Patent ID: 9026318
Filing Date: 2015-05-05
Classification: A01B

Abstract:
1. A method for controlling a hitch on a vehicle, wherein the hitch is raised and lowered by a hydraulic actuator that is controlled by a valve, said method comprising using a controller for: receiving a command indicating a designated velocity for the hitch; producing a first value indicative of an external force that is exerted on the hitch; altering the command in response to deviation of the external force from a predefined reference force level and whether the external force assists or counteracts hitch motion designated by the command, wherein altering the command produces a first adjusted command; producing movement of the hitch in response to the first adjusted command; producing a second value indicative of an actual velocity at which the hitch is moving; deriving a velocity error value denoting deviation of the actual velocity of the hitch from the designated velocity; altering the first adjusted command in response to the velocity error value, thereby producing a second adjusted command; and operating the valve in response to the second adjusted command.