Patent ID: 8539878

Claim:
A square baler for creating bales of biomass having a bale-forming chamber, a piston that is reciprocable in the bale-forming chamber, the dimensions of part of the interior of the bale-forming chamber being adjustable under the influence of at least one actuator; the baler comprising: a first sensor for sensing the mass of a bale formed in the baler and generating a first signal that is indicative thereof; a second sensor for sensing the force applied by the piston and generating a second signal that is indicative thereof; a third sensor for sensing the energization of the actuator and generating a third signal that is indicative thereof; an input for setting a target weight value for determining a target value for the mass of a bale formed in the baler; and a controller for controlling the operation of the baler in dependence on the first, second and third signals wherein the first signal is fed back in a first control loop and compared with the target weight value in order to generate a target force value, the second signal is fed back in a second control loop and compared with the target force value in order to generate a target energization value, the third signal is fed back in a third control loop and compared with the target energization value in order to control the energization of the actuator, and a sampling frequency of the second control loop is higher than that of the first control loop and lower than that of the third control loop.