Systems and methods for controlling a machine implement

Abstract

A control system for a machine includes a chassis, an implement attached to the chassis, at least one sensor coupled to the chassis or the implement, and a controller in communication with the sensor. The controller is configured to receive one or more signals from the at least one sensor, determine a stabilization factor based on the one or more signals from the at least one sensor, and signal one or more actuators to control a movement and/or a position of the implement based at least in part on the stabilization factor.

What is claimed is: 
     
         1 . A control system for a machine, comprising:
 a chassis;   an implement attached to the chassis;   at least one sensor coupled to the chassis or the implement; and   a controller in communication with the sensor configured to:
 receive one or more signals from the at least one sensor; 
 determine a stabilization factor based on the one or more signals from the at least one sensor; and 
 signal one or more actuators to control a movement and/or a position of the implement based at least in part on the stabilization factor. 
   
     
     
         2 . The control system of  claim 1 , wherein the controller includes an integrator module that receives the one or more signals from the at least one sensor, wherein the integrator module increases, decreases, or maintains the stabilization factor based on the one or more signals from the at least one sensor, and wherein the stabilization factor is provided to an implement mainfall angle cutoff frequency module to adjust an implement mainfall angle cutoff frequency that is used to determine a command signal to control the movement and/or position of the implement. 
     
     
         3 . The control system of  claim 2 , further including an operator control configured to generate a command signal indicative of a desired movement of the implement, wherein the integrator module is further configured to adjust the stabilization factor based on the command signal. 
     
     
         4 . The control system of  claim 1 , wherein the controller adaptively adjusts the stabilization factor continuously during operation of the machine. 
     
     
         5 . The control system of  claim 1 , wherein the at least one sensor includes an inertial measurement unit coupled to the implement and an inertial measurement unit coupled to the chassis, wherein the controller is further configured to receive signals from the inertial measurement unit coupled to the implement and the inertial measurement unit coupled to the chassis and adjust the stabilization factor. 
     
     
         6 . The control system of  claim 5 , further comprising a ground surface sensor in communication with the controller, wherein the ground surface sensor is configured to determine one or more properties of a ground surface on which the machine is operating, and wherein the controller is further configured to receive one or more signals from the ground surface sensor and adjust the stabilization factor. 
     
     
         7 . The control system of  claim 1 , wherein the controller includes a roading detection module, wherein the roading detection module is configured to receive one or more signals indicative of a track speed or a pitch noise to determine whether the machine is in a roading mode, wherein when the roading detection module determines that the machine is a roading mode, the roading detection module adjusts or deactivates the stabilization factor. 
     
     
         8 . The control system of  claim 1 , wherein the implement is a blade coupled to the chassis via one or more hydraulic actuators. 
     
     
         9 . A method of controlling an implement of a machine, comprising:
 receiving at a controller one or more signals indicative of one or more operating parameters of the machine;   analyzing and/or integrating the one or more signals to determine a stabilization factor; and   controlling one or more portions of the machine to move or change a position of the implement based on the one or more signals and the determined stabilization factor.   
     
     
         10 . The method of  claim 9 , wherein the one or more signals include an implement pitch signal indicative of an angle of the implement with respect to a chassis, a chassis pitch signal indicative of an angle of the chassis with respect to gravity, and a speed signal indicative of a speed of the machine. 
     
     
         11 . The method of  claim 10 , wherein the one or more signals further include a ground surface signal indicative of one or more parameters of a ground surface on which the machine is operating. 
     
     
         12 . The method of  claim 10 , further including:
 receiving an operator command signal;   determining an operator desired implement pitch based on the operator command signal;   filtering the chassis pitch signal using the stabilization factor;   determining a desired implement angle based on the operator desired implement pitch rate and the stabilization factor; and   moving the implement based on the desired implement angle.   
     
     
         13 . The method of  claim 12 , wherein the implement is moved via one or more hydraulic actuators. 
     
     
         14 . The method of  claim 9 , further including:
 receiving one or more of a track speed signal or a pitch noise signal at a roading detection module, and if the track speed signal or the pitch noise signal is indicative of a roading mode, adjusting or deactivating the stabilization factor.   
     
     
         15 . The method of  claim 14 , wherein the implement is a blade, and wherein the roading mode corresponds to the blade being elevated from a ground surface. 
     
     
         16 . A control system for a machine, comprising:
 a chassis;   an implement attached to the chassis;   at least one first sensor coupled to the chassis or the implement;   at least one second sensor coupled to the chassis or the implement; and   a controller in communication with the at least one first sensor and the at least one second sensor, wherein the controller is configured to:
 receive one or more signals from the at least one first sensor at an integrator; 
 determine an intermediate stabilization factor based on the one or more signals from the at least one first sensor; 
 receive one or more signals from the at least one second sensor at a roading detection module to determine whether the machine is in a roading mode; and 
 if the machine is not determined to be in a roading mode, signal one or more actuators to control a movement and/or a position of the implement based at least in part on the stabilization factor. 
   
     
     
         17 . The control system of  claim 16 , wherein the at least one first sensor includes an implement inertial measurement unit configured to send an implement pitch signal indicative of an angle of the implement with respect to the chassis, and a chassis inertial measurement unit configured to send a chassis pitch signal indicative of an angle of the chassis with respect to gravity. 
     
     
         18 . The control system of  claim 17 , wherein the at least one first sensor further includes a ground surface sensor configured to send a ground surface signal indicative of one or more parameters of a ground surface on which the machine is operating. 
     
     
         19 . The control system of  claim 16 , wherein the at least one second sensor includes a track speed sensor configured to send a track speed signal indicative of a speed of one or more tracks propelling the machine. 
     
     
         20 . The control system of  claim 16 , wherein the implement is a blade coupled to the chassis via one or more hydraulic actuators, and wherein the roading mode corresponds to the blade being elevated from a ground surface.