Control device for position-control of implement coupled to an agricultural vehicle

Claim 1

A control device for position-control of an implement coupled to an agricultural vehicle by a hoisting unit, particularly of a plow coupled to a tractor, the control device comprising a first control circuit including a drive speed sensor for detecting a speed of a drive of the vehicle and generating a drive speed signal, a differentiating device for processing said drive speed signal into a derivative acceleration signal; a true acceleration sensor fixedly mounted on the vehicle to detect true acceleration thereof relative to the ground and generate a true acceleration signal, a comparator for comparing the derivative and the true acceleration signals and generating a differential acceleration signal, an integrating device for processing said differential acceleration signal into an actual slip value, and a first summing means for comparing said actual slip value with a slip reference value and generating a slip control value; a second control circuit including a second summing means for comparing an actual traction force value of the vehicle with a traction reference value and generating a position control value for said hoisting unit; and means for combining said slip control value from the first control circuit with the position control value of the second control circuit to affect via said hoisting unit the position of said implement.