signal indicating a suspension height;a plurality of electronically controlled valves (206), wherein each electronically controlled valve (206) is configured to control a fluid flow to and from a control volume (218) to operate a cylinder; a plurality of accumulators (202), wherein each accumulator (202) comprises a portion of fluid moving relative to a portion of gas, and wherein each accumulator (202) is configured relative to a cylinder, wherein each control volume (218) to operate a cylinder includes a portion of fluid from an accumulator (202); a plurality of pressure sensors (220), wherein each pressure sensor is configured to generate a signal indicating a pressure of a control volume (218);and a controller (232) communicating with a plurality of position sensors (180), a plurality of electronically controlled valves (206) and a plurality of pressure sensors, characterized in that to perform closed-loop control of hydraulic fluid volumes, the controller (232): determines a measured quantity of fluid in each control volume (218) using a position indicated by a position sensor (180) configured relative to a cylinder (164) and a pressure indicated by a pressure sensor (220) from a control volume (218) to the cylinder; calculates an error value for each control volume (218) as a difference between a target quantity of fluid for the control volume (218) and the measured quantity of fluid in the control volume (218);and controls the electronically controlled valves (206) in a closed loop control system to flow fluid to or from the control volume (218) to minimize the error value.; 2. SUSPENSION CONTROL SYSTEM, according to claim 1, characterized in that the electronically controlled valves (206) are controlled in closed-loop Proportional Integral Derivative (PID) control systems.

3. SUSPENSION CONTROL SYSTEM, according to claim 1, characterized in that each cylinder (164) is a double-acting hydraulic cylinder, and in which the controller (232) communicates with the plurality of position sensors (180), the plurality of electronically controlled valves (206) and the plurality of pressure sensors (220) through a vehicle bus.

4. SUSPENSION CONTROL SYSTEM, according to claim 1, characterized in that the measured quantity of hydraulic fluid in each control volume (218) is determined by adding a volume of the hydraulic cylinder that has a portion of the control volume (218) and a volume of the hydraulic fluid portion of an accumulator (202) that has another portion of the control volume (218), wherein the volume of the hydraulic cylinder is determined from the position indicated by the position sensor (180) and the volume of the hydraulic fluid portion of the accumulator (202) is determined from the pressure indicated by a pressure sensor.

5. SUSPENSION CONTROL SYSTEM, according to claim 4, characterized in that the volume of the hydraulic fluid portion of the accumulator (202) is determined by determining a volume of the gas portion of the accumulator (202) using the ideal gas law and by subtracting the volume of the gas portion of the accumulator (202) from a total volume of the accumulator (202).

6. SUSPENSION CONTROL SYSTEM, according to claim 1, characterized in that it further comprises a plurality of temperature sensors (222), each temperature sensor being configured to generate a signal indicating the temperature of a control volume (218).

7. SUSPENSION CONTROL SYSTEM, according to claim 6, characterized in that the measured quantity of hydraulic fluid in each control volume (218) is also determined by the use of a temperature indicated by a temperature sensor of a control volume (218) for the hydraulic cylinder.

8. SUSPENSION CONTROL SYSTEM, according to claim 1, characterized in that the plurality of suspension assemblies (160) consists of a front left suspension assembly (160a) having a front left hydraulic cylinder (164a), a front right suspension assembly (160b) having a front right hydraulic cylinder (164b), a rear left suspension assembly (160c) having a rear left hydraulic cylinder (164c), and a rear right suspension assembly (160d) having a rear right hydraulic cylinder (164d). Petition 870260063273, dated 06 / 26 / 2026, pp. 85 / 87 4 / 4 9. SUSPENSION CONTROL SYSTEM, according to claim 8, characterized in that the front left hydraulic cylinder (164a) is in fluid communication with the rear right hydraulic cylinder (164d) and the rear left hydraulic cylinder (164c) is in fluid communication with the front right hydraulic cylinder (164b).

10. SUSPENSION CONTROL SYSTEM, according to claim 1, characterized in that the volume of the hydraulic fluid portion of the accumulator (202) is determined by determining a volume of the gas portion of the accumulator (202) using the ideal gas law and by subtracting the volume of the gas portion of the accumulator (202) from a total volume of the accumulator (202).

11. AGRICULTURAL SPRAYER, characterized by having a suspension system as defined in claims 1 to 10.

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