中文摘要：

针对摆式悬架减振系统对喷杆动力学行为影响机理的复杂性,利用第二类拉格朗日方法建立了描述喷杆-悬架系统倾斜运动、垂向运动的数学模型。在MATLAB/Simulink中进行了瞬态响应分析、频率响应分析,研究了动力参数对其特性的影响。在此基础上,以某大型喷杆及其摆式减振悬架为试验对象,通过六自由度运动模拟平台输出翻滚和垂向运动激励,采用超声波距离传感器、IVDT位移传感器等进行数据采样分析,测得喷杆瞬态动力学响应及频率响应特性,并与模型预测进行对比,验证了数学模型的准确性。最后通过扫频振动试验确定了系统的频率响应峰值及对应频率,着重分析了阻尼、刚度系数对喷杆振动特性的影响规律：在一定范围内增加阻尼可以减弱系统振荡,增加刚度有利于提高悬架响应速度。研究为大型喷杆悬架参数优化配置提供理论依据与试验方法,有利于中国大型喷杆（大于12 m）动力学特性试验方法、检测标准的完善。

英文摘要：

To increase the yield in agriculture, plants must be protected against diseases and need to be provided with fertilizers. One of the most important methods to spread agro-chemicals is by using spray booms. The efficiency of the chemicals is highly correlated with the uniformity of the spray distribution pattern, and as spray boom motions play a dominant role on the spray distribution pattern, spray boom stability is important. Moreover, with the stable boom, the distance between the nozzles and the target can be reduced, and then the drift losses are less important. Boom movements are due to ground irregularities that are transformed and more or less amplified depending on the mechanics features of the boom suspension. In order to reduce the unevenness in spray deposit, the majority of current agricultural sprayers are equipped with a suspension system to attenuate the roll of the boom. The suspension tries to keep the boom at right angles by isolating the boom from vibrations of the tractor or trailer which are induced by unevenness of the ground. Therefore, the suspension system should act as a system that attenuates undesired machine movement. The most important vibration, affecting the spray distribution pattern, is rolling （rotational motion around an axis along the driving direction） that causes spray boom motions in the vertical plane. However, the correlation between the dynamic behavior of the spray boom and suspension parameters are still unclear and the design principles and methods of the pendulum boom suspension are also missing or imperfect, which restrict the improvement of spray quality and operation efficiency. In order to understand the effect of the dynamic parameters of pendulum suspension system on the dynamic behavior of the spray boom, an analytical mathematical model of this pendulum suspension is established by using the second kind of Lagrange equations and the necessary transfer function. The dynamic characteristics of the pendulum suspension are derived, and the behavior such as th