According to the agricultural precision requirements, the distance from sprayer nozzles to the corps should be kept between 50 cm to 70 cm. The sprayer boom also needs to be kept parallel to the field during the application process. Thus we can guarantee the quality of the chemical droplets distribution on the crops. In this paper we design a sprayer boom leveling system for agricultural sprayer vehicles combined with a four-rod linkage self-leveling suspension and electro-hydraulic auto-leveling system. The dynamic analysis shows that the suspension can realize an excellent self-leveling in a comparative small inclination range. In addition we build compensation controller for the electro-hydraulic system based on the mathematical model. With simulations we can optimize the performance of this controller to make sure a fast leveling response to the inclined sprayer boom.
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