Header height control with tire flex compensation
A header height control system ( 208 ) includes a header height sensor ( 108 ) and a tire compression sensor ( 212 ) coupled to an electronic control unit ( 210 ). The two signals are combined by the electronic control unit ( 210 ) to derive a compensated header height signal that compensates for the transient flexure of the pneumatic tires of the vehicle. This compensated header height signal is then used in a header height control algorithm executed by the electronic control unit ( 210 ) to control the height of the header ( 104 ).
1. An agricultural harvester ( 100 ), comprising:
a self-propelled vehicle ( 102 ) having a front; a feederhouse ( 106 ) pivotally mounted on the front of the self-propelled vehicle ( 102 );
pneumatic tires ( 116 ) supporting the vehicle ( 102 ) for movement over the ground;
a header ( 104 ) mounted on the front of the self-propelled vehicle ( 102 );
hydraulic cylinders ( 202 ) coupled to and between the self-propelled vehicle ( 102 ) and the feederhouse ( 106 ) to raise and lower the feederhouse ( 106 ) when the hydraulic cylinders ( 202 ) are extended and retracted;
a valve ( 214 ) coupled to the hydraulic cylinders ( 202 ) to control hydraulic fluid flow to the hydraulic cylinders ( 202 ) from a source of hydraulic fluid under pressure, and to conduct hydraulic fluid from the hydraulic cylinders ( 202 ) to a reservoir;
a header height control circuit ( 208 ) further comprising an electronic control unit ( 210 ) coupled to the valve ( 214 ) wherein the electronic control circuit is configured to drive the valve ( 214 ) to raise and lower the header ( 104 ), a tire compression sensor ( 212 ) coupled to the electronic control circuit ( 210 ) wherein the tire compression sensor is configured to provide the electronic control unit ( 210 ) with a signal indicative of compression of the pneumatic tires ( 116 ), and a header height sensor ( 108 ) disposed to generate a signal indicative of the height of the header ( 104 ) with respect to the ground and wherein the electronic control unit ( 210 ) is configured to receive the signal indicative of compression of the pneumatic tires ( 116 ), and to receive the signal indicative of the height of the header ( 104 ) with respect to the ground, and to combine the two signals to create a compensated header height signal.
2. The agricultural harvester ( 100 ) of claim 1 , wherein the electronic control unit ( 210 ) is configured to determine a header height error signal based upon a combination of the compensated header height signal and a reference signal indicative of a commanded header height.
3. The agricultural harvester ( 100 ) of claim 2 , wherein the electronic control unit ( 210 ) is configured to calculate a control signal based upon the header height error signal that will move the header to the commanded height.
4. The agricultural harvester ( 100 ) of claim 3 , wherein the control signal is proportional to the header height error signal.
5. The agricultural harvester ( 100 ) of claim 3 , wherein the electronic control unit ( 210 ) is configured to calculate a valve signal that is applied to the valve ( 214 ).
6. The agricultural harvester of claim 3 , wherein the electronic control unit signals the valve ( 214 ) to drive the hydraulic cylinders ( 202 ) at a velocity of extension or contraction that is proportional to the header height error signal.
7. The agricultural harvester of claim 1 , wherein the tire compression sensor is configured to sense a fluid pressure of at least one of the hydraulic cylinders ( 202 ).
8. A header height control circuit ( 208 ) for controlling the height of a header ( 104 ) mounted on a self-propelled vehicle ( 102 ) having pneumatic tires ( 116 ) to carry the self-propelled vehicle ( 102 ) over the ground, the header height control circuit ( 208 ) comprising:
an electronic control unit ( 210 ) drivingly coupled to actuators ( 202 ) that raise and lower the header ( 104 );
a tire compression sensor ( 212 ) coupled to electronic control unit ( 210 ) to provide a signal ( 302 ) indicative of compression of the pneumatic tires ( 116 ) to the electronic control unit ( 210 ); and
a header height sensor ( 108 ) coupled to the electronic control unit ( 210 ) to provide a signal indicative of the height of the header ( 104 ), and
wherein the electronic control unit ( 210 ) is configured to receive the signal indicative of compression of the pneumatic tires ( 116 ), and to receive the signal indicative of the height of the header ( 104 ), and to combine the two signals to create a compensated header height signal.
9. The header height control circuit ( 208 ) of claim 8 , wherein the electronic control unit ( 210 ) is configured to determine a header height error signal based upon a combination of the compensated header height signal and a reference signal indicative of a commanded header height.
10. The header height control circuit ( 208 ) of claim 9 , wherein the electronic control unit ( 210 ) is configured to calculate a control signal based upon the header height error signal that will move the header to the commanded height.
11. The header height control circuit ( 208 ) of claim 10 , wherein the control signal is proportional to the header height error signal.
12. The header height control circuit ( 208 ) of claim 10 , wherein the electronic control unit ( 210 ) is configured to calculate a valve signal that is applied to the valve ( 214 ).
13. The header height control circuit ( 208 ) of claim 10 , wherein the electronic control unit signals the valve ( 214 ) to drive the hydraulic cylinders ( 202 ) at a velocity of extension or contraction that is proportional to the header height error signal.
14. The header height control circuit ( 208 ) of claim 8 , wherein the electronic control unit ( 210 ) is programmed to control the header to a predetermined height above the ground.