Working Implement Position Control After Vehicle Turning
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Solution Overview
Problem
Agricultural working implements connected to vehicles face challenges in maintaining accuracy on intended paths, especially during turning operations, due to external influences like slope inclinations and GNSS inaccuracies, leading to significant deviations and potential damage to plants.
Innovation Solution
An implement control unit is programmed to adjust the actuator after a turning operation, compensating for external influences by reversing the previous adjustments, ensuring the working implement returns to its optimal position relative to the vehicle, thus maintaining precision and avoiding errors caused by changed external factors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the actuator is controlled to compensate for lateral deviation during normal operation, then the working implement maintains accurate positioning on the intended path, but after a turning operation the implement position becomes inaccurate due to un compensated changes in external influences
Solution Approach 1:
The system performs preliminary action by detecting the turning operation and preemptively adjusting the actuator position before the turning is complete. The control unit stores the pre-turning actuator position and calculates a compensated post-turning position, then applies this adjustment in advance to ensure continuous positioning accuracy throughout and after the turning maneuver.
Solution Approach 2:
The system uses feedback by continuously monitoring the actuator position, vehicle orientation, and turning status. The control unit receives feedback about the turning operation from the automatic steering device and uses this information to dynamically adjust the actuator position, creating a closed-loop control system that maintains positioning accuracy through continuous adaptation to changing conditions.
2Adaptability or versatility
If the vehicle performs a turning operation, then the vehicle can change direction to continue field work, but the external influences like slope inclination and GNSS accuracy cause significant lateral deviation of the working implement from the intended path
Solution Approach 1:
The system applies preliminary anti-action by predicting the direction and magnitude of lateral deviation that will occur after turning, then applying an opposing adjustment to the actuator in advance. The control unit calculates the expected deviation based on stored pre-turning positions and vehicle turning parameters, then applies a compensating adjustment that counteracts the anticipated error, preventing positioning inaccuracy before it occurs.
Solution Approach 2:
The system uses parameter changes by dynamically modifying the actuator position parameter based on turning operation parameters. The control unit changes the actuator's target position from the normal compensation value to a specially calculated post-turning compensation value, adapting the positioning parameter to account for the changed external conditions after turning.
Data Source
AI summary
A system for controlling a working implement connected to a vehicle, the system comprising: at least one tool mounted on the working implement, the implement and the at least one tool configured to perform an agricultural operation; an automatic steering device associated with the vehicle, the automatic steering device configured to guide the vehicle on an intended vehicle path; an actuator for controlling the lateral position of the working implement relative to the vehicle, the actuator connected to an implement control unit that can be operated to control the actuator in such a way that the working implement is moved on an intended path of the working implement and the implement control unit is set up to compensate a lateral deviation of the vehicle from the intended path of the vehicle through actuation of the actuator; and wherein the implement control unit is programmed to pre-set the actuator after a turning operation in a position in which the effects of the turning operation is compensated.