Agricultural Spreader Linkage Stabilization via Yaw Rate Control
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Solution Overview
Problem
Agricultural spreader distributor linkages tend to incline downwards on the inside during cornering due to unaccounted centrifugal accelerations, leading to unstable operation.
Innovation Solution
Incorporating a yaw rate sensor to measure and counteract the forces acting on the distributor linkage during cornering by adjusting the damping elements and actuators, using calculated centrifugal acceleration data to maintain the linkage's position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the distributor linkage is controlled using only frame movement sensors, then the control system is simple, but the linkage cannot compensate for centrifugal forces during cornering
Solution Approach 1:
The control device calculates centrifugal acceleration based on yaw rate sensor data and driving speed before the linkage is deflected by these forces. This preliminary calculation allows the system to anticipate and compensate for the expected deflection, maintaining linkage position stability during cornering without requiring complex real-time sensing of the deflection itself.
Solution Approach 2:
The yaw rate sensor serves as an intermediary that indirectly measures the effect of centrifugal forces on the linkage. Instead of directly sensing the linkage position or the forces acting on it, the system uses the yaw rate (rotational speed of the vehicle) and driving speed to calculate the centrifugal acceleration, which then serves as the control input for maintaining linkage position.
2Device complexity
If no compensation for centrifugal acceleration is implemented, then the device structure remains simple, but the distributor linkage deflects from the target position during cornering
Solution Approach 1:
The patent replaces direct mechanical compensation mechanisms with an electronic control system. Instead of using complex mechanical linkages or physical counterweights to balance centrifugal forces, the system uses sensors (yaw rate sensor, driving speed sensor) and electronic calculations to determine centrifugal acceleration, then actuates appropriate components to compensate for the effect, achieving precise linkage position control with simpler overall structure.
3Device complexity
If the system reacts after the linkage is deflected, then the control response is simpler, but the deflection from target position increases
Solution Approach 1:
The control device performs preliminary calculation of centrifugal acceleration using yaw rate and driving speed data before the linkage actually deflects. This allows the system to anticipate the upcoming deflection and activate compensation mechanisms in advance, preventing the linkage from moving away from the target position rather than reacting after deflection has occurred.
Solution Approach 2:
The system continuously monitors yaw rate and driving speed, calculates centrifugal acceleration in real-time, and uses this feedback to adjust the linkage control. This closed-loop feedback mechanism ensures that the linkage remains at the target position by constantly adapting to changing vehicle dynamics, preventing position deviation before it occurs.
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
The solution effectively stabilizes the distributor linkage during turns by anticipating and compensating for centrifugal forces, preventing deflection and ensuring precise positioning.
Implementation Method 1
the centrifugal acceleration is calculated using the rotational speed determined by the rotation rate sensor and the actual driving speed
Data Source
Figure 1
Figure 2
Figure 3~4
AI summary
Agricultural spreading machine with a spreading boom (3) and a frame (5) supported on a chassis on the ground and at least one storage container, wherein the spreading boom (3) is suspended on the frame by means of a suspension device so as to be movable at least about a pivot axis (14) extending in the direction of travel, wherein the spreading boom (3) has an extension transverse to the direction of travel which is a multiple of the transport width of the spreading machine (3), wherein the suspension device has at least a damping element arranged between the spreading boom (3) under the frame and/or at least one actuator (17) for influencing the position of the spreading boom (3), which can be controlled by an electronic control device according to a control and/or evaluation program stored in the memory of the control device, to which data from at least one sensor determining operating data of the spreading machine are supplied.In order to easily obtain data in order to avoid adverse deflection of the distributor linkage during cornering or turning maneuvers, the sensor determining operating data is designed as a yaw rate sensor, and the damping element and/or actuator for influencing the position of the distributor linkage (3) can be controlled and/or adjusted based on the measurement data obtained by the yaw rate sensor (19) in such a way as to counteract the forces acting on the distributor linkage during cornering and/or turning maneuvers.