Dynamic stabilization and control of an earthmoving machine

摘要

An earthmoving machine (102) including a control system (200) is disclosed. The machine (102) comprises first and second satellite navigation antennas (104,106) mounted in a longitudinal direction on the earthmoving machine (102). A third satellite navigation antenna (108) is mounted on a pole (110) attached to an operational element (112) of the earthmoving machine. In one embodiment, the earthmoving machine (102) is a bulldozer and the operational element is a blade of the bulldozer. The machine (102) further comprises a gravity reference sensor (210) and a plurality of gyroscopes (214) mounted on the machine. A computer processor (222) generates control signals based on sensor data received from the various components. The disclosed system and method allows for dynamically stable operation of the earthmoving machine (102) at relatively fast speeds without the development of unwanted oscillations.