Control system for an agricultural tillage implement

A tillage implement, comprising:

• a main frame configured to support a plurality of disc blades;
• a rolling basket frame pivotally coupled to the main frame, wherein the rolling basket frame is configured to support a rolling basket;
• a hitch assembly pivotally coupled to the main frame;
• a wheel frame pivotally coupled to the hitch assembly, wherein the wheel frame is configured to support a plurality of wheels;
• one or more wheel frame actuators coupled to the wheel frame and the hitch assembly, wherein each of the one or more wheel frame actuators is configured to control a position of one or more wheels of the plurality of wheels relative to the hitch assembly;
• a rolling basket cylinder coupled to the main frame and the rolling basket frame;
• a tilt actuator coupled to the hitch assembly and to the main frame, wherein the tilt actuator is configured to apply a tilt force to the main frame;
• and
• a control system comprising a controller having a memory and a processor, wherein the controller is communicatively coupled to the tilt actuator, and the controller is configured to:
• receive a first signal indicative of a target depth of a rear row of the plurality of disc blades and a second signal indicative of a redirection amount and a redirection direction;
• determine a target pitch angle adjustment based on the redirection amount and the redirection direction;
• and
• control a tilt actuator to control a tilt force applied to a main frame, an extension of a wheel actuator to control a position of a wheel relative to a hitch frame, and a rolling basket cylinder to control a position of a rolling basket relative to the main frame based on the target pitch angle adjustment, the target depth of the rear row of disc blades and one or more inverse kinematic relationships to establish a target penetration depth of a front row of disc blades;
• and
• wherein the hitch frame is configured to be pivotally coupled to the main frame, and the rolling basket is configured to be movably coupled to the main frame via a rolling basket frame.

A method, comprising:

• receiving, via a controller comprising a memory and a processor, a first signal indicative of a target depth of a rear row of disc blades and a second signal indicative of a redirection amount and a redirection direction;
• determining, via the controller, a target pitch angle adjustment based on the redirection amount and the redirection direction;
• and
• controlling, via the controller, a tilt actuator to control a tilt force applied to a main frame, an extension of a wheel actuator to control a position of a wheel relative to a hitch frame, and a rolling basket cylinder to control a position of a rolling basket relative to the main frame based on the target pitch angle adjustment, the target depth of the rear row of disc blades and one or more inverse kinematic relationships to establish a target penetration depth of a front row of disc blades;
• and
• wherein the hitch frame is configured to be pivotally coupled to the main frame, and the rolling basket is configured to be movably coupled to the main frame via a rolling basket frame.