Track Guidance Library for Controlling Automated Guided Vehicles

 

 

MOVIKIT® Custom 0007 Vehicle Track Guidance

The software module is used for track guidance of a 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 or software module for kinematic calculation of wheel speeds (e.g. MOVIKIT® Custom 0005) can use the rotational speed to keep the vehicle on track.

The function block implements a PID controller with a modifier, additional staircase-like response and subsequent limitation. The modifier influences the parameters KP, TN and TV depending on the speed. From a parameterizable offset, the staircase-like response ensures a linearly increasing offset on the manipulated value.

Functions
  • Control parameters can be adapted linearly depending on speed ranges
  • Staircase-like response function starting from a definable track offset
  • Remains stable in the track, even in the event of (short) interruptions in the track
  • High tracking accuracy with high stability
  • Preliminary stage to the kinematic software module for implementing kinematic speed vectors
  • Any sensor systems with output of the track distance, for use as control variable, can be read.

Further information: "MOVIKIT® Custom 0007 Vehicle Track Guidance" manual