Module description
The software module is used for track guidance of an automated guided vehicle. A rotational speed is output depending on controller parameters, the speed and offset of the read head to the track. A downstream function block for the kinematic model can use this rotational speed to keep the vehicle on the track.
[1] | Read head for track guidance |
[2] | Track, e.g. colored tape, code tape or inductive track |
The function block realizes a classic PID controller with a modifier component and subsequent limitation.
The modifier component is described in the chapter "Vehicle Track Guidance Basic" function block. This is primarily concerned with optional influence of the KP, TN and TV parameters when a code tape is detected.
You must set the configuration of switches, track color, etc. via the function block or the parameterization software of the sensor used. However, you can set the track offset and a "Track lost" distance directly on the function block of the existing software module.
