Coordinated and proportional grade and slope control using gain matrixes

摘要

A multiple-input multiple-output (MIMO) computer control system in a heavy equipment machine is in communication with multiple sensors in order to measure deviations from a path to be followed. Sensor corrections are applied to return the heavy equipment machine to a path to be followed or to restrain the machine from deviating from the path to be followed. Sensor corrections affect a controlled variable, such as cross-slope. Sensor corrections may account for false positives and false negatives. Sensor corrections are applied to the heavy equipment machine using a gain matrix (G). The multiple vectors of gain values comprising the gain matrix (G) are utilized by the MIMO computer control system to simultaneously and proportionally actuate each drive leg of the machine to obtain a desired grade including a compensated slope and/or elevation.

主权项

1. A control system comprising:
a plurality of sensors coupled to a heavy equipment machine having two or more height-adjusting cylinders; and a multi-input-multi-output (MIMO) controller, said MIMO controller having a processor communicatively coupled to said plurality of sensors and to said two or more height-adjusting cylinders, said processor having a memory with one or more programmable instructions executable by said processor to:
obtain a sensor value for each sensor or a set of sensors of the plurality of sensors;determine a gain matrix (G) using a plurality of sensor correction values;determine a vector of controller outputs for use as actuation inputs for each height-adjusting cylinder based on said gain matrix of said plurality of sensor correction values; andtransmit simultaneously each value of the vector of controller outputs to each height-adjusting cylinder to result respective actuation at each height-adjusting cylinder,
wherein respective actuation at each height-adjusting cylinder results in a synchronously controlled variable, said synchronously controlled variable including at least one of: cross-slope, right long-slope, left long-slope, or elevation.