Square baler and a related control method

A method for controlling a square baler comprising a biomass feed connected to a bale-forming chamber, a piston reciprocable in the bale-forming chamber and a bale discharge, the dimensions of part of the interior of the bale-forming chamber adjustable under the influence of at least one actuator;

• the baler comprising:
• a first sensor for sensing the mass of a bale formed in the baler and generating a first signal that is indicative thereof;
• a second sensor for sensing the force applied by the piston and generating a second signal that is indicative thereof;
• a third sensor for sensing the energization of the actuator and generating a third signal that is indicative thereof;
• an input setting a target weight value for determining a target value;
• and
• a controller for controlling the operation of the baler in dependence on the first, second and third signals comprises the steps of:
• feeding the first signal back in a first control loop and comparing it with the target weight value in order to generate a target weight value;
• feeding the second signal back in a second control loop and comparing it with the target force value in order to generate a target energization value;
• feeding the third signal back in a third control loop and comparing it with the target energization value in order to control the energization of the actuator;
• and
• a sampling frequency of the second control loop being higher than that of the first control loop and lower than that of the third control loop.