ISHS Acta Horticulturae 406: II IFAC/ISHS Workshop :Mathematical & Control Applications in Agriculture & Horticulture
DESIGN OF A MULTIVARIABLE ELECTRO-HYDRAULIC COMPENSATOR FOR ACTIVE VIBRATION CONTROL OF A FLEXIBLE SPRAY BOOM |
| Authors: | H. Ramon, J. De Baerdemaeker, K.U. Leauven |
| Abstract:
Longitudinal accelerations and yawing angular accelerations of a spraying-machine, mainly effected by soil roughness, induce horizontal flexible deformations of the spray boom which can be compensated actively. In an experimental set-up, a simple beam of six meters length that replaces the spray boom, is horizontally suspended onto a cradle with two hydraulic cylinders which preserve a longitudinal and yawing degree of freedom of the beam with regard to the cradle. Two displacement transducers measure the flexible deformation of the two boom tips. The Linear Quadratic Gaussian method with Loop Transfer Recovery (LQG/LTR method) is used to design the model-based compensator. The result is a stable and robust control system which attenuates boom deformations by more than ninety percent. | |
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