Setup and Advanced Tuning Guide Manual

2202SouthRiversideDrive,Ames,IA50010
Phone:515‐232‐5363Internet:http://www.agleader.com
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25‐Jun‐10‐RevE
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10
AdjustingtheSteering(Screen1),Heading(Screen2)andCross‐TrackError(Screen3)
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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
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2) AdjustHeadingTuning(SeeAdjustingtheParaDymeTuningScreensformoreinformation.)
a. IncreasingHeadingGainmakesthevehicle’sheadingcontroltighterormoreaggressive
b. DecreasingHeadingGainmakesthevehicle’sheadingcontrollesstightorless
aggressive
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3) AdjustCross‐TrackErrorTuning(SeeAdjustingtheParaDymeTuningScreensformore
information.)
a. IncreasingCrossTrackErrorGainmakesthevehiclemoreaggressiveatholdingABline.
b. DecreasingCrossTrackErrorGainmakesthevehiclelessaggressiveatholdingABline.
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4) VerifyhowthevehicledriveandholdstheABline.
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NOTE:Becauseofthesequentialnatureofthe3menandhowtheywork,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(instabilities).