摘要：Undesired movements of the spray boom are the main causes of an irregular spray distribution of agro-chemicals; the rolling motion of the boom is particularly significant. This article presents an adaptive robust control scheme for the active pendulum boom suspension to control the roll motion of the spray boom with electro-hydraulic actuators. A hybrid model which combines an analytical modeling procedure with identification techniques of a 28-m spray boom with active suspension is developed. Then, a model-based adaptive robust controller is designed for the precision motion control of the boom, with consideration of the nonlinearities such as uncompensated friction and disturbances and the effect of parameter variations coming from the various hydraulic parameters. A sprayer boom suspension system test rig combined with a 6-degree-of-freedom motion simulator is specifically designed and developed to verify the control scheme; the proposed controller and proportional–integral controller have been impleme...
关键词：Adaptive control; suspension; electro-hydraulic system; sprayer boom; motion control
