US 12,029,215 B2
Agricultural implement boom leveling controller and method
Tim F. Van Poucke, Zwijnaarde (BE); Herman M. Ramon, Ghent (BE); and Jens Aksel Skjærbæk Søndergaard, Gandrup (DK)
Assigned to Spraying Systems Co., Wheaton, IL (US)
Filed by Spraying Systems Co., Wheaton, IL (US)
Filed on Dec. 21, 2021, as Appl. No. 17/557,771.
Claims priority of provisional application 63/133,621, filed on Jan. 4, 2021.
Prior Publication US 2022/0211027 A1, Jul. 7, 2022
Int. Cl. A01M 7/00 (2006.01)
CPC A01M 7/0089 (2013.01) [A01M 7/0071 (2013.01)] 32 Claims
OG exemplary drawing
 
1. A method for controlled leveling of a multi-wing boom assembly by a multi-loop controller arrangement including a main controller that renders actuation control commands to an actuator controller for causing positioning of actuators of the multi-wing boom assembly to reduce a determined current position error of components of the multi-wing boom assembly in relation to a determined contour of a field over which the multi-wing boom assembly is currently passing, the method comprising:
executing, by the main controller operating according to a main controller repetition cycle period within which an actuation command is rendered for implementation by the actuator controller, a main controller loop to generate positioning commands to be carried out by the actuator controller; and
executing, by the actuator controller independently of the main controller and in accordance with an actuator controller repetition cycle period having a duration that is independent of the main controller repetition cycle period, an actuator controller loop to generate control signals for the actuators of the multi-wing boom assembly.