A Tracking Control of Plant Spray Boom System with Semi-active Suspension

摘要

Currently, for the harmful vibration problem of the sprayer during the field work, to improve the ability of anti-roll, first, the study on a semi-active suspension has been developed, and the non-linear dynamics model of degree of freedom semi-active suspension of the sprayer has been built, The position of the suspension sprayer and the incline angle were set as control targets, In addition, a controller has been designed with back-stepping nonlinear control method, the stability analysis has been completed based on Lyapunov theory, the tracing function has been built to steer the system to stay stable and follow the control target desired, and the simulation of the system based on Matlab/Simulink has been verified the feasibility and validity of the controller designed, the results of the simulation indicated that the controller designed has a excellent performance of tracing.