Implement controller having angular rate correction
First Claim
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1. A method of controlling an earth moving implement of a machine, comprising:
- receiving a pitch rate of the machine in a body reference frame;
determining a roll of the machine;
determining a turning rate of the machine;
calculating a pitch rate of the machine in a gravity reference frame based on the pitch rate of the machine in the body reference frame, the roll of the machine, and the turning rate of the machine; and
controlling the earth moving implement based on the pitch rate of the machine in the gravity reference frame.
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Abstract
A system and method of controlling an earth moving implement of a machine is disclosed. The method may include receiving a pitch rate of the machine in a body reference frame and determining a roll of the machine. The method may further include determining a turning rate of the machine and calculating a pitch rate of the machine in a gravity reference frame based on the pitch rate of the machine in the body reference frame, the roll of the machine, and the turning rate of the machine. The method may further include controlling the earth moving implement based on the pitch rate of the machine in the gravity reference frame.
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Citations
20 Claims
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1. A method of controlling an earth moving implement of a machine, comprising:
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receiving a pitch rate of the machine in a body reference frame; determining a roll of the machine; determining a turning rate of the machine; calculating a pitch rate of the machine in a gravity reference frame based on the pitch rate of the machine in the body reference frame, the roll of the machine, and the turning rate of the machine; and controlling the earth moving implement based on the pitch rate of the machine in the gravity reference frame. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An implement controller for controlling an earth moving implement of a machine, comprising:
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a pitch rate sensor configured to provide a pitch rate of the machine in a body reference frame; a roll sensor configured to provide a signal indicative of a roll of the machine; a turning rate sensor configured to provide a signal indicative of a turning rate of the machine; and a controller in communication with the pitch rate sensor, the roll sensor, and the turning rate sensor, the controller configured to; determine a roll of the machine based on the signal indicative of the roll of the machine, determine a turning rate of the machine based on the signal indicative of the turning rate of the machine, calculate a pitch rate of the machine in a gravity reference frame based on the pitch rate of the machine in the body reference frame, the roll of the machine, and the turning rate of the machine, and control the earth moving implement based on the pitch rate of the machine in the gravity reference frame. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A non-transitory computer-readable storage medium storing instructions for enabling a processor to execute a method controlling an earth moving implement of a machine, the method comprising:
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receiving a pitch rate of the machine in a body reference frame; determining a roll of the machine; determining a turning rate of the machine; calculating a pitch rate of the machine in a gravity reference frame based on the pitch rate of the machine in the body reference frame, the roll of the machine, and the turning rate of the machine; and controlling the earth moving implement based on the pitch rate of the machine in the gravity reference frame. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification