Automatic Control of Passive, Towed Implements
First Claim
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1. A method for guiding a passive implement along a desired path comprising:
- providing a tractor guided by an autopilot having a nudge input;
introducing a test input to the tractor autopilot;
providing a GNSS receiver fixed to the implement;
towing the implement behind the tractor via a hitch;
using a model of the tractor-hitch-implement system to provide feedback to a control system that provides nudge inputs to the autopilot-controlled tractor and to the model;
wherein,the model estimates the immediate implement offset from the path;
tractor, hitch and implement elements within the model are arranged such that nudge inputs from the control system are applied to the implement element directly;
the tractor element of the model includes information obtained from measurements of the motion of the tractor in response to the test input; and
,the control system nudge inputs cause the difference between the actual implement path and the desired path to be minimized.
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Abstract
An automatic control system for passive, towed implements is described. The system provides a strategy for optimal control of a towed implement using a nudge input to an autopilot-controlled tractor. Implement path-tracking error, as measured by a GNSS receiver, is consistently corrected to zero.
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Citations
10 Claims
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1. A method for guiding a passive implement along a desired path comprising:
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providing a tractor guided by an autopilot having a nudge input; introducing a test input to the tractor autopilot; providing a GNSS receiver fixed to the implement; towing the implement behind the tractor via a hitch; using a model of the tractor-hitch-implement system to provide feedback to a control system that provides nudge inputs to the autopilot-controlled tractor and to the model;
wherein,the model estimates the immediate implement offset from the path; tractor, hitch and implement elements within the model are arranged such that nudge inputs from the control system are applied to the implement element directly; the tractor element of the model includes information obtained from measurements of the motion of the tractor in response to the test input; and
,the control system nudge inputs cause the difference between the actual implement path and the desired path to be minimized. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification