Systems, methods, and apparatus for controlling downforce of an agricultural implement
A downforce system adjusts the amount of downforce being applied to a row unit of an agricultural implement. The downforce system is controlled to increase or decrease the force on the row unit. A load is sensed at the row unit and compared to either or both of a user defined target and a lower threshold that can be based, at least in part, upon a percentage of a value. When the load is determined to be below the lower threshold, the user defined amount is increased at a rate of change until the load is above the threshold, at which point the increase is stopped, and reduced, if necessary.
1. A method of controlling a downforce assembly for use with a row unit of an agricultural implement, the method comprising:
setting a user defined target of an amount of downforce load for a row unit;
sensing a load of the row unit;
comparing the sensed load with a lower threshold;
when the sensed load is below the lower threshold, adding a mean shift value to the user defined target by a rate of change to move the sensed load to above the lower threshold; and
decreasing the mean shift value towards zero at a rate of change when the sensed load is above the lower threshold.
2. The method of claim 1 , wherein the sensed load is a sensed gauge wheel load.
3. The method of claim 1 , wherein the mean shift value is decreased automatically by a rate of change upon a detection that the sensed load is above the lower threshold.
4. The method of claim 1 , wherein the mean shift value is decreased manually by a user.
5. The method of claim 4 , further comprising identifying an upper threshold, and comparing the sensed load with both the upper and the lower thresholds.
6. The method of claim 5 , further comprising, when the sensed load is above the upper threshold, reducing the mean shift value towards zero at a rate of change to move the load to below the upper threshold.
7. The method of claim 6 , wherein the reduction of the mean shift value is done automatically.
8. The method of claim 6 , wherein the reduction of the mean shift value is done manually.
9. The method of claim 6 , wherein the decrease of the mean shift value comprises:
a. a first change of rate for decreasing the mean shift value when the sensed load is below the upper threshold; and
b. a second change of rate for decreasing the mean shift value when the sensed load is above the upper threshold.
10. A system for controlling an amount of downforce applied to a row unit of an agricultural implement, the system comprising:
a downforce actuator coupled to a row unit to apply an amount of down force to the row unit;
a sensor associated with the row unit to sense an amount of force being applied to the row unit and at least partially based upon the ground acting on the row unit; and
a controller in communication with the downforce actuator and the sensor, said controller receiving said sensed amount of load being applied to the row unit, and wherein said controller configured to:
compare the sensed load with a user defined target and a lower threshold;
when the sensed load is below the lower threshold, adding a mean shift value to the user defined target by a rate of change to move the sensed load to above the lower threshold; and
decrease the mean shift value towards zero at a rate of change when the sensed load is above the lower threshold.
11. The system of claim 10 , further comprising a gauge wheel coupled to the row unit, and wherein the sensed force is the force sensed by the gauge wheel.
12. The system of claim 10 , wherein the controller automatically decreases the mean shift value towards zero upon a determination that the sensed load is above the lower threshold.
13. The system of claim 10 , wherein the lower threshold is calculated to be approximately 67% of the lowest user defined target.
14. The system of claim 10 , wherein the lower threshold is fixed and is independent of the user defined target.
15. A method of controlling the amount of downforce applied to a row unit of an agricultural implement, the method comprising:
sensing a load of the row unit;
communicating the sensed load to a controller, wherein the controller:
compares the sensed load with a user defined target and a lower threshold; and
when the sensed load is below the lower threshold, adding a mean shift value to the user defined target by a rate of change to move the sensed load to above the lower thresholds;
capping the added mean shift value at a mean shift limit.
16. The method of claim 15 , further comprising decreasing the mean shift value toward zero at a first rate of change when the sensed load is above the lower threshold.
17. The method of claim 15 , wherein the mean shift limit is approximately equal to the difference between the user defined target and a second user defined target.
18. The method of claim 15 , further comprising decreasing the mean shift value toward zero at a second rate of change when the sensed load is above an upper threshold.