Modelling the Effect of Passive Vertical Suspensions on the Dynamic Behaviour of Sprayer Booms |
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| Institution: | 1. Robosoft, Bidart, France;2. Irstea, Aubiere, France;3. ISIR - UPMC/CNRS (UMR 7222), Paris, France;1. Graduate School of Engineering, Kitami Institute of Technology, Hokkaido 090-8507, Japan;2. Department of Civil and Environmental Engineering, Kitami Institute of Technology, Hokkaido 090-8507, Japan;3. Hokkaido Regional Development Bureau, Ministry of Land, Infrastructure, Transport and Tourism, Hokkaido 090-8507, Japan;1. Department of Mechanical Engineering, Universiti Tenaga Nasional, Jalan IKRAM-UNITEN, 43000 Kajang, Selangor Darul Ehsan, Malaysia;2. Centre for Advanced Mechatronics and Robotics (CaMaRo), Universiti Tenaga Nasional, Jalan IKRAM-UNITEN, 43000 Kajang, Selangor Darul Ehsan, Malaysia;3. Institute of Informatics and Computing in Energy (IICE), Universiti Tenaga Nasional, Jalan IKRAM-UNITEN, 43000 Kajang, Selangor Darul Ehsan, Malaysia;4. Laboratory of Biocomposite Technology, Institute of Tropical Forestry and Forest Products (INTROP), Universiti Putra Malaysia, 43400 UPM Serdang, Selangor Darul Ehsan, Malaysia;5. Department of Aerospace Engineering, Faculty of Engineering, Universiti Putra Malaysia, 43400 UPM Serdang, Selangor Darul Ehsan, Malaysia;6. Aerospace Malaysia Innovation Centre (944741-A), Prime Minister’s Department, MIGHT Partnership Hub, Jalan Impact, 63000 Cyberjaya, Selangor Darul Ehsan, Malaysia;7. Farm Mechanization Program, Engineering Research Centre, Malaysian Agricultural Research and Development Institute (MARDI), 43400 Serdang, Selangor Darul Ehsan, Malaysia;8. Laboratory of Biopolymer and Derivatives, Institute of Tropical Forestry and Forest Products (INTROP), Universiti Putra Malaysia, 43400 UPM Serdang, Selangor Darul Ehsan, Malaysia |
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| Abstract: | Chemical products for crop protection are usually distributed on the field as liquids by field sprayers. Unwanted horizontal and vertical sprayer boom movements create local under- and over-applications of spray liquid. A non-linear finite element model of a tractor and a mounted sprayer is developed to simulate these unwanted boom vibrations during field operations. Representative disturbance signals at the hitch point of the boom suspension are calculated for a tractor with a mounted sprayer driving over a standardized bumpy track. These disturbances are applied as input excitations to simulate boom movements for several types of suspensions (pendulum, single and double trapezium). Validation experiments with a simple 12 m boom on a hydraulic test rig indicate that this non-linear finite element modelling technique is a promising method for simulating boom movements of field sprayers. Further simulation results show that the modelled suspensions approximately halve the vertical motion of the boom compared with a rigidly mounted boom. Standard deviations of the vertical boom tip movements around the equilibrium position are, respectively, 0·44, 0·25 and 0·27 m for a fixed boom, a boom with pendulum suspension and a boom with trapezium suspension. This proves the effectiveness of existing vertical boom suspensions. |
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