2202 South Riverside Drive, P.O. Box 2348, Ames, IA 50010 Phone: 515‐232‐5363 Fax: 232‐3595 Internet: www.agleader.
202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com Table of Contents List of Figures................................................................................................................................................................. 2 Setting up a Vehicle in the ParaDyme System .................................................................................................. 3 How the ParaDyme Steering Controller works .............................
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com Setting up a Vehicle in the ParaDyme System • Step1: Create a new or use an existing vehicle profile on the ParaDyme System. NOTE: Make sure to complete the manual steering override step or it will not be set correctly for disengaging the ParaDyme system. • Step 2: Verify the vehicle turns right and left using the Steering Components, Steering Command Screen. See figure 1 below.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com Figure 2 Vehicle Tab showing AutoCal Button • Step 5: In the Display’s Run Screen, verify how the ParaDyme System holds the vehicle to an AB line. o If performance is acceptable proceed to Step 8. o If performance is unacceptable redo the AutoCal. If performance is still unacceptable after the second AutoCal, proceed to Step 6.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com • Step 10: Verify how the ParaDyme System holds the vehicle’s to the AB line in reverse. If performance in reverse is unacceptable, then go to the Display’s Run Screen – Guidance Tab – Options Button and adjust Reverse Response i. Increasing the Reverse Steering Response will make ParaDyme more aggressive at holding the AB line when in reverse. ii.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com How the ParaDyme Steering Controller works Imagine three men in a special tractor cab, named Steering, Heading and Cross Track. The cab on the tractor is special because none of the three men can see outside the windows of the cab. Inside the cab, each man has a unique job and end goal: • Steering’s job is to steer the tractor left and right.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com NOTE 2: Because of the sequential nature of the 3 men, Cross Track talks to Heading which talks to Steering, in is very important to adjust them in order, Steering first, Heading next and then Cross Track. How to adjusting these is discussed later in this document. Heading, we’re off our AB line by 3 inches Step 1 Cross Track Steering, turn to this radius (curvature).
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com Advance Adjustments – Screens 1 thru 9 In this section you’ll learn how to adjust the Steering (screen 1 of 9), Heading (screen 2 of 9) and Cross Track Error (screen 3 of 9) The Advance ParaDyme Tuning Screens What comprises a tuning screen? Each tuning screen is comprised of 3 areas or parts. They are the Tuning Graph, the Tuning Parameter Adjustment Slider and the ParaDyme Engage Buttons.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com ParaDyme System. The Steer Left, Steer Right and Center Wheels buttons engage the ParaDyme system and do something different in each tuning screen. Their specific function will be addressed when each screen is discussed. How to use the information on the graph for adjusting a particular parameter? Watch the blue line and compare it to the dark gray. Figure 5 shows some samples of what to look for in the graph.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com Adjusting the Steering (Screen 1), Heading (Screen2) and Cross‐Track Error (Screen 3) 1) Adjust Steering Tuning (See Adjusting the ParaDyme Tuning Screens for more information.) a. Increasing Steering Gain makes the steered wheels more aggressive b. Decreasing Steering Gain makes the steered wheels less aggressive 2) Adjust Heading Tuning (See Adjusting the ParaDyme Tuning Screens for more information.) a.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com Screen 1 of 9 – STEERING TUNING What do the Steer Left, Steer Right, Center Wheels and Stop buttons do in the Steering Tuning Screen? 1) Steer Left – Turns the steered wheels left approximately 15 to 20 degrees from their current angle. If the steered wheels are straight forward and Steer Left is pressed, the machine will drive in a circle to the left, see figure 6.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com See Figure 7 for an example of the desired vehicle behavior. The vehicle behavior and the tuning graph information should be used to determine whether to increase or decrease a parameters value. • Steering’s Simple Analogy: Steering Tuning is a setting that varies how responsive or reactive Steering is at turning the steered wheels.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com Screen 2 of 9 – HEADING TUNING What do the Steer Left, Steer Right, Center Wheels and Stop buttons do in the Heading Tuning Screen? 1) Steer Left – Turns the heading of the vehicle 5 degrees left of its’ current heading. Figure 8 shows an example of the paths that a vehicle will drive when Steer Left is pressed. 2) Steer Right – Turns the heading of the vehicle 5 degrees right of its’ current heading.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com The higher Heading Tuning is set, the louder Heading talks to Steering and the tighter it tries to keep the tractor’s heading tolerance. Lowering Heading Tuning lowers the volume at which Heading talks to Steering and loosens the tractor’s heading tolerance. Heading Tuning should be set as high as possible so that the tractor does not oscillate or wander across the AB Line.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com Screen 3 of 9 – CROSS TRACK ERROR TUNING What do the Steer Left, Steer Right Center Wheels and Stop buttons do in the Cross‐Track Error Tuning Screen? 1) Steer Left – Moves the vehicle over to a new straight AB line approximately 4 inches left of the current line. Figure 10 shows an example of the paths, which a vehicle will drive when Steer Left is pressed.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com What does the Cross‐Track Error slider adjust and when to adjust it? In the CrossTrack Error Tuning screen, CrossTrack Error is adjusted which in an effect changes two things, they are: 1) The volume at which Cross Track talks to Heading. 2) The distance offline tolerance at which Cross Track tries to hold the vehicle to AB Line is adjusted.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com Figure 11 Cross Track Error Tuning Slider Adjustment Output NOTE: Because of the sequential nature of the 3 men, Cross Track talks to Heading which talks to Steering, in is very important to adjust them in order. Steering Tuning should be adjusted first, Heading Tuning next and Cross Track Error last. All should be set as aggressive or as high as possible without oscillations.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.
02 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com ParaDyme Line Acquisition Tuning – Screens 4 through 9 What is Line Acquisition mode compared to AB line holding mode? When in Line Acquisition mode the ParaDyme system is trying to acquire the AB line, not hold the AB line. In this mode the ParaDyme vehicle controller only uses Steering and Heading and ignores Cross Track Error.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com What do the Steer Left, Steer Right, Center Wheels and Stop buttons do in the Line Acquisition Mode? 1) Steer Left – Engages the ParaDyme System. If the vehicle is on the AB line, pressing the Steer Left button moves the vehicle over to a new straight AB line approximately 6 to 12 inches left of the current line. Figure 10 shows an example of the paths, which a vehicle will drive when Steer Left is pressed.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com Screen 5 of 9 – LINE ACQUISITION – Max Delta Heading What is the Max Delta Heading? Max Delta Heading is a setting to limit the amount the vehicle heading can change in a given amount of time. If the vehicle turns too quickly then the Max Delta Heading should be decreased. This is a good parameter to adjust for tractors or sprayers that have a wide boom.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com Screen 6 of 9 – LINE ACQUISITION – Max Curvature What is Curvature? Curvature represents the radius of an arc. By definition, curvature is 1 Therefore: To make a turn “tighter” Æ decrease radius Æ increase curvature To make a turn “looser” Æ increase radius Æ decrease curvature What is the Max Curvature? When the ParaDyme system is engaged, it creates an arc path to acquire the AB line.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com Screen 7 of 9 – LINE ACQUISITION – Target Point Distance What is the Target Point Distance? Is the distance the ParaDyme system is looking ahead when in Line Acquisition Mode and greater than 6 to 9 feet from the AB Line. Figure 14 shows an example of how the Target Point Distance changes as it is increased and decreased. Figure 14 Target Point Distance (T.P.D.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com Screen 8 of 9 – LINE ACQUISITION – Target Point Distance Close What is the Target Point Distance Close? Is the distance the ParaDyme system is looking ahead when in Line Acquisition Mode and less than 4 to 6 feet from the AB Line. Figure 14 shows an example of how the Target Point Distance changes as it is increased and decreased.
2202 South Riverside Drive, Ames, IA 50010 Phone: 515‐232‐5363 Internet: http://www.agleader.com Screen 9 of 9 – LINE ACQUISITION – Minimum Curvature What is Curvature? Curvature represents the radius of an arc. By definition, curvature is 1 Therefore: To make a turn “tighter” Æ decrease radius Æ increase curvature To make a turn “looser” Æ increase radius Æ decrease curvature What is the Min Curvature? When the ParaDyme system is engaged, it creates an arc path to acquire the AB line.
