Abstract
The stability of a high clearance sprayer (HCS) can be considered in developing modern agriculture. We built a three-dimensional dynamics model of HCS with road excitation considering the influence of complex terrain on the whole vehicle vibration. The numerical simulation method was proposed to solve differential equations based on the Newmark-ß method. The response curves of whole vehicle in the time and frequency domain response were analyzed. The simulation results show that the vibration amplitude difference of left and right wheel is bigger than amplitude difference of right and rear wheel. The average amplitude of roll motion is bigger than pitching motion. The reason is that since the man-machine seat is set on the left of whole vehicle, an additional roll torque is brought. Besides, the displacement amplitude of whole vehicle is bigger than man-machine seat. The reason is that the vibration absorption system of seat can reduce vibration effectively. In amplitude-frequency response curves, the multiple resonance points occur with the road excitation given in this paper. The maximum response amplitude of angle velocity and acceleration of pitching motion is bigger than roll motion. This study has an important theoretical and practical value for structure dynamic optimization of HCS.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
Abbreviations
- c1, c4 :
-
Equivalent damping coefficient of front suspension
- c2, c3 :
-
Equivalent damping coefficient of rear suspension
- c 5 :
-
Equivalent damping coefficient of seat
- k1, k4 :
-
Equivalent stiffness of front suspension system
- k2, k3 :
-
Equivalent stiffness of rear suspension system
- k1d, k4d :
-
Equivalent stiffness of front tire
- k2d, k3d :
-
Equivalent stiffness of rear tire
- k 5 :
-
Equivalent stiffness of seat
- l 1 :
-
Distance between the center of front wheel and axis
- l 2 :
-
Distance between the center of rear wheel and axis
- l3, l4 :
-
Distance between the center of front wheel and axis
- l 5 :
-
Distance between the center of seat and axis
- l 6 :
-
Distance between the center of seat and axis
- m 1 :
-
Equivalent mass of left front tire
- m 4 :
-
Equivalent mass of right front tire
- m 2 :
-
Equivalent mass of left rear tire
- m 3 :
-
Equivalent mass of right rear tire
- m 5 :
-
Equivalent mass of seat and driver
- m 6 :
-
Equivalent mass of frame
- J θ :
-
Equivalent mass moment of inertial of pitching motion
- J ψ :
-
Equivalent mass moment of inertial of roll motion
- θ :
-
Pitch angle, rad/s. ϕ is the roll angle
References
L. Cui et al., Optimized design and test for a pendulum suspension of the crop spray boom in dynamic conditions based on a six DOF motion simulator, IJABE 11 (3) (2018) 76–85.
M. Tahmasebi et al., Vibration suppression of sprayer boom using active torque control and iterative learning. Part I: Modelling and control via simulation, J. of Vibration and Control 24 (20) (2017) 4689–4699.
Z. Gao et al., Height adjustment of vehicles based on a static equilibrium position state observation algorithm, Energies 11 (2) (2018) 1–26.
Y. Chen et al., Height stability control of a large sprayer body based on air suspension using the sliding mode approach, Information Processing in Agriculture 7 (1) (2020) 20–29.
S. Chen et al., Multi-objective optimization of the vehicle ride comfort based on Kriging approximate model and NSGA-II, J. of Mechanical Science and Technology 29 (3) (2015) 1007–1018.
W. Yong et al., Adaptive control of a vehicle-seat-human coupled model using quasi-zero-stiffness vibration isolator as seat suspension, J. of Mechanical Science and Technology 32 (7) (2018) 2973–2985.
J. Anthonis, J. Audenaert and H. Ramon, Design optimisation for the vertical suspension of a crop sprayer boom, Biosystems Engineering 90 (2) (2005) 153–160.
M. Tahmasebi et al., Roll movement control of a spray boom structure using active force control with artificial neural network strategy, J. of Low Frequency Noise Vibration & Active Control 32 (3) (2015) 189–202.
L. Cui et al., Analysis and test of dynamic characteristics of large spraying boom and pendulum suspension damping system, Transactions of the Chinese Society of Agricultural Engineering (Transactions of CSAE) 33 (9) (2017) 61–68.
L. Clijmans et al., Sprayer boom motion, Part 2: Validation of the model and effect of boom vibration on spray liquid deposition, J. of Agricultural Engineering Research 76 (2) (2000) 121–128.
L. Cui et al., Modeling and simulation of dynamic behavior of large spray boom with active and passive pendulum suspension, Transactions of the Chinese Society for Agricultural Machinery 48 (2) (2017) 82–90.
J. Wu and Y. Miao, Dynamic characteristic analysis of boom for wide sprayer with different exciting sources, Transactions of the CSAE 28 (4) (2012) 39–44.
G. Elnashar et al., Modeling and dynamic analysis of a vehicleflexible pavement coupled system subjected to road surface excitation, J. of Mechanical Science and Technology 33 (7) (2019) 3115–3125.
N. Babu et al., New approach for prediction of influence of vehicle dynamics parameters on instability of unmanned track vehicle using robotic approach, J. of Mechanical Science and Technology 32 (3) (2018) 1357–1365.
M. Elkady et al., Collision mitigation and vehicle transportation safety using integrated vehicle dynamics control systems, J. of Traffic and Transportation Engineering (English Edition), 1 (2017) 47–66.
Acknowledgments
This research was financially supported by Innovation and Entrepreneurship Foundation (Grant NO. 201910452010), Natural Science Foundation of Shandong Province (Grant NO. ZR2017LEE002 and ZR2016HB59) and Scientific Research Starting Foundation for Linyi University (Grant NO. LYDX 2016BS032).
Author information
Authors and Affiliations
Corresponding author
Additional information
Recommended by Editor No-cheol Park
Mingming Xing is a lecturer of School of Mechanical & Vehicle Engineering, Linyi University, Linyi, Shandong Province, China. He received his Ph.D. in Mechanical Engineering from Yanshan University. His research interests include mechanical system dynamics, mechanical vibration theory, fluid dynamics and agricultural machinery. Journal of Mechanical Science and Technology 34 (4) 2020 DOI 10.1007/s12206-020-0310-5 1493
Xiaoguang Li is an undergraduate student in Mechanical & Vehicle Engineering, Linyi university, Shandong Province, China. His major is mechanical design, manufacturing and automation. His research interests are mainly in agricultural machinery.
Kaifeng Xue is an Associate Professor of Mechanical & Vehicle Engineering of Linyi University. He holds a Ph.D. in Mechanical Design and Theory from South China University of Technology. Xue’s current research interests include wireless energy transmission, new functional materials and vehicle system dynamics.
Chengmao Zhang is an Associate Professor of School of Mechanical & Vehicle Engineering of Linyi University. He received his Ph.D. from Beihang University. His research interests include advanced manufacturing technology, mechatronics, modern agricultural technology, etc. He has published more than 50 papers and 10 patents in related research fields.
Zongxiang Hou is a lecturer of School of Mechanical & Vehicle Engineering, Lin Yi University, China. She received her Master’s in Mechanical Engineering from Yan Shan University. Her research interests include self lubrication, nano friction and vehicle system dynamics.
Rights and permissions
About this article
Cite this article
Xing, M., Li, X., Xue, K. et al. Three-dimensional dynamics simulation analysis of high clearance sprayer with road excitation. J Mech Sci Technol 34, 1485–1493 (2020). https://doi.org/10.1007/s12206-020-0310-5
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12206-020-0310-5