Patent ID: 11917952
Assignee: FIELDBOT, LLC
Field: Other special machines (Mechanical engineering)
Classification: CPC A | IPC A

Claim 0:
1. An irrigation system having a movement direction over a ground surface of a field, the irrigation system comprising:
a plurality of spans, each having a longitudinal axis, said plurality of spans being connected at a flexible juncture and having a state of alignment of the respective longitudinal axes of the plurality of spans;
an intermediate tower structure between the plurality of spans configured to support the plurality of spans above the ground surface;
a variable-speed drive assembly of the intermediate tower structure having a wheel configured to contact the ground surface below the irrigation system, a span motor configured to drive the wheel so as to propel the intermediate tower structure over the ground surface, a variable-speed drive controller controlling the speed of the span motor, and an alignment detector to detect and output the state of alignment of the respective longitudinal axes of the plurality of spans indicating: (a) a lagging state of misalignment; (b) a leading state of misalignment; or (c) a state of alignment that is neither lagging nor leading; and
said variable-speed drive controller monitoring and processing the output of the alignment detector and based on the state of alignment detected by the alignment detector configured to: (a) increase the speed over time of the span motor using a predetermined increasing speed profile continuing while in the lagging state of misalignment, regardless of magnitude of the misalignment; (b) decrease the speed over time of the span motor using a predetermined decreasing speed profile continuing while in the leading state of misalignment, regardless of magnitude of the misalignment; and (c) maintain the current speed of the span motor while in the state of alignment that is neither lagging nor leading, to thereby maintain substantial straight alignment of the respective longitudinal axes of the plurality of spans.