Ag Leader ParaDyme Setup and Advanced Tuning Guide User Manual
Page 10
2202 South Riverside Drive, Ames, IA 50010
Phone: 515‐232‐5363 Internet: http://www.agleader.com
25‐Jun‐10 ‐ Rev E
10
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. 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
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.
4) Verify how the vehicle drive and holds the AB line.
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).