Optimal control of centrifugal spreader

TL;DR

This paper develops a predictive control scheme for optimizing fertilizer spread patterns by modeling tractor movement and spread distribution, comparing three algorithms, and demonstrating the superiority of a comprehensive model predictive control approach.

Contribution

It introduces a novel model-predictive control framework for fertilizer spreading that accounts for tractor dynamics and spread pattern modeling, improving application accuracy.

Findings

Model-predictive control with comprehensive spread pattern model yields best results.

Three algorithms compared: one-step optimization, simplified MPC, comprehensive MPC.

Comprehensive MPC significantly improves fertilizer distribution accuracy.

Abstract

Achieving an evenly distributed fertilization spread pattern is a complex technical task. A corresponding control algorithm must account for the tractor movement, the settings of the spreader, the prescribed dosage as well as machine constraints. It dictates, in particular, the fertilization process needs be estimated ahead to achieve an optimized spread pattern. The presented work is concerned with the development of a predictive control scheme for optimized fertilizer application using modeling of the tractor moving on the field and the spread pattern in form of a crescent behind the tractor. In particular, the form of the spread pattern is modeled via four normal distributions, two for each side of the pattern. The control goal is to achieve a desired fertilizer distribution on the field. The study presents three algorithms for comparison: a one-step optimization and two approaches using model-predictive control, one with a simplified model of the spread pattern in the prediction horizon, and one with a comprehensive one model, respectively. The best results are obtained with model-predictive control using the comprehensive model.