Vibration-damping triggering of an actuator for an agricultural working machine

Patent metadata

Field	Value
Publication number	US-9832926-B2
Application number	US-201514615967-A
Country	US
Kind code	B2
Filing date	Feb 6, 2015
Priority date	Feb 19, 2014
Publication date	Dec 5, 2017
Grant date	Dec 5, 2017

Abstract

An arrangement for triggering an actuator for adjusting an adjustable element of an agricultural working machine comprises: a specifying device for generating adjustment commands for the adjustable element; a control arrangement for the actuator; and a signal-shaping unit which, upon receipt of an adjustment command, initially applies a first signal dependent on the adjustment command to the control arrangement, and then applies a second signal, which is dependent on the adjustment command and delayed in time relative to the first signal, the second signal leading to a reduction or cancellation of a natural oscillation generated by the first signal in the system consisting of working machine and element.

First claim

What is claimed is:

1. An apparatus for triggering an actuator for adjusting an adjustable element of an agricultural working machine, the apparatus comprising:
a control arrangement for the actuator coupled to the adjustable element; and
at least one controller comprising:
a specifying device configured to generate adjustment commands for the adjustable element in order to travel to a target position;
a determination device configured to receive first signals regarding at least one of a tire parameter and a fill level of a container of the agricultural working machine, the determination device further configured to receive second signals regarding at least one of:
a pressure in a hydraulic cylinder provided as the actuator;
a movement of the adjustable element; and
an electrical triggering of an electrical actuator; and

a signal-shaping unit comprising an input connected to the specifying device, an output connected to the control arrangement to actuate the actuator, a first branch connected to the input and output and configured to transmit the adjustment command from the input with a first gain to the output, and a second branch connected to the input and configured to transmit the adjustment command from the input through a signal delay unit and with a second gain to the output;

wherein:
the determination device is configured to determine, before a start of or during an operation of the agricultural working machine, dependent on the second signals, data regarding at least one of a resonant frequency or a damping factor of a system comprising the agricultural working machine and the adjustable element; and
the determination device is configured to at least one of fine-tune or modify, dependent on the first signals, the data then specify at least one of the second gain or a time delay of the signal delay unit based on the fine-tuned or modified data.

2. The apparatus of claim 1 , wherein the specifying device is configured to generate adjustment commands based on output values of sensors that are look-ahead or are mechanically connected to the ground, or based on values derived from a map.

3. The apparatus of claim 2 , wherein the specifying device is configured to generate adjustment commands further based on the second signals.

4. The apparatus of claim 1 , wherein the adjustable element is an implement mounted on at least one of:
a front or rear power lift of a tractor;
a front or rear power lift of a sprayer boom;
a forage harvester ejection pipe that is adjustable about a vertical or a horizontal axis;
a harvester head of a harvesting machine, and adjustable in a forward direction;
a harvester head of a harvesting machine, and adjustable transversely thereto; or
a self-propelled field sprayer and is height adjustable or pivotable about an axis extending in a forward direction of the self-propelled field sprayer.

5. A method for damping vibration of an implement attached to an agricultural working machine, the method comprising:
receiving an adjustment command for movement of the implement;
receiving first signals regarding at least one of a tire parameter and a fill level of a container of the agricultural working machine;
receiving second signals regarding at least one of a pressure of a hydraulic actuator coupled to the implement, a movement of the implement, and an electrical triggering of an electrical actuator coupled to the implement;
determining a first control signal using the adjustment command;
determining, using the second signals, at least one of a resonant frequency or a damping factor of a system comprising the agricultural working machine and the implement;
modifying, using the first signals, the determined at least one of the resonant frequency or the damping factor;
determining, using the modified at least one of the resonant frequency or the damping factor, at least one of a gain and a time offset;
determining a second control signal using the adjustment command, the gain, and the time offset; and
controlling at least one of the hydraulic actuator or the electrical actuator using the first control signal and the second control signal, the implement moveable by the actuator.

Assignees

• Deere & Co

Inventors

• Jung Benedikt
• Muench Philipp

Classifications

• A01D75/00

  Accessories for harvesters or mowers · CPC title

• E02F9/2207

  for reducing or compensating oscillations · CPC title

• A01D41/127 Primary

  Control or measuring arrangements specially adapted for combines · CPC title

• A01C23/047

  Spraying of liquid fertilisers · CPC title

• A01D41/145 Primary

  Header lifting devices · CPC title