CENTER PIVOT MOWER WITH TURN COMPENSATION

An agricultural mower system (100) includes: a towing vehicle (110) including an engine (112) and a tongue coupler (117), the towing vehicle (110) defining a towing centerline (TCL); a mower (120) including a frame (121) carrying a plurality of cutters (122) and pivotably coupled to a tongue (123) that is pivotably coupled to the tongue coupler (117), the frame (121) defining a mower centerline (MCL) that is offset from the towing centerline (TCL), the tongue (123) defining a towing angle (θ) with respect to the towing centerline (TCL) and a mower angle (β) with respect to the mower centerline (MCL); a mower angle actuator (130) coupled to the tongue (123) and the frame (121) and configured to pivot the frame (121) with respect to the tongue (123) to adjust the mower angle (β); a towing sensor (140) associated with the towing vehicle (110) and configured to output a towing angle signal corresponding to the towing angle (θ); and a mower sensor (150) associated with the frame (121) and configured to output a mower angle signal corresponding to the mower angle (β). A controller (160) is operably coupled to the towing sensor (140) and the mower sensor (150), the controller (160) being configured to: determine the towing angle (θ) has changed by a change amount (φ) relative to a defined towing angle (α); determine a turn compensation amount (γ) for the mower angle (β) as a function of the change amount (φ) and a constant; and output a compensation signal to cause the mower angle actuator (130) to adjust the mower angle (β) by the determined turn compensation amount (γ).