植保机钟摆式喷杆主动悬架自适应模糊控制

针对具有不确定性与参数时变性的钟摆式喷杆主动悬架系统的运动控制问题，设计出一种基于间接型自适应模糊控制方法的喷杆位姿主动控制器。为一种结构简单、成本低廉且应用广泛的钟摆式喷杆主动悬架系统建立了数学模型，并在此基础上，为了不失一般性，对系统模型进行了输入输出线性化变换。应用间接自适应模糊控制方法克服由于系统不确定性以及外部干扰带来的一些负面影响。此外，应用Lyapunov综合法设计控制器中调整参数的自适应律。仿真结果表明，所提出的控制方法具有快速响应性以及较强的自适应性和鲁棒性。所设计的控制器有利于提高植保机的喷雾均匀性及喷杆的稳定性。

Adaptive fuzzy control for active pendulum suspension systems of boom sprayers

Aiming at the motion control of active pendulum suspension systems with uncertainties and time-varying parameters,an active boom attitude controller based on indirect adaptive fuzzy control strategy is designed.On the basis of establishing the mathematical model of a widely used active pendulum boom suspension system with a simple structure and low cost,for the sake of generality, the input-output linearization transformation of the system model is carried out. The adaptive fuzzy control strategy is aiming to overcome some negative impacts caused by system uncertainties and external disturbances. In addition, the Lyapunov synthesis method is used to design the adaptive law of free parameters in the controller. Simulation results show that the proposed control method has fast response, strong adaptability and robustness. The designed controller is in favor of improving the spray uniformity of sprayer and the stability of spray boom.