Dynamic Analysis of The Intelligent Sprayer Boom

Sine Leergaard Wiggers, Jørgen Maagaard, Christian Istjord Terp, Oddur Helgi Björnsson

Research output: Contribution to conference without publisher/journalPaperResearch


As part of the 3 year project “The intelligent Sprayer Boom”, financed by The Danish National Advanced Technology Foundation, the dynamics of the sprayer boom is to be analysed.
In order to minimize the amount of herbicides used to kill the weeds in agriculture a new sprayer boom is being developed called “The intelligent sprayer boom”. For the sprayer boom the primary challenge is to hit the weeds with precision from a movable platform. Since the sprayer boom is mounted on a tractor the system will react to bumps in the field.
The intelligent sprayer boom has an integrated camera technology, a vision system and an image editing module, which in the same working process can distinguishes weeds form crops, the decision system will monitor the state of the field and at the same time spray the observed weed. Hereby the amount of used herbicides is minimized since only the weeds will be sprayed and not the surroundings. However this requires that the boom movements are predictable and based on data from field tests.
At field tests a first version of the newly developed camera system was tested in 2010. At the field test it was found that the vertical boom movements where too big for the camera weed prediction system to work properly. At the University of Southern Denmark (SDU) a patent for an active damping system of the sprayer boom has been obtained.
The subject of this paper is analysis of the dynamics of the Sprayer boom. The analysis is based on a Multibody Dynamics model of the sprayer boom and is made in Matlab. The model is made in order to analyse the boom movements. The purpose of the model is to support the development of the patented active damping system for the sprayer boom. The Multibody Dynamics model has been made based on data retrieved from a CAD model and a Finite Element model of the sprayer boom.
The project “The intelligent Sprayer Boom” is made in cooperation between two industrial companies (T&O Stelectric A/S, CLAAS Agrosystems A/S) and three Danish universities (AU, KU and SDU).
Original languageEnglish
Publication date2013
Number of pages12
Publication statusPublished - 2013
Event11th International Conference on Vibration Problems - Instituto Superior Técnico, Lissabon, Portugal
Duration: 9. Sep 201312. Sep 2013
Conference number: 11


Conference11th International Conference on Vibration Problems
LocationInstituto Superior Técnico

Cite this

Wiggers, S. L., Maagaard, J., Terp, C. I., & Björnsson, O. H. (2013). Dynamic Analysis of The Intelligent Sprayer Boom. Paper presented at 11th International Conference on Vibration Problems, Lissabon, Portugal.