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Intelligent active torque control for vibration reduction of a sprayer boom suspension system

The most usual way of protecting crop from diseases is by using chemical method whereby mixture of chemicals and water are sprayed onto crop via nozzles. These nozzles are located consistently along a boom structure oriented perpendicular to the direction of motion to cover large areas. The most imp...

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Main Author:	Tahmasebi, Mona
Format:	Thesis
Language:	English
Published:	2014
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/78781/1/MonaTahmasebiPFKM2014.pdf http://eprints.utm.my/id/eprint/78781/ http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:107017
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id	my.utm.78781
record_format	eprints
spelling	my.utm.787812018-09-17T04:12:41Z http://eprints.utm.my/id/eprint/78781/ Intelligent active torque control for vibration reduction of a sprayer boom suspension system Tahmasebi, Mona TJ Mechanical engineering and machinery The most usual way of protecting crop from diseases is by using chemical method whereby mixture of chemicals and water are sprayed onto crop via nozzles. These nozzles are located consistently along a boom structure oriented perpendicular to the direction of motion to cover large areas. The most important factor on spray distribution pattern is spray boom vibration. Thus, suspension control aims to attenuate the unwanted vibration and should provide improvements in term of distribution uniformity. In this study, a combination of passive and active suspension was considered to create superior performance. A passive suspension was employed to control undesired vertical motion of sprayer boom structure while the roll movement of spray boom was reduced via active suspension. The active suspension system of sprayer was implemented by applying robust active torque control (ATC) scheme that integrates artificial intelligence (AI) methods plus another feedback control technique utilizing proportional-integral-derivative (PID) control. The proposed control system basically comprises of two feedback control loops; an innermost loop for compensation of the disturbances using ATC strategy and an outermost loop for the computation of the desired torque for the actuator using a PID controller. Two AI methods employing artificial neural network (ANN) and iterative learning (IL) were proposed and utilized to compute the estimated inertial parameter of the system through the ATC loop. The research proposes two main control schemes; the first is a combination of ATC and ANN (ATCANN) while the other is ATC and IL (ATCAIL). The suspension system was first modeled and a number of farmland terrains were simulated as the main disturbance components to verify the robustness of the system and sprayer boom dynamic performance related to distribution uniformity. The simulation results both in frequency and time domains show the effectiveness of the proposed ATC schemes in reducing the disturbances and other loading conditions. The control schemes were further implemented experimentally on a developed laboratory spray boom suspension test rig. 2014-01 Thesis NonPeerReviewed application/pdf en http://eprints.utm.my/id/eprint/78781/1/MonaTahmasebiPFKM2014.pdf Tahmasebi, Mona (2014) Intelligent active torque control for vibration reduction of a sprayer boom suspension system. PhD thesis, Universiti Teknologi Malaysia, Faculty of Mechanical Engineering. http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:107017
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Tahmasebi, Mona Intelligent active torque control for vibration reduction of a sprayer boom suspension system
description	The most usual way of protecting crop from diseases is by using chemical method whereby mixture of chemicals and water are sprayed onto crop via nozzles. These nozzles are located consistently along a boom structure oriented perpendicular to the direction of motion to cover large areas. The most important factor on spray distribution pattern is spray boom vibration. Thus, suspension control aims to attenuate the unwanted vibration and should provide improvements in term of distribution uniformity. In this study, a combination of passive and active suspension was considered to create superior performance. A passive suspension was employed to control undesired vertical motion of sprayer boom structure while the roll movement of spray boom was reduced via active suspension. The active suspension system of sprayer was implemented by applying robust active torque control (ATC) scheme that integrates artificial intelligence (AI) methods plus another feedback control technique utilizing proportional-integral-derivative (PID) control. The proposed control system basically comprises of two feedback control loops; an innermost loop for compensation of the disturbances using ATC strategy and an outermost loop for the computation of the desired torque for the actuator using a PID controller. Two AI methods employing artificial neural network (ANN) and iterative learning (IL) were proposed and utilized to compute the estimated inertial parameter of the system through the ATC loop. The research proposes two main control schemes; the first is a combination of ATC and ANN (ATCANN) while the other is ATC and IL (ATCAIL). The suspension system was first modeled and a number of farmland terrains were simulated as the main disturbance components to verify the robustness of the system and sprayer boom dynamic performance related to distribution uniformity. The simulation results both in frequency and time domains show the effectiveness of the proposed ATC schemes in reducing the disturbances and other loading conditions. The control schemes were further implemented experimentally on a developed laboratory spray boom suspension test rig.
format	Thesis
author	Tahmasebi, Mona
author_facet	Tahmasebi, Mona
author_sort	Tahmasebi, Mona
title	Intelligent active torque control for vibration reduction of a sprayer boom suspension system
title_short	Intelligent active torque control for vibration reduction of a sprayer boom suspension system
title_full	Intelligent active torque control for vibration reduction of a sprayer boom suspension system
title_fullStr	Intelligent active torque control for vibration reduction of a sprayer boom suspension system
title_full_unstemmed	Intelligent active torque control for vibration reduction of a sprayer boom suspension system
title_sort	intelligent active torque control for vibration reduction of a sprayer boom suspension system
publishDate	2014
url	http://eprints.utm.my/id/eprint/78781/1/MonaTahmasebiPFKM2014.pdf http://eprints.utm.my/id/eprint/78781/ http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:107017
_version_	1643658002827313152
score	13.211869

Intelligent active torque control for vibration reduction of a sprayer boom suspension system

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