Eventos Anais de eventos
MECSOL 2022
8th International Symposium on Solid Mechanics
State-feedback control applied to a pendular suspension
Submission Author:
Marcos Pedrollo Soliman , RS
Co-Authors:
Marcos Pedrollo Soliman, Walter Jesus Paucar Casas, Eduardo André Perondi
Presenter: Marcos Pedrollo Soliman
doi://10.26678/ABCM.MECSOL2022.MSL22-0127
Abstract
The agriculture sprayer is widely used to control the population of weed, fungus, and insects at crops as a result these populations affects directly the agriculture yield gains. The sprayer booms are responsible to apply the phytosanitary agents to the crops and their length is directly related to the machine efficiency, this fact leads to the seek of wider booms, some up to 50 m wide. But at a wider boom small roll angle variations will generate greater nozzle tips height to crop variations, which has an ideal height to ensure great sprayer distribution and dosage maximizing its efficiency. For this reason, a boom suspension has to ensure a stable boom that will also reduce the impacts on the environment due drift or pesticides overdose and underdose. In this paper, a control of a sprayer boom pendulum suspension using state-feedback is proposed. The control is designed to obtain the desired performance in a closed loop system in terms of transient response and stability. A pole allocation technique was used to define the response time and the settling time. A sprayer chassis model and boom suspension of the passive and state-feedback controlled suspension were created using simulation tools (Simulink/Matlab®), and the road input signals for the simulations were the ISO 5008:2002 rough track at 6 km/h. The performance was measured by comparing the responses between the two boom suspension systems, where the minimum disturbance was the goal. The simulation results showed a significant improvement on the state-feedback control when compared to a passive suspension. In comparison with the passive suspension, the state-feedback control system showed a minimum disturbance, resulting in great boom stability and equipment performance. The state-feedback technique showed to be a more stable and quick response which leads the system to a minimum disturbance.
Keywords
Semi-active suspension, Pendulum suspension, Sprayer Boom Suspension, State-Feedback Control, Dynamic modeling;
