Desenvolvimento e simulação de sistema de controle de altura e estabilidade para barras de pulverização

Abstract

The present work consists in the research and development of an algorithm to control the height and stability of agricultural spraying machine bars. The main contribution of the work will be to carry out the automatic control of the spray bars in order to maximize the uniformity of application of chemical products on the plantations, since the operation of controlling the positions of the bars is considered one of the most difficult operations for an operator. The increase in application uniformity increases the machine's efficiency and, consequently, its productivity, proving to be important, therefore, to reduce the production cost of agricultural products such as soybeans. The development and application of the study was carried out using a robotic simulation software called Gazebo Simulator, where a simple commercial sprayer model with trapezoidal suspension and a terrain with irregularities close to existing standards was implemented.