Method for motion control and/or regulation of an agricultural distribution device

A method for the position-controlled guidance of at least two pivotably movable cantilevered arms of an agricultural distribution machine over a ground surface, wherein the at least two pivotably movable cantilevered arms are each positioned adjacent a middle part, and wherein a relative position of the at least two pivotably movable cantilevered arms in relation to the ground surface is detected and a symmetrical realignment of the at least two pivotably movable cantilevered arms and/or of the distribution machine is carried out through autonomous regulation based on the detected relative position in response to a pivoting motion in relation to the ground surface, wherein the autonomous regulation may be overridden by way of manual control comprising a manually specifiable regulation parameter for at least one of the at least two pivotably movable cantilevered arms, which manually specifiable regulation parameter at least temporarily lifts or pivots at least one of the at least two pivotably movable cantilevered arms, wherein the autonomous regulation is temporarily interrupted by way of manual control for at least one of the at least two pivotably movable cantilevered arms, wherein a positioning of the at least one of the at least two pivotably movable cantilevered arms is carried out in a manually controlled manner during the interruption,

• wherein at least one angle potentiometer for the detection of an angular position between the middle part and the at least two pivotably movable cantilevered arms is arranged between the middle part and at least one of the at least two pivotably movable cantilevered arms, wherein an actuator that is assigned to an oppositely positioned cantilevered arm is controlled on the basis of the angular position detected by the at least one angle potentiometer;
• and wherein a desired position for the at least one of the at least two pivotably movable cantilevered arms in relation to the ground surface is specified in a manually controlled manner during the interruption of the autonomous regulation and is subsequently maintained in a regulated manner over a definable time interval or until termination of manual control.