MACHINE SLOPE AND PITCH CONTROL BASED ON DYNAMIC CENTER OF GRAVITY

A machine is disclosed. The machine may include a control system that includes a controller configured to: determine a center of gravity of the machine based on a state of the machine; determine at least one of a slope limit or a pitch limit for the machine based on the center of gravity; receive a command to perform an operation that, if performed, would affect at least one of a slope or a pitch of the machine; determine whether the operation, if performed, would cause the machine to exceed the at least one of the slope limit or the pitch limit; and selectively perform the operation based on determining whether the operation, if performed, would cause the machine to exceed the at least one of the slope limit or the pitch limit. 本发明公开了一种机器。所述机器可包括控制系统，所述控制系统包括控制器，所述控制器配置成：基于所述机器的状态确定所述机器的重心；基于所述重心确定所述机器的倾斜极限或俯仰极限中的至少一者；接收执行操作的命令，所述操作如果执行将影响所述机器的倾斜或俯仰中的至少一者；确定所述操作如果执行是否将使所述机器超过所述倾斜极限或所述俯仰极限中的所述至少一者；以及基于确定所述操作如果执行是否将使所述机器超过所述倾斜极限或所述俯仰极限中的所述至少一者而选择性地执行所述操作。