Apparatus and method for controlling the position of an arm on a hitch

An apparatus for controlling a lateral position of a first member on a hitch of a work machine. A first processing device receives a first signal indicative of a desired turn radius of the work machine and transmits a first desired hitch position as a function of the first signal. A second processing device receives a second signal indicative of an actual hitch position and also receives the first desired hitch position. The second processing device transmits a first error as a function of the second signal and the desired hitch position. A controller receives the first error and transmits a second error as a function of the first error. A first member modulator receives the first error and transmits a first activation signal as a function of the second error. The first activation signal controls the lateral position of the first member.

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What is claimed is:

1. An apparatus for controlling a lateral position of a first member on a hitch of a work machine, comprising:

a first processing device operable to receive a first signal indicative of a desired turn radius of the work machine and to transmit a first desired hitch position as a function of the first signal;

a second processing device operable to receive a second signal indicative of an actual hitch position and coupled with the first processing device to receive the first desired hitch position, the second processing device operable to transmit afirst error as a function of the second signal and the desired hitch position;

a controller coupled with the second processing device to receive the first error, the controller operable to transmit a second error as a function of the first error; and

a first member modulator coupled with the controller to receive the first error, the first member modulator operable to transmit a first activation signal as a function of the second error, the first activation signal operable to control thelateral position of the first member.

2. The apparatus of claim 1 wherein the first error comprises the difference between the desired hitch position and the actual hitch position.

3. The apparatus of claim 1 wherein the second error is a function of the first error, a first constant, and an integral of the first error.

4. The apparatus of claim 1, further comprising:

a second member modulator coupled with the controller to receive the second error, the second member modulator operable to transmit a second activation signal as a function of the second error, the second activation signal operable to control thelateral position of the first member.

5. The apparatus of claim 4 wherein the first activation signal is complementary to the second activation signal.

6. An apparatus for controlling a lateral position of a first member on a hitch of a work machine, comprising:

a first processing device operable to receive a first signal indicative of a desired turn radius of the work machine and to transmit a first desired hitch position as a function of the first signal;

a second processing device operable to receive a second signal indicative of an offset and coupled with the first processing device to receive the first desired hitch position; the second processing device operable to transmit a second desiredhitch position as a function of the second signal and the first desired hitch position;

a third processing device operable to receive a third signal indicative of an actual hitch position and coupled with the second processing device to receive the second desired hitch position, the third processing device operable to transmit afirst error as a function of the third signal and the desired hitch position;

a controller coupled with the third processing device to receive the first error, the controller operable to transmit a second error as a function of the first error; and

a first member modulator coupled with the controller to receive the first error, the first member modulator operable to transmit a first activation signal as a function of the second error, the first activation signal operable to control thelateral position of the first member.

7. The apparatus of claim 6 wherein the second desired hitch position comprises the sum of the first desired hitch position and the offset.

8. The apparatus of claim 6, further comprising:

a second member modulator coupled with the controller to receive the second error, the second member modulator operable to transmit a second activation signal as a function of the second error, the second activation signal operable to control thelateral position of the first member.

9. A work machine, comprising:

a frame;

an engine coupled with the frame and operable to provide a locomotive force;

a ground engaging traction device coupled with the frame and with the engine to receive the locomotive force, the ground engaging traction device operable to move relative to the frame as a function of the locomotive force;

a hitch assembly coupled with the frame and having a first member capable of lateral movement along a first axis;

a control input coupled with the frame, the control input providing a first signal indicative of a desired turn radius of the work machine;

a first sensor coupled with the first member, the first sensor operable to transmit a second signal indicative of a first member actual position along the first axis;

an apparatus for controlling a lateral position of the first member of the hitch assembly, comprising:

a first processing device coupled with the control input to receive the first signal and to transmit a first desired hitch position as a function of the first signal;

a second processing device coupled with the first sensor to receive the second signal and coupled with the first processing device to receive the first desired hitch position, the second processing device operable to transmit a first error as afunction of the second signal and the desired hitch position;

a controller coupled with the second processing device to receive the first error, the controller operable to transmit a second error as a function of the first error; and

a first member modulator coupled with the controller to receive the second error, the first member modulator operable to transmit a first activation signal as a function of the second error;

a second member modulator coupled with the controller to receive the second error, the second member modulator operable to transmit a second activation signal as a function of the second error;

an actuator coupled with the first member modulator to receive the first activation signal and with the second member modulator to receive the second activation signal, the actuator operable to control the lateral position of the first memberalong the first axis as a function of the first and second activation signals.

10. The work machine of claim 9 wherein the control input comprises a steering wheel.

11. A method for controlling a lateral position of a member on a hitch of a work machine, comprising:

determining a turn radius; and

automatically adjusting the lateral position of the member as a function of the turn radius and turn direction.

12. The method of claim 11 wherein determining a turn radius comprises:

determining a magnitude of the turn radius; and

determining a direction of the turn radius.

13. A method for controlling a position of a first member on a hitch of a work machine along a first axis, comprising:

receiving a first signal indicative of a desired turn radius of the work machine;

determining a desired hitch position as a function of the first signal;

receiving a second signal indicative of an actual hitch position;

determining a first error as a function of the first signal and the second signal;

determining a second error as a function of the first error;

determining a first activation signal as function of the second error, the first activation signal operable to control the position of the first member along the first axis; and

transmitting the first activation signal.

14. The method of claim 13 wherein the first axis comprises a horizontal axis, and movement along the first axis comprises lateral movement.

15. The method of claim 13 wherein the second error is a function of the first error, a first constant, and an integral of the first error.

16. The method of claim 13, further comprising:

determining a second activation signal as function of the second error, the second activation signal operable to control the lateral position of the first member; and

transmitting the second activation signal.

17. A method for controlling a lateral position of a first member on a hitch of a work machine along a first axis, comprising:

receiving a first signal indicative of a desired turn radius of the work machine;

determining a first desired hitch position as a function of the first signal;

receiving a second signal indicative of an offset;

determining a second desired hitch position as a function of the first desired hitch position and the second signal;

receiving a third signal indicative of an actual hitch position;

determining a first error as a function of the second desired hitch position and the third signal;

determining a second error as a function of the first error;

determining a first activation signal as function of the second error, the first activation signal operable to control the position of the first member along the first axis; and

transmitting the first activation signal.

18. The method of claim 17 wherein the second error is a function of the first error, a first constant, and an integral of the first error.

19. The method of claim 17 wherein the first axis comprises a horizontal axis, and movement along the first axis comprises lateral movement.

20. The method of claim 17, further comprising:

determining a second activation signal as function of the second error, the second activation signal operable to control the position of the first member of the hitch on a work machine along the first axis; and

transmitting the second activation signal.