Device for applying liquid and/or solid active substances and method for controlling a device of this type

A device 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,
• a control unit processing output signals of the sensor arrangements to control signals,
• at least one actuator influencing the present angular position of the boom about the pivot axis based on control signals from the control unit,
• which at least one actuator is formed by at least one linear or rotary actuator operating with fluidic pressure or electromotively, which produces an actuating connection between the carrier vehicle and the pivotable boom, wherein the at least one linear or rotary actuator has respectively one active pressure side or actuating side, which is engageable by fluidic actuating pressure or with electromotive driving force, for each of the two adjustment directions of the boom,
• wherein an approximately equal pressure level and/or force level is adjustable in the active pressure sides or actuating sides, respectively, of two linear or rotary actuators operating in opposition or of a double-acting linear or rotary actuator, respectively, when the boom is stationary or moves only slightly in relation to the carrier vehicle,
• and wherein a defined differential pressure or differential force, respectively, is adjustable between the active pressure sides or actuating sides, respectively, of the two linear or rotary actuators operating in opposition or of the double-acting linear or rotary actuator, respectively, when the boom is shifted in relation to the carrier vehicle.