Dynamic DX2-PMA90LG Dodatek do instrukcji instalacji - Strona 11
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Proportional (Kp) gain affects the rate at which the Gyro will respond to fast
changes in wheelchair direction to provide angular velocity stability.
Integral (Ki) gain processes Gyro information over a longer period of time and
this value influences the straight tracking of a wheelchair to provide
directional stability.
Filtered Response (Kfr) gain is an optional setting that dampens the sensitivity
of joystick signals relative to the Gyro response. Tuning this parameter can
provide benefits for users with tremor or inaccurate movements, as well as
enabling the integral Ki gain to be set to a higher value to provide better
straight line drive performance.
The procedure is as follows:
1. Assign a Gyro Profile to a Drive profile using Gyro Profile Select.
2. Check that:
Gyro Kp Gain is set to zero,
o
Gyro Ki Gain is set to zero,
o
Gyro Kfr Gain is set to 255.
o
3. Drive the chair to a flat surface where the chair can turn freely without wheel slip.
4. Set Gyro Angular Speed Scalar to the correct value using the
Gyro Tuning Plug-in (see section 3.4 next).
5. Select the drive profile that has the Gyro module enabled.
6. Slowly drive down a ramp and stop. Increase the value of Gyro Kp Gain until the
chair starts to vibrate during stopping on the ramp. The vibration means that the
parameter is set too high. Decrease the value until the vibrating stops.
7. Drive in a straight line at full speed. Increase Gyro Ki Gain until the chair starts to
make slow jerks or starts to swerve. This makes the chair feel uncomfortable and
shaky even though the direction is kept constant. Decrease Gyro Ki Gain until the
chair feels comfortable again. Usually Gyro Ki Gain has a much lower value than
Gyro Kp Gain. There are exceptions, therefore always test to make sure that the
chair drives comfortably.
8. If the chair reacts too responsively to unintended small joystick movements,
decrease Gyro Kfr Gain. Please note that decreasing this parameter can
introduce steering delays.
9. Set Gyro Fault Speed Limit to a value that keeps the chair safe when the Gyro
module loses connection or is faulty.
Warning:
The Gyro cannot be used on moving vehicles, such as buses or trains.
For this reason, there should always be at least one drive profile that does not
have the Gyro control enabled.
To achieve this, do not activate the Gyro on Drive Profile 1. Program this
profile so that the chair is always safe and stable to drive without Gyro
assistance, for example by limiting the maximum speed.
: Issue 2.03 - May 2012
GBK65148
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