APPARATUS AND METHOD FOR DISCHARGING LIQUID AND/OR SOLID ACTIVE SUBSTANCES

摘要

Disclosed is an apparatus for spreading solid active agents and a method for controlling the apparatus. A boom is pivotably mounted on a vehicle. A sensor arrangement detects an angular velocity and/or an angular position of the boom about a pivot axis. A control unit processes output signals of the sensor arrangement to control signals for an actuator to adjust the boom. The actuator has an active pressure side for each of the two adjustment directions of the boom. Approximately equal pressure levels prevail in the active pressure sides of two actuators operating in opposition or of a double-acting actuator, when the boom is stationary or moves only slightly in relation to the carrier vehicle. A defined differential pressure is adjustable between the active pressure sides of the actuators when the boom is shifted in relation to the carrier vehicle.

主权项

1. An apparatus for spreading liquid and/or solid active agents, comprising:
a carrier vehicle; at least one boom arranged pivotably about at least one pivot axis; at least one sensor arrangement for detecting an angular velocity and/or an angular position of the boom about the pivot axis in relation to a reference plane and/or in relation to a ground surface; a control unit processing output signals of the at least one sensor arrangement to control signals, which control unit influences or controls, as the case may be, the spray boom in its angular position and/or in its angular velocity by means of at least two coupled control loops; at least one actuator influencing the present angular position of the boom about the pivot axis based on control signals from the control unit; wherein a desired value and/or a desired torque for the at least one actuator is generatable from the output signals of the at least one sensor arrangement by the control unit in an outer control loop; and wherein an actual torque, which moves and/or influences the spray boom, and/or an actual value, which is based on actuator deflections and/or on control signals from the at least one actuator, is detectable in an inner control loop and is used for generating a correction value for achieving the desired torque and/or the desired value.