Multivariable Controller for Agricultural Sprayer Boom
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Solution Overview
Problem
Existing agricultural spreaders face challenges in maintaining precise control over the distributor linkage's position above uneven field contours due to mutual influences between actuators, leading to vibrations and difficulties in adjusting the boom geometry effectively.
Innovation Solution
A multivariable controller is employed to manage the actuators, taking into account the mutual influence of the cantilevers, along with sensors providing input variables for actuating signals, and additional components like a state controller and Kalman filter to stabilize the linkage and minimize vibrations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If independent single-variable controllers are used to adjust each cantilever, then individual boom control is simplified, but the cantilevers swing up against each other causing vibrations and preventing position control
Solution Approach 1:
The patent merges the control of multiple cantilevers into a single multivariable controller that considers the mutual influences between all actuators and cantilevers simultaneously, rather than controlling each cantilever independently. This integration prevents the swinging and vibration problems caused by independent control while maintaining operational effectiveness.
Solution Approach 2:
The patent implements a feedback mechanism where sensors detect the actual positions of the cantilevers and feed this information back to the multivariable controller. The controller uses this feedback to continuously adjust actuator commands, ensuring stable position control despite the mechanical coupling between cantilevers.
2Measurement precision
If a multivariable controller is used to account for mutual influences between actuators, then position control precision is improved, but controller complexity increases
Solution Approach 1:
The multivariable controller uses real-time feedback from sensors monitoring cantilever positions to dynamically adjust actuator commands. This feedback mechanism enables precise position control by continuously compensating for mutual influences between actuators, achieving high precision without requiring overly complex mechanical structures.
Solution Approach 2:
The patent replaces complex mechanical coupling mechanisms with a sophisticated control system. Instead of designing mechanical structures to physically decouple the actuators, the system uses a multivariable controller with sensor feedback to achieve the same decoupling effect electronically, trading mechanical complexity for control system complexity.
3Manufacturing precision
If the distributor linkage is positioned lower to reduce product dispersion area, then application precision is improved, but vulnerability to field contour variations and vibrations increases
Solution Approach 1:
The patent makes the distributor linkage dynamic by enabling continuous adjustment of cantilever positions through actuators controlled by a multivariable system. This dynamic capability allows the linkage to adapt to field contour variations and maintain stable positioning even at lower heights, reducing vulnerability to harmful factors while preserving application precision.
Solution Approach 2:
Sensors continuously monitor the positions of the cantilevers relative to the field contour and feed this information back to the multivariable controller. This feedback enables real-time adjustments that compensate for field contour variations, allowing the distributor linkage to operate at lower heights with improved precision without being overly vulnerable to terrain changes.
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 setup allows for more precise control of the distributor linkage, reducing vibrations and improving the adaptation to field contours, ensuring consistent application of agricultural products across the field.
Implementation Method 1
additional components like a state controller and Kalman filter to stabilize the linkage and minimize vibrations
Implementation Method 2
A multivariable controller is employed to manage the actuators, taking into account the mutual influence of the cantilevers, along with sensors providing input variables for actuating signals
Data Source
Figure 1~3
Figure 4~5
AI summary
An agricultural spreading machine (10) is equipped with a spreading boom (26) and a chassis (12) that rests on the ground. The spreading boom (26) comprises a central segment (36) movably supported on the chassis (12) and two arms (32) movable by actuators (40). A control unit (50) includes a multi-variable controller (58) to which the signals from sensors (54) for detecting the relative position of both arms (32) with respect to a field contour can be supplied as input variables and which is configured to provide control signals for both actuators (40), each of which depends on both input variables.