Harvester Header Gain Adjustment for Terrain Contours
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Solution Overview
Problem
Agricultural harvesters face challenges in maintaining optimal header positioning due to varied terrain, leading to strain on operators, potential losses, and inefficient operations due to fixed gain settings for actuator control.
Innovation Solution
A system and method that utilize a computing system to adjust gains for position control of a harvester header based on the aggressiveness of the field contour, received from sensors, to optimize header positioning and reduce operator strain.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a fixed high gain is used for actuator control, then the header positioning response is fast, but excessive vibrations occur in areas with gradual contour changes
Solution Approach 1:
The patent applies dynamics by making the gain setting adjustable rather than fixed. The system dynamically changes the gain based on the detected contour aggressiveness of the terrain, allowing the controller to adapt its responsiveness. In areas with gradual contour changes, the gain is reduced to minimize vibrations, while in areas with aggressive contour changes, the gain is increased to maintain fast positioning response.
Solution Approach 2:
The patent changes the control parameter (gain) based on terrain conditions. By detecting the contour aggressiveness and adjusting the gain accordingly, the system optimizes its performance for different terrain types. This parameter adjustment resolves the contradiction by allowing the gain to be high when needed for responsiveness and low when needed to reduce vibrations.
2Object-affected harmful factors
If a fixed low gain is used for actuator control, then vibrations are reduced, but header positioning responds too slowly to aggressive contour changes
Solution Approach 1:
The system dynamically adjusts the gain based on real-time detection of contour aggressiveness. When the terrain shows aggressive contour changes, the gain is increased to provide fast positioning response. When the terrain is gradual, the gain is decreased to reduce vibrations. This dynamic adjustment eliminates the need to choose a fixed low gain that would be suboptimal for aggressive terrain.
Solution Approach 2:
The gain parameter is changed based on the detected terrain characteristics. The system monitors contour aggressiveness and adjusts the gain accordingly, allowing it to be low when vibrations should be minimized and high when rapid positioning is needed to track aggressive contour changes.
3Manufacturing precision
If manual header positioning adjustments are made frequently, then header position is maintained in varied terrain, but operator strain increases
Solution Approach 1:
The system performs self-service by automatically detecting contour aggressiveness and adjusting gain settings without operator intervention. The controller monitors terrain conditions and autonomously optimizes its control parameters, eliminating the need for the operator to manually adjust the gain or frequently manually position the header, thereby reducing operator strain while maintaining precision.
Solution Approach 2:
The system uses feedback from sensors that detect contour aggressiveness to automatically adjust the gain setting. This closed-loop control allows the system to adapt to terrain changes and maintain precise header positioning without requiring frequent manual adjustments from the operator, reducing strain while maintaining control precision.
4Adaptability or versatility
If the gain is adjusted frequently during harvesting, then header positioning adapts to terrain changes, but system complexity increases
Solution Approach 1:
The control system performs self-service by automatically detecting terrain characteristics and adjusting gain settings without requiring complex external control mechanisms. The system uses onboard sensors to monitor contour aggressiveness and autonomously modifies its control parameters, providing terrain adaptation capability while keeping the overall system complexity manageable through automated self-adjustment.
Solution Approach 2:
The system changes control parameters (gain settings) based on detected terrain conditions. By using sensor feedback to automatically adjust the gain according to contour aggressiveness, the system achieves high adaptability to varied terrain while avoiding the need for complex manual control mechanisms or multiple separate control systems.
Data Source
AI summary
A system for adjusting gains for position control of a header of an agricultural harvester includes a header of an agricultural harvester, an actuator configured to adjust a position of the header relative to a field, and a computing system communicatively coupled to the actuator. The computing system is configured to receive data indicative of a contour of the field forward of the agricultural harvester relative to a forward direction of travel of the agricultural harvester. The computing system is further configured to determine an aggressiveness of the contour of the field based at least in part on the data indicative of the contour of the field. Additionally, the computing system is configured to adjust a gain for controlling the actuator based at least in part on the aggressiveness of the contour of the field.