Method and system for regulating the operating depth of towed

Abstract

In towed agricultural equipment such as tractor-borne plows, it is often very important to accurately control the operating depth of the towed equipment. Prior systems for doing this have not accurately responded by providing appropriate control necessary for doing this depending on whether the sensed variation results from changes in soil condition or changes in tractor sway. Accordingly, to improve such control, a method and apparatus are provided for determining the rate of variation of the pulling force and providing limiting values for this rate of variation. A comparison between the determined values and the limiting values is made, and the vertical position of the plow is controlled in accordance with the comparison. Acceleration of the pulling force can also be used as a variable for the control. These comparisons serve to establish whether the change in pulling force result from changes in soil condition or tractor sway. Also, the rate of variation and acceleration of plow position can be used to make this determination and, accordingly, control the plow depth.