Oscillation damping of a sprayer boom of an agricultural spraying machine

A method for operating an agricultural spraying machine, comprising:

• providing a chassis supported on the ground and configured to be set into motion in a forward direction, a sprayer boom mounted on the chassis, and an electronic controller operably controlling an actuator influencing the propulsion speed or driving direction of the chassis or the sprayer boom for reducing an oscillation of the sprayer boom in the forward direction;
• detecting a first actual or expected oscillation of the sprayer boom;
• triggering an actuator by the controller in response to the detecting step;
• changing a speed or travel direction of the chassis or the sprayer boom;
• detecting a second oscillation in an opposite phase to the detected first oscillation of the sprayer boom;
• reducing the detected oscillation of the sprayer boom;
• and
• detecting a distance between the chassis and the sprayer boom with a sensor,
• wherein the triggering step include triggering the actuator based on the detected oscillation.

An agricultural spraying machine having a defined transport width, comprising:

• a chassis supported on the ground and configured to be set into motion in a forward direction;
• a sprayer boom mounted on the chassis, the sprayer boom having a width transverse to the forward direction that is a multiple of the transport width of the spraying machine;
• and
• an electronic controller operably controlling an actuator influencing the propulsion speed or driving direction of the chassis or the sprayer boom for reducing an oscillation of the sprayer boom in the forward direction;
• wherein, the controller operably triggers the actuator in response to a detected or expected oscillation of the boom due to a resulting change of speed or travel direction of the chassis or sprayer boom;
• wherein, an oscillation in an opposite phase to the detected or expected oscillation of the sprayer boom is induced in the sprayer boom adapted to lead to the reduction or cancellation of the oscillation of the sprayer boom;
• wherein, the controller is coupled to a sensor for detecting an oscillation of the sprayer boom and is operable to trigger the actuator based on the detected oscillation;
• and
• wherein the sensor includes:
• an inertial sensor coupled to the sprayer boom, or
• a sensor configured to detect the distance between the chassis and the sprayer boom.