Robust Stabilization of Pendulum Spray Boom Suspension System of Plant Protection Machine

This paper is aiming at the stabilization demands of the large-sized plant protection machine during the work time. The movements of the boom is adjusted by spray boom suspension active control system. First, referring to the second Lagrange kinematics equation, the mathematical model of the spray boom suspension active control system is entirely built. Afterwards, the error of the model is taken into consideration and the controller is designed by robust control strategy with uncertainty applied to the spray boom suspension; The system is proven to be second order stable based on Lyapunov stability theory. Finally, the result of simulation showed that the controller designed had a great performance of stabilization and control effect is satisfied to the expect.