Caterpillar Inc.
Grade control for machines with buckets

Abstract:

A method is disclosed. The method may include controlling a leading edge of an implement of a machine using a first control loop to cause the implement to align to a defined design plan; controlling a trailing edge of the implement of the machine using a second control loop to cause the implement to align to the defined design plan; and selectively altering a gain to the second control loop based on a detected deviation of the implement from the defined design plan to increase an angle of approach, using the first control loop, when the implement is positioned above the defined design plan and decrease the angle of approach, using the first control loop, when the implement is aligned to the defined design plan.