Sprayer Boom Active Suspension Using Intelligent Active Force Control
The control of sprayer boom undesired vibrations pose a great challenge to investigators due to various disturbances and conditions. Sprayer boom movements lead to reduce of spread efficiency and crop yield. This paper describes the design of a novel control method for an active suspension system applying proportional-integral-derivative (PID) controller with an active force control (AFC) scheme integration of an iterative learning algorithm employed to a sprayer boom. The iterative learning as an intelligent method is principally used as a method to calculate the best value of the estimated inertia of the sprayer boom needed for the AFC loop. Results show that the proposed AFC-based scheme performs much better than the standard PID control technique. Also, this shows that the system is more robust and accurate.
[1] J. J. Langenakens, L. Clijman, H. Ramon, & J. De Baerdemaeker, "The
Effects of Vertical Sprayer Boom Movements on the Uniformity of
Spray Distribution," J. agric. Engng Res., vol. 74, pp. 281-291, 1999.
[2] J. Anthonis, J. Audenaert, & H. Ramon, "Design Optimisation for the
Vertical Suspension of a Crop Sprayer Boom," Biosystems Eng., vol.
90, no. 2, pp. 153-160, 2005.
[3] B. Mahalinga Iyer, & B. M. J. Wills, "Factors determining the design of
tractor-mounted sprayer booms-sprayer nozzle characteristics," J. Agric.
Engng. Res. Vol. 23, pp. 37-43, 1978.
[4] J.J. Langenakens, H. Ramon, & J. De Baerdemaeker, "A model for
measuring the effect of tire pressure and driving speed on the horizontal
sprayer boom movements and spray patterns," Transactions of the
ASAE, vol. 38, no. 1, pp. 65-72, 1995.
[5] A. R. Frost, "Simulation of an Active Spray boom Suspension," J. agric.
Engng Res., vol. 30, pp. 313-325, 1984.
[6] A.R. Frost, & J. A. O,Sullivan, "Verification of a Mathematical Model
for a Passive Spray Boom Suspension," J. agric. Engng Res., vol. 34, pp.
245-255, 1986.
[7] H. Ramon, D. Anthonis, D. Moshou, & J. De Baerdemaeker,
"Evaluation of a Cascade Compensator for Horizontal Vibrations of a
Flexible Spray Boom," J. agric. Engng Res., vol. 71, pp. 81-92, 1998.
[8] K. Deprez, J. Anthonis, & H. Ramon, "System for vertical boom
corrections on hilly fields," Journal of Sound and Vibration, vol. 266,
pp. 613-624, 2003.
[9] J. Anthonis, & H. Ramon, "Design of an active suspension to suppress
the horizontal vibrations of a spray boom," Journal of Sound and
Vibration, vol. 266, pp. 573-583, 2003.
[10] M. Mailah, & G. Priyandoko, "Simulation of a suspension system with
adaptive fuzzy active force control," Int. J. Simul. Model, vol. 6, pp. 25-
36, 2007.
[11] C. Alexandru, & P. Alexandru, "The Virtual Prototype of a Mechatronic
Suspension System with Active Force Control," Journal WSEAS
Transaction on Systems, vol. 9, no. 9, pp. 927-936, 2010.
[12] K. Rajeswari, & P. Lakshmi, "Simulation of suspension system with
intelligent active force control," In proceeding of International
Conference on Advanced in Recent Technologies in Communication
and Computing, 2010, pp. 271-27.
[13] J. R. Hewit, & J. S. Burdess, "Fast Dynamic Decoupled Control for
Robotics using Active Force Control," Trans. Mechanism and Machine
Theory, vol. 16, no. 5, pp. 535-542, 1981.
[14] M. Mailah, (1998). Intelligent Active Force Control of a Rigid Robot
Arm Using Neural Network and Iterative Learning Algorithms.
University of Dundee, UK: Ph.D Thesis.
[15] M. Tahmasebi, R.A. Rahman, M. Mialah, & M. Gohari, "Active Force
Control Applied to Spray Boom Structure," Applied Mechanics and
Materials Journal (In press).
[16] J. J. Craig, "Introduction to Robotics: Mechanics and Control," Pearson
Prentice Hall, 2005.
[17] G. Priyandoko, M. Mailah, & H. Jamaluddin, "Vehicle active suspension
system using skyhood adaptive neuro active force control," In
processing of Mechanical Systems and Signal, 2008.
[18] V. Katkovnik, & A. Pervozvanski, "Extremum search methods and
multivariable control systems," Journal of Cybernetics, vol. 3, no. 2, pp.
81-101, 1973.
[19] S. Arimoto, S. Kawamura, & F. Miyazaki, "Bettering operation of
robots by learning," Journal of Robotic Systems, vol. 1, pp. 123-140,
1984.
[20] ISO 5008. (1979). ISO title: Agricultural wheeled tractors and field
machinery - Measurement of whole-body vibration of the operator.
[21] A.J. Bukta, K. Sakai, A. Sasao, & S. Shibusawa, "Free Play as a Source
of Nonlinearity in Tractor-Implement Systems during Transport,"
Transaction of ASAE, vol. 45, no. 3, pp. 503-508, 2002.
[1] J. J. Langenakens, L. Clijman, H. Ramon, & J. De Baerdemaeker, "The
Effects of Vertical Sprayer Boom Movements on the Uniformity of
Spray Distribution," J. agric. Engng Res., vol. 74, pp. 281-291, 1999.
[2] J. Anthonis, J. Audenaert, & H. Ramon, "Design Optimisation for the
Vertical Suspension of a Crop Sprayer Boom," Biosystems Eng., vol.
90, no. 2, pp. 153-160, 2005.
[3] B. Mahalinga Iyer, & B. M. J. Wills, "Factors determining the design of
tractor-mounted sprayer booms-sprayer nozzle characteristics," J. Agric.
Engng. Res. Vol. 23, pp. 37-43, 1978.
[4] J.J. Langenakens, H. Ramon, & J. De Baerdemaeker, "A model for
measuring the effect of tire pressure and driving speed on the horizontal
sprayer boom movements and spray patterns," Transactions of the
ASAE, vol. 38, no. 1, pp. 65-72, 1995.
[5] A. R. Frost, "Simulation of an Active Spray boom Suspension," J. agric.
Engng Res., vol. 30, pp. 313-325, 1984.
[6] A.R. Frost, & J. A. O,Sullivan, "Verification of a Mathematical Model
for a Passive Spray Boom Suspension," J. agric. Engng Res., vol. 34, pp.
245-255, 1986.
[7] H. Ramon, D. Anthonis, D. Moshou, & J. De Baerdemaeker,
"Evaluation of a Cascade Compensator for Horizontal Vibrations of a
Flexible Spray Boom," J. agric. Engng Res., vol. 71, pp. 81-92, 1998.
[8] K. Deprez, J. Anthonis, & H. Ramon, "System for vertical boom
corrections on hilly fields," Journal of Sound and Vibration, vol. 266,
pp. 613-624, 2003.
[9] J. Anthonis, & H. Ramon, "Design of an active suspension to suppress
the horizontal vibrations of a spray boom," Journal of Sound and
Vibration, vol. 266, pp. 573-583, 2003.
[10] M. Mailah, & G. Priyandoko, "Simulation of a suspension system with
adaptive fuzzy active force control," Int. J. Simul. Model, vol. 6, pp. 25-
36, 2007.
[11] C. Alexandru, & P. Alexandru, "The Virtual Prototype of a Mechatronic
Suspension System with Active Force Control," Journal WSEAS
Transaction on Systems, vol. 9, no. 9, pp. 927-936, 2010.
[12] K. Rajeswari, & P. Lakshmi, "Simulation of suspension system with
intelligent active force control," In proceeding of International
Conference on Advanced in Recent Technologies in Communication
and Computing, 2010, pp. 271-27.
[13] J. R. Hewit, & J. S. Burdess, "Fast Dynamic Decoupled Control for
Robotics using Active Force Control," Trans. Mechanism and Machine
Theory, vol. 16, no. 5, pp. 535-542, 1981.
[14] M. Mailah, (1998). Intelligent Active Force Control of a Rigid Robot
Arm Using Neural Network and Iterative Learning Algorithms.
University of Dundee, UK: Ph.D Thesis.
[15] M. Tahmasebi, R.A. Rahman, M. Mialah, & M. Gohari, "Active Force
Control Applied to Spray Boom Structure," Applied Mechanics and
Materials Journal (In press).
[16] J. J. Craig, "Introduction to Robotics: Mechanics and Control," Pearson
Prentice Hall, 2005.
[17] G. Priyandoko, M. Mailah, & H. Jamaluddin, "Vehicle active suspension
system using skyhood adaptive neuro active force control," In
processing of Mechanical Systems and Signal, 2008.
[18] V. Katkovnik, & A. Pervozvanski, "Extremum search methods and
multivariable control systems," Journal of Cybernetics, vol. 3, no. 2, pp.
81-101, 1973.
[19] S. Arimoto, S. Kawamura, & F. Miyazaki, "Bettering operation of
robots by learning," Journal of Robotic Systems, vol. 1, pp. 123-140,
1984.
[20] ISO 5008. (1979). ISO title: Agricultural wheeled tractors and field
machinery - Measurement of whole-body vibration of the operator.
[21] A.J. Bukta, K. Sakai, A. Sasao, & S. Shibusawa, "Free Play as a Source
of Nonlinearity in Tractor-Implement Systems during Transport,"
Transaction of ASAE, vol. 45, no. 3, pp. 503-508, 2002.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:53590", author = "M. Tahmasebi and R.A. Rahman and M. Mailah and M. Gohari", title = "Sprayer Boom Active Suspension Using Intelligent Active Force Control", abstract = "The control of sprayer boom undesired vibrations pose a great challenge to investigators due to various disturbances and conditions. Sprayer boom movements lead to reduce of spread efficiency and crop yield. This paper describes the design of a novel control method for an active suspension system applying proportional-integral-derivative (PID) controller with an active force control (AFC) scheme integration of an iterative learning algorithm employed to a sprayer boom. The iterative learning as an intelligent method is principally used as a method to calculate the best value of the estimated inertia of the sprayer boom needed for the AFC loop. Results show that the proposed AFC-based scheme performs much better than the standard PID control technique. Also, this shows that the system is more robust and accurate.
", keywords = "Active force control, sprayer boom, active
suspension, iterative learning.", volume = "6", number = "8", pages = "1470-5", }
