Method and system for automatically controlling a position of a ground engaging tool of an agricultural implement relative to a ground surface

A position control system for controlling a position of one or more ground engaging tools of an agricultural implement, the system comprising:

• a support structure;
• a ground engaging tool coupled to the support structure;
• a tool position sensor configured to generate position signals indicative of a position of the ground engaging tool;
• and
• at least one controller communicatively coupled to the tool position sensor, the at least one controller including a processor and associated memory, the memory storing instructions that, when executed by the processor, configure the at least one controller to:
• monitor the position signals received from the tool position sensor, the position signals having a system delay time associated therewith;
• estimate an arrival time when the error signal will be within a predetermined threshold of a target position based on the monitored position signal and the system delay time associated with the monitored position signal;
• adjust the position of the ground engaging tool;
• and
• terminate the adjustment of the position of the ground engaging tool at a termination time, the termination time being determined based on the arrival time.

A method for automatically controlling a position of one or more ground engaging tools of an agricultural implement relative to a ground surface, the method comprising:

• monitoring, with one or more computing devices, a position signal indicative of a position of a ground engaging tool of the agricultural implement, the position signal having a system delay time associated therewith;
• estimating, with the one or more computing devices, an arrival time when the position of the ground engaging tool will be within a predetermined threshold of a target position;
• adjusting, with the one or more computing devices, the position of the ground engaging tool;
• determining, with the one or more computing devices, if the position of the ground engaging tool will overshoot at least one of the target position or an upper bound of the predetermined threshold of the target position;
• and
• when it is determined that the position of the ground engaging tool will overshoot at least one of the target position or an upper bound of the predetermined threshold of the target position, terminating, with the one or more computing devices, the adjustment of the position of the ground engaging tool at a termination time, the termination time being based on the arrival time.