Raven SBGUIDANCE SMARTRAX MD, Руководство по установке

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PAGINA 41/48 | Installation manual | 016-8000-098EN | Rev. A
CALIBRATION | SBGUIDANCE | SMARTRAX MD
8.7 PID STEER
Open the PID Steer tab (Figure 46) to optimize PID
controller settings. The settings on this tab influence
the aggressiveness of the steering system. Always tune
the “Proportional Gain” and leave the “Dealer Gain” at
100%!
1. Start the manual steering as described in
Chapter 8.8.
2. Slide the slide bar in the Simulation tab (Figure
47) from the center to ¾ right or left. Judge
the performance of the steering system when
the wheels move to the desired position. The
wheels should reach the desired wheel position
without a lot of exceedance, but as quickly as
possible.
3. If the wheels wobble several times around the
desired wheel position, then decrease the
“Proportional Gain” by 25%. If the desired
wheel position is obtained without overshoot,
increase the “Proportional Gain” by 25%.
4. Keep increasing or decreasing the
“Proportional Gain” by 25% until the wheels
steer quickly to the desired wheel position and
with a little overshoot. See the Table on the
right for an overview of the P-setting range
under normal conditions. The I and D settings
are always set to 0.01 and 100, respectively.
Standard-
Value Range
Proportional gain 250 150 - 400
Integral gain 0,01 -
Differential gain 100 -
FIGURE 46 PID STEER TAB.