Header stabilization control system for a combine harvester

A non-transitory computer readable medium storing computer program instructions, the computer program instructions when executed by a processor cause the processor to perform operations comprising:

• receiving, from one or more sensors disposed on a header of a combine harvester, a vertical disturbance signal indicative of a vertical disturbance on the header and a lateral tilt disturbance signal indicative of a lateral tilt disturbance on the header;
• determining a compensated vertical displacement value based on the vertical disturbance signal by:
• calculating a vertical position of the header based on a vertical acceleration of the header determined from the vertical disturbance signal;
• determining a vertical height error of the header;
• and
• determining the compensated vertical displacement value based on the vertical position and the vertical height error;
• determining a compensated lateral tilt displacement value based on the lateral tilt disturbance signal;
• and
• transmitting one or more control signals to two or more actuators to vertically displace the header based on the compensated vertical displacement value to compensate for the vertical disturbance and to rotationally displace the header about a pivot joint based on the compensated lateral tilt displacement value to compensate for the lateral tilt disturbance.

A system comprising:

• one or more sensors disposed on a header of a combine harvester;
• two or more actuators;
• and
• an electronic control unit for:
• receiving, from the one or more sensors, a vertical disturbance signal indicative of a vertical disturbance on the header and a lateral tilt disturbance signal indicative of a lateral tilt disturbance on the header;
• determining a compensated vertical displacement value based on the vertical disturbance signal by:
• calculating a vertical position of the header based on a vertical acceleration of the header determined from the vertical disturbance signal;
• determining a vertical height error of the header;
• and
• determining the compensated vertical displacement value based on the vertical position and the vertical height error;
• determining a compensated lateral tilt displacement value based on the lateral tilt disturbance signal;
• and
• transmitting one or more control signals to the two or more actuators to vertically displace the header based on the compensated vertical displacement value to compensate for the vertical disturbance and to rotationally displace the header about a pivot joint based on the compensated lateral tilt displacement value to compensate for the lateral tilt disturbance.

An agricultural machine, comprising:

• a vehicle;
• a header pivotably coupled to the vehicle by a pivot joint;
• one or more sensors disposed on the header;
• two or more actuators connecting the vehicle with the header for controlling a height and a lateral tilt of the header;
• and
• an electronic control unit configured for:
• receiving, from the one or more sensors, a vertical disturbance signal indicative of a vertical disturbance on the header and a lateral tilt disturbance signal indicative of a lateral tilt disturbance on the header;
• determining a compensated vertical displacement value based on the vertical disturbance signal by:
• calculating a vertical position of the header based on a vertical acceleration of the header determined from the vertical disturbance signal;
• determining a vertical height error of the header;
• and
• determining the compensated vertical displacement value based on the vertical position and the vertical height error;
• determining a compensated lateral tilt displacement value based on the lateral tilt disturbance signal;
• and
• transmitting one or more control signals to the two or more actuators to vertically displace the header based on the compensated vertical displacement value to compensate for the vertical disturbance and to rotationally displace the header about a pivot joint based on the compensated lateral tilt displacement value to compensate for the lateral tilt disturbance.

A method comprising:

• receiving, from one or more sensors disposed on a header of a combine harvester, a vertical disturbance signal indicative of a vertical disturbance on the header and a lateral tilt disturbance signal indicative of a lateral tilt disturbance on the header;
• determining a compensated vertical displacement value based on the vertical disturbance signal;
• determining a compensated lateral tilt displacement value based on the lateral tilt disturbance signal, wherein determining a compensated lateral tilt displacement value based on the lateral tilt disturbance signal comprises:
• calculating a lateral tilt position of the header based on an angular acceleration of the header determined from the lateral tilt disturbance signal;
• determining a lateral tilt error of the header;
• and
• determining the compensated lateral tilt displacement value based on the lateral tilt position and the lateral tilt error;
• and
• transmitting one or more control signals to two or more actuators to vertically displace the header based on the compensated vertical displacement value to compensate for the vertical disturbance and to rotationally displace the header about a pivot joint based on the compensated lateral tilt displacement value to compensate for the lateral tilt disturbance.