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Cedar Rapids, Iowa | I'm currently using a bang bang valve for turning the steer axle, same as Outback uses. My control card would be happy to do PWM, but as of yet, I don't have the math good enough that a PWM valve will help. Once I get the math improved, a PWM valve will be next on the to-do list. As such, I run the current valve in pulses if I only need it to move a bit, and solid on if I want it to move a lot. I'd call that stepped.
I'm not currently using anything to account for the delay in hydraulic response. I am doing some math to account for the delay in the machine's heading. A wheeled machine can't instantly change heading, so I do some look ahead to predict what the heading will be based on current heading and yaw rates.
Asking how the software is set up is a very open ended question. I started by using a database to store the settings and data, but encountered some data corruption and decided that single file storage is a bad approach for numerous reasons. I then switched over to using plain old text files, and found something like a 10x increase in IO speed. This change has also allowed the inter-vehicle sync to work much more efficiently.
-Lance | |
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Development – Steering Algorithms
