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Research on Sprayer Boom Modeling and Control of Plant Protection Machine

机译：植保机喷雾机动臂建模与控制研究

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摘要

In order to suppress the elastic deformation of the boom in the vertical direction, the finite element model of the boom was established based on the ANSYS platform and the numerical modal analysis was carried out. According to the established model, the kinematic modeling and vibration analysis of the sprayer of the plant protection machine showed that the deformation of the end of the spray boom was the maximum. In this paper, the root of the boom is selected as the point of application, the control law is established by the quadratic optimal control theory, and the optimal controller is designed to effectively suppress the vertical elastic deformation of the boom, which provides the theoretical basis for the project implementation.
机译：为了抑制动臂在垂直方向上的弹性变形，基于ANSYS平台建立了动臂的有限元模型，并进行了数值模态分析。根据建立的模型，对植保机喷雾器的运动学建模和振动分析表明，喷杆末端的变形最大。本文以动臂的根部为应用点，通过二次最优控制理论建立了控制律，并设计了最优控制器来有效抑制动臂的垂直弹性变形，为理论提供了理论依据。项目实施的基础。

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