Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
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Chapter 4: Software
Figure 58
Screenshot: Configuration –> Steer Controller
Two tables, each with three columns:
1.
Item: Shows which value is involved.
2.
Setting: Input of the values
3.
Unit: Unit of the value
The following values can be changed:
–
Forward Distance fixed: This distance determines how strongly the vehicle turns the
wheels at a standstill in order to return to the track.
–
Forward Distance variable: This is multiplied by the speed in metres/second and
added to 'Forward Dis. Fix'. This means that with rising speed the effect of the con-
troller becomes increasingly less in order to avoid vibrations.
Example:
When parking a car, the driver aims for a point close to the front of the car.
When driving on the motorway, the driver aims for a point 100 m in front of the car.
–
Approach Limit fixed/Approach Limit variable: To prevent the angle between the tar-
get and actual orientation becoming too obtuse on returning to the segment, this can
be limited. These two parameter together limit this angle.
Figure 59
Formula: Limitation of angles
–
Regulation Angle Max: This angle limits the steering angle during the remote control
mode and input in the 'Parameter Test' menu.
–
Regulation Angle Ramp: This ramp limits the steering angle during the remote control
mode and input in the 'Parameter Test' menu. The angle increments are displayed in
degrees/second.
–
Speed Spot Turn: Speed of the fastest wheel during a spot turn.
Limit
1
v
m
s
-
1
+
------------
-
Approach Lim. Var
Approach Lim. Fix
+
=
