Suspended Boom Sprayer Control System Torque Compensation
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Solution Overview
Problem
Conventional boom sprayer control systems face challenges in accurately measuring and mitigating the effects of chassis rotation on boom wings, leading to uneven spray application and potential damage due to the complexity of suspension systems and reliance on displacement measurements, which can be attenuated by damping elements.
Innovation Solution
A control system utilizing first and second sensors on the boom wings to measure tangential accelerations or angular velocities, determining differential acceleration to calculate disturbance torque, and using actuators to counteract this torque, thereby restoring the wings to their desired position without requiring additional reference sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If displacement measurements are used to control boom position, then the control system can track boom position, but the measurement precision is reduced due to attenuation by damping elements in the suspension system
Solution Approach 1:
The patent extracts the measurement function from the suspension system by placing sensors directly on the boom wings rather than measuring displacement through the suspension elements. This removes the attenuation problem caused by damping elements while maintaining position tracking capability.
Solution Approach 2:
The patent replaces mechanical displacement measurement through suspension elements with direct sensor measurement on the boom wings. This substitution eliminates the attenuation effect of damping elements and provides more accurate measurement of actual boom position.
2Measurement precision
If additional reference sensors are added to improve measurement accuracy, then measurement precision improves, but device complexity increases
Solution Approach 1:
The boom wings themselves serve as the reference frame for measurement. By measuring differential acceleration between the two wings, the system uses the wings' own motion characteristics to determine disturbance torque without requiring external reference sensors on the chassis.
Solution Approach 2:
The patent divides the measurement function into two separate sensors on the left and right boom wings, measuring their respective accelerations independently. The differential between these measurements provides the disturbance torque information, eliminating the need for a third reference sensor.
3Productivity
If long boom wings are used to cover wider swathes, then productivity increases, but the boom becomes more sensitive to chassis rotation causing spray application uniformity to deteriorate
Solution Approach 1:
The patent implements a feedback control system where sensors continuously measure the actual acceleration and disturbance torque on the boom wings, and actuators apply counteracting forces based on these measurements to maintain uniform spray application despite chassis rotation.
Solution Approach 2:
The system applies preliminary counteracting forces to the boom wings before the chassis rotation can significantly affect spray uniformity. By continuously measuring disturbance torque and applying opposing forces, the system prevents rather than corrects spray application deviations.
4Stability of the object's composition
If suspension elements are added to reduce chassis rotation effects, then spray application uniformity improves, but measurement precision deteriorates due to damping attenuation
Solution Approach 1:
The patent extracts the measurement function from the suspension system by placing sensors directly on the boom wings. This removes the measurement path through damping elements while maintaining the suspension elements' function of reducing chassis rotation effects on spray uniformity.
Solution Approach 2:
The patent separates the measurement function from the suspension function. Sensors on the boom wings measure actual position and acceleration directly, while the suspension elements independently provide stability without interfering with measurement precision.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach provides more accurate control of boom wings by directly measuring torque applied through mechanical connection, reducing errors from other suspension elements and improving sensitivity and performance by using fewer sensors and accounting for all suspension elements influencing the boom mass.
Implementation Method 1
first and second sensors, each configured to be disposed on respective first and second boom wings of the suspended boom sprayer and to provide an output responsive to a rotation of the first and second wings caused by a disturbance torque
Implementation Method 2
first and second sensors, each configured to be disposed on respective first and second boom wings of the suspended boom sprayer and to provide an output responsive to a rotation of the first and second wings
Implementation Method 3
a processor, configured to determine a differential acceleration between the first and second wings based on the outputs of the respective sensors, and to determine the disturbance torque corresponding to the differential acceleration
Implementation Method 4
at least one actuator, controllable to move one or both of the first and second wings in order to counter the disturbance torque
Data Source
Figure 1~2
Figure 3
Figure 4A~4B
AI summary
A control system for a suspended boom sprayer of a vehicle comprises: first and second sensors (111 a, 112a) each configured to be disposed on respective first and second boom wings (111, 112) of the suspended boom sprayer and to provide an output responsive to a rotation of the first and second wings (111, 112) caused by a disturbance torque; a processor (118), configured to determine a differential acceleration between the first and second wings (111, 112) based on the outputs of the respective sensors (111 a, 112a), and to determine the disturbance torque corresponding to the differential acceleration; and at least one actuator (115), controllable to move one or both of the first and second wings (111, 112) in order to counter the disturbance torque.