Abstract
Considerable skill is required to operate an agricultural digger accurately and efficiently, and an analysis of the different procedures and operator skills is given. From this a specification of a microprocessor-based control system for a tractor-mounted digger is derived to give: linear bucket blade movement, accurate gauging of the pitch of sloping cuts, and a learn-and-repeat facility. A closed-loop control system is described using an 8085A microprocessor with an AM9511 arithmetic processor for real-time floating-point calculation. Precision potentiometers were used for position feedback and proportional solenoid valves for control of the hydraulics. A firmware option also allowed the system to be operated open loop to emulate a conventional digger. For novice users the cutting of straight profiles was facilitated but the time for digging operations showed no consistent improvements. This is probably because the decision-making process in lever selection is not eliminated and a telechiric system would be more effective. The open-loop system has the advantages, over conventional mechanical control, of ease of installation and reduced lever loads.
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