System and method for machine control

A control system for controlling movement of an implement associated with a machine, the control system comprising:

• a load sensor configured to generate a load signal indicative of a loading condition of the implement;
• a grade control system configured to generate a desired implement position signal indicative of a desired implement position;
• an implement position sensor configured to generate an implement position signal indicative of a position of the implement;
• and
• a controller configured to generate a machine control command to move the implement as a function of the load signal, the desired implement position signal, and the implement position signal, wherein the controller includes a closed loop implement position control configured to calculate and minimize an error value, the error value indicative of the difference between the position of the implement and the desired position of the implement, and wherein the closed loop implement position control includes an integral control including a dynamic integral gain, the dynamic integral gain determined as a function of the load signal.

A control system for controlling movement of an implement associated with a machine, the control system comprising:

• a load sensor configured to generate a load signal indicative of a loading condition of the implement;
• a grade control system configured to generate a desired implement position signal indicative of a desired implement position;
• an implement position sensor configured to generate an implement position signal indicative of a position of the implement;
• and
• a controller configured to generate a machine control command to move the implement as a function of the load signal, the desired implement position signal, and the implement position signal, wherein the controller includes a closed loop implement position control configured to calculate and minimize an error value, the error value indicative of the difference between the position of the implement and the desired position of the implement, and wherein the closed loop implement position control includes a derivative control including a dynamic derivative gain, the dynamic derivative gain determined as a function of the load signal.

A method for controlling movement of an implement associated with a machine, the method comprising:

• sensing a loading condition of the implement;
• determining a desired implement position with a grade control system;
• sensing a position of the implement;
• and
• generating a machine control command, by a controller, to move the implement as a function of the loading condition of the implement, the desired implement position, and the position of the implement, wherein the controller includes a closed loop implement position control, and wherein the closed loop implement position control includes a proportional control including a dynamic proportional gain, the dynamic proportional gain determined as a function of a pre-determined load parameter.

A method for controlling movement of an implement associated with a machine, the method comprising:

• sensing a loading condition of the implement;
• determining a desired implement position with a grade control system;
• sensing a position of the implement;
• generating a machine control command, by a controller, to move the implement as a function of the loading condition of the implement, the desired implement position, and the position of the implement;
• calculating and minimizing an error value with a closed loop implement position control, the error value indicative of the difference between the position of the implement and the desired implement position;
• determining a proportional gain factor for a proportional scaling of the error value as a function of the loading condition of the implement;
• and
• generating the machine control command as a function of the proportional gain factor.

A method for controlling movement of an implement associated with a machine, the method comprising:

• sensing a loading condition of the implement;
• determining a desired implement position with a grade control system;
• sensing a position of the implement;
• generating a machine control command, by a controller, to move the implement as a function of the loading condition of the implement, the desired implement position, and the position of the implement;
• calculating and minimizing an error value with a closed loop implement position control, the error value indicative of the difference between the position of the implement and the desired implement position;
• determining an integral gain factor for an integral scaling of the error value as a function of the loading condition of the implement;
• and
• generating the machine control command as a function of the integral gain factor.

A method for controlling movement of an implement associated with a machine, the method comprising:

• sensing a loading condition of the implement;
• determining a desired implement position with a grade control system;
• sensing a position of the implement;
• generating a machine control command, by a controller, to move the implement as a function of the loading condition of the implement, the desired implement position, and the position of the implement;
• calculating and minimizing an error value with a closed loop implement position control, the error value indicative of the difference between the position of the implement and the desired implement position;
• determining a derivative gain factor for a derivative scaling of the error value as a function of the loading condition of the implement;
• and
• generating the machine control command as a function of the derivative gain factor.