A center frame positioning system for an agricultural sprayer vehicle , the system comprising: one or more controllable, variable pressure actuators that each are configured to operably exert a force on a suspended center frame of the agricultural sprayer vehicle , wherein a sprayer boom is attached to the suspended center frame and wherein the one or more actuators comprises an air spring that provides variable force in the form of air pressure; one or more sensors (S 1 -S N collectively 102) that provide real-time center frame position data indicative of a detected position of the suspended center frame in real time, including an air spring force detecting sensor ; and a control device that: receives the center frame position data; compares a detected air spring force in the respective one or more air springs to a preset target force for the respective one or more air springs; and provides one or more actuator adjustment commands to adjust the force exerted on the suspended center frame , if needed, for the respective one or more air springs based at least on the comparing of the detected air spring force to the preset target force; wherein the force exerted on the suspended center frame by the one or more actuators is adjusted in real-time as a result of the one or more actuator adjustment commands; and wherein adjustment of the force exerted on the suspended center frame results in adjustment of a distance (d) of the sprayer boom from the ground . one or more controllable, variable pressure actuators that each are configured to operably exert a force on a suspended center frame of the agricultural sprayer vehicle , wherein a sprayer boom is attached to the suspended center frame and wherein the one or more actuators comprises an air spring that provides variable force in the form of air pressure; one or more sensors (S 1 -S N collectively 102) that provide real-time center frame position data indicative of a detected position of the suspended center frame in real time, including an air spring force detecting sensor ; and a control device that: receives the center frame position data; compares a detected air spring force in the respective one or more air springs to a preset target force for the respective one or more air springs; and provides one or more actuator adjustment commands to adjust the force exerted on the suspended center frame , if needed, for the respective one or more air springs based at least on the comparing of the detected air spring force to the preset target force; receives the center frame position data; compares a detected air spring force in the respective one or more air springs to a preset target force for the respective one or more air springs; and provides one or more actuator adjustment commands to adjust the force exerted on the suspended center frame , if needed, for the respective one or more air springs based at least on the comparing of the detected air spring force to the preset target force; wherein the force exerted on the suspended center frame by the one or more actuators is adjusted in real-time as a result of the one or more actuator adjustment commands; and wherein adjustment of the force exerted on the suspended center frame results in adjustment of a distance (d) of the sprayer boom from the ground . <EOS>