Patent ID: 6834223
Filing Date: 2004-12-21
Classification: A01M

Abstract:
A roll control system for controlling a roll position of a boom coupled to a support frame to permit clockwise or counterclockwise rotation relative thereto, the boom comprising left and right wing sections and the roll position representing a measure of such rotation, said roll control system comprising:(a) a roll control mechanism configured for rotating said boom relative to said support frame in response to a roll control signal provided thereto; (b) wing section position measuring apparatus configured for producing a right wing signal correlatable to a distance between said right wing section and a right wing reference position and a left wing signal correlatable to a distance between said left wing section and a left wing reference position; (c) boom roll position measuring apparatus configured for producing a boom roll signal correlatable to a roll position of said boom; and, (d) a controller configured for: (i) identifying a wing section differential value and a boom roll value derived from said right and left wing signals and said boom roll signal, respectively; and, (ii) identifying a boom roll control error value derived from said wing section differential value and said boom roll value, said boom roll control error value being configured for deriving therefrom said roll control signal.