Modeling and Control of Semi-Active Suspension System with Double-Pendulum Spray Boom

Currently, aiming at the problem that the height control of the boom on the large-sized sprayer is not satisfied to track the ground undulations or obliquity, a position tracking strategy on spray boom suspension system with double-pendulum was proposed. First, the second Lagrange kinematics equation was applied to build double-pendulum spray boom suspension model, a non-linearity mathematical model is gained and linearized for satisfying the demands of controller designing. Second, the augmented state space equation was built and the controller was designed by linear quadratic optimal control theory to make the output error of the system converge to zero, the ability of tracking was proved and the results of simulation showed that the controller designed had a great performance of tracking the ground undulations or obliquity.