Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
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Chapter 5: Commissioning
5.8.2 Other optimisations
If recording on a USB stick is available (see chapter 8 on page 130), the
Time Forward
pa-
rameter can be optimised on the 'Configuration –> Steer Controller' page. This specifies the
timing of the curve pre-control.
Figure 77
The actual and target steering angle over time are shown in 10 ms steps
In this example, it can be seen that the actual steering angle (Actual SA 1) is lagging behind
the target steering angle (Target SA 1). It specify the time that the actual steering angle re-
quires to catch up with the target steering angle, two points with approximately the same
value are selected. In this example, the actual steering angle at point in time 17 has the
same value as the target steering angle at point in time 15. The actual steering angle there-
fore needs 2 x 10 ms = 20 ms to reach the target value. If 0.1 seconds is now entered in
Time Forward
(section 4.3.6 on page 66), the navigation controller delivers the steering an-
gle for the curve pre-control 0.02 seconds before the value is to apply. This reduces the error
in the curve. The steering of the test vehicle that is used is very fast. Usually, the time differ-
ence will be even higher.
Once the track has been covered a few times, it can be read in the log files (USB stick) at
what positions of the track which deviations and accuracy can be expected.
Note
To optimise safety,
the parameters 'Accuracy Attribute 0/1' and 'Deviation Attribute 0/1'
should be adapted accordingly on the 'Configuration –> Accuracy' page (see section 4.3.5
In doing so, a reserve for the values determined is to be kept. If, for example, a deviation of
10 cm is determined at some positions, but at most positions only a maximum of 3 cm, it is
a good idea to set the 'Deviation Attribute' in the segment file only at the few positions that
have the 10 cm error: Set the parameter
Deviation Attribute 1
to 15 cm and the parameter
Deviation Attribute 0
to 6 cm. With the accuracy, proceed in the same way.
