Curtiss-Wright R-NET, Техническое руководство

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Curtiss-Wright | PG Drives Technology
SK77981-14
154 | R-net Technical Manual | Chapter 7 – GYRO Module
3.3 GYRO ERROR SPEED LIMIT
This parameter sets the maximum speed of the wheelchair should a Gyro error be detected. The programmable range is 0% to
100% in steps of 1%.
3.4 ANGULAR SPEED SCALAR
This calibrates the Gyro Module to a particular wheelchair configuration. This must be set up before any other Gy ro Module
parameters are adjusted.
The programmable range is 5-250.
3.5 PROPORTIONAL GAIN
This parameter affects the rate at which the gyro will respond to fast changes in wheelchair direction to provide stability. If the
proportional gain is to low the s teering response will be unresponsive and difficult to control. If the proportional gain is too
high, steering control may be too aggressive and introduce steering overshoot.
The programmable range is 0 to 255 where 0 is a very slow response and 250 is a v ery fast response.
3.6 INTEGRAL GAIN
This parameter processes gyro information over a longer period of time and this value influences the straight tracking of a
wheelchair to provide directional stability. The higher the value the stiffer the control, if the value is to high it will introduce
steering overshoot and can introduce oscillation into the control loop.
The programmable range is 0 to 255 where 0 is a very slow response rate and 255 is a very fast response rate.
3.7 DYNAMIC GAIN
This parameter sets whether the system uses the parameters Proportional Gain and Integral Gain solely or a combination of
Proportional Gain, Integral Gain, Low Speed Proportional Gain and Low Speed Integral Gain to control the wheelchairs drive
stability. If this is set to No the Proportional Gain and Integral Gain are active across the entire speed range.
If set to Yes, Low Speed Proportional Gain and Low Speed Integral Gain are active just after entering drive. In this case all four
Gain parameters are to achieve the best possible drive stability throughout the entire speed range.
3.8 LOW SPEED PROPORTION AL GAIN
This parameter affects the rate at which the gyro will respond to fast changes in wheelchair direction when being driven at low
speed.
The programmable range is 0 to 255 where 0 is a very slow response rate and 255 is a very fast response rate.
3.9 LOW SPEED INTEGRAL GAIN
This parameter processes gyro information over a longer period of time and this value influences the straight tracking of a
wheelchair being driven at low speed. The programmable range is 0 to 255 where 0 is a very slow response rate and 255 is a
very fast response rate.
Example: