Abstract: The height of a header of a self-propelled harvesting machine is controlled by a closed loop header position control system. A sensitivity control system receives parameters related to header position error (e.g., an accuracy parameter) and machine stability (e.g., a stability parameter) and automatically identifies a sensitivity metric indicative of a sensitivity with which the header position control system controls the header height, based upon the received parameters. The sensitivity metric is provided to the header position control system. The header position control system performs closed loop header position control with a sensitivity level based upon the sensitivity metric provided by the sensitivity control system.

Abstract: An arrangement for the control of an actuator (48) for the adjustment of an adjustable element (16) of an agricultural work machine (10) is equipped with a control unit (50) to produce adjustment signals for the adjustable element (16) in the sense of moving to a theoretical position, a control arrangement (62) of the actuator (48), coupled with the adjustable element (16), which receives the adjustment signals of the control unit (50), and a determination device (54) to make available at least one parameter (?), determined with the aid of recorded vibration characteristics of the system consisting of the adjustable element (16) and the work machine (10). The determination device (54) can be operated so as to determine at least one parameter (?) at the successively following time points and to supply it to the control unit (50). The parameter (?) serves to optimize the regulating behavior of the control unit (50).

Abstract: The height of a header of a self-propelled harvesting machine is controlled by a closed loop header position control system. A sensitivity control system receives parameters related to header position error (e.g., an accuracy parameter) and machine stability (e.g., a stability parameter) and automatically identifies a sensitivity metric indicative of a sensitivity with which the header position control system controls the header height, based upon the received parameters. The sensitivity metric is provided to the header position control system. The header position control system performs closed loop header position control with a sensitivity level based upon the sensitivity metric provided by the sensitivity control system.

Abstract: An arrangement for the control of an actuator (48) for the adjustment of an adjustable element (16) of an agricultural work machine (10) is equipped with a control unit (50) to produce adjustment signals for the adjustable element (16) in the sense of moving to a theoretical position, a control arrangement (62) of the actuator (48), coupled with the adjustable element (16), which receives the adjustment signals of the control unit (50), and a determination device (54) to make available at least one parameter (0), determined with the aid of recorded vibration characteristics of the system consisting of the adjustable element (16) and the work machine (10). The determination device (54) can be operated so as to determine at least one parameter (0) at the successively following time points and to supply it to the control unit (50). The parameter (0) serves to optimize the regulating behavior of the control unit (50).

Abstract: A control method is provided for an electric motor which drives an apparatus through a gear unit. The method includes generating a gear output and input speed signals, low pass filtering the gear speed signals and subtracting the filtered gear input speed signal from the filtered gear output speed signal to provide a relative speed signal. The method also includes high pass filtering the relative speed signal, multiplying the filtered relative speed signal by damping gain value to generate a backlash compensation torque value, and subtracting the backlash compensation torque value from an apparatus control torque value to generate the desired motor torque value.

Abstract: A control method is provided for an electric motor which drives an apparatus through a gear unit. The method includes generating a gear output and input speed signals, low pass filtering the gear speed signals and subtracting the filtered gear input speed signal from the filtered gear output speed signal to provide a relative speed signal. The method also includes high pass filtering the relative speed signal, multiplying the filtered relative speed signal by damping gain value to generate a backlash compensation torque value, and subtracting the backlash compensation torque value from an apparatus control torque value to generate the desired motor torque value.

Abstract: The present invention is a method for controlling a ground vehicle, for automated steering control of the vehicle or the like. The method of the present invention includes using a GPS receiver or the like and an inertial gyro or the like for providing automated steering control of the ground vehicle. A difference between a measured off-track error and a lateral error command is fed into a lateral error control loop, producing a lateral velocity command. Then, a difference between a measured lateral velocity and the lateral velocity command is fed into a lateral velocity control loop, producing a yaw rate command. Finally, a difference between a measured yaw rate, the yaw rate command, and a curved track yaw rate for the intended path of the vehicle is computed and fed into a yaw rate control loop, producing a valve command for steering the ground vehicle on or towards its intended path.