Implement control based on surface-based cost function and noise values

摘要

An earthmoving machine comprises a sensor, an implement, and control architecture comprising a controller and configured to facilitate movement in response to a signal indicative of a measured implement position and an implement control value comprising a gain value associated with implement speed. The controller is programmed to execute machine readable instructions to generate a surface-based cost function (SBCF) value based on the signal, determine whether the SBCF value is acceptable to lock the gain value, and generate a noise value that is based on an error between the signal and a target signal when the SBCF value is unacceptable, determine whether the noise value is acceptable to lock the gain value, adjust the gain value to control the implement speed when the noise value is unacceptable until the SBCF value or the noise value is acceptable, and operate the machine based on the locked gain value.

主权项

1. An earthmoving machine comprising a machine chassis, a linkage mechanism, an earthmoving implement, an adaptive environmental sensor, and control architecture, wherein:
the earthmoving implement is coupled to the machine chassis via the linkage mechanism; the control architecture is configured to facilitate movement of the earthmoving implement, the machine chassis, and the linkage mechanism in one or more degrees of freedom at least partially in response to an implement control value and an adaptive signal; the implement control value represents control of the movement of the earthmoving implement and comprises a gain value as a parameter thereof; the implement control gain value is associated with a speed of movement of the earthmoving implement; the adaptive signal is generated by the adaptive environmental sensor and is indicative of a measured position of the earthmoving implement relative to a given operational terrain; and the control architecture comprises a machine controller that is programmed to execute machine readable instructions to
generate a surface-based cost function value that is based on the adaptive signal or a comparison of the adaptive signal to a target position signal indicative of a target position of the earthmoving implement,determine whether the surface-based cost function value is at an acceptable level or an unacceptable level,lock the implement control gain value when the surface-based cost function value is at the acceptable level,generate a noise value that is based on an error between the adaptive signal and the target position signal when the surface-based cost function value is at the unacceptable level,determine whether the noise value is at an acceptable noise level or an unacceptable noise level,lock the implement control gain value when the noise value is at the acceptable noise level,adjust the implement control gain value to control the implement speed when the noise value is at the unacceptable noise level until the surface-based cost function value is at the acceptable level or the noise value is at the acceptable noise level, and the implement control gain value is locked, andoperate the earthmoving machine based on the locked implement control gain value.