Ag Leader ParaDyme Setup and Advanced Tuning Guide - Manual (Page 19)

2202 South Riverside Drive, Ames, IA 50010
Phone: 515‐232‐5363 Internet: http://www.agleader.com
25‐Jun‐10 ‐ Rev E
19
What does the Cross‐Track Error slider adjust and when to adjust it?
In the Cross­Track Error Tuning screen, Cross­Track Error is adjusted which in an effect changes
two things, they are:
1) The volume at which Cross Track talks to Heading.
2) The distance offline tolerance at which Cross Track tries to hold the vehicle to AB Line is
adjusted.
The higher Cross Track Error Tuning is set, the louder Cross Track talks to Heading; and the tighter
Cross Track tries to hold the tractor to the AB Line. The lower Cross Track Error Tuning is set, the
softer Cross Track talks to Heading; and the more relaxed Cross Track is at holding the tractor to the
AB Line. Cross Track Error Tuning should be set as high as possible so that the tractor stays close to
the AB Line, but does not oscillate or wander across the AB Line.
See figure 11 for an example of the desired behavior. The vehicle behavior and the tuning graph
information should be used to determine whether to increase or decrease a parameters value
• Cross Track’s Simple Analogy: Cross Track Error Tuning could be viewed as the volume at which
Cross Track talks to Heading.
‐ Too High: If Cross Track speaks “too loudly” to Heading, Heading over responds to Cross
Track’s commands and the tractor oscillates across the AB Line. Cross Track Error Tuning is
set too high and should be lowered.
‐ Ideal: If Cross Track speaks at the “ideal volume” to Heading, Heading responds just right
and the tractor does not oscillate or wander across the AB Line. Cross Track Error Tuning is
set correctly.
‐ Too Low: If Cross Track speaks “too softly” to Heading, Heading is not responsive enough to
Cross Track and the tractor wanders across the AB Line. Cross Track Error Tuning is set too
low and should be increased.