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Chapter 6
a less aggressive response.
Yaw Rate Gain
Determines the impact of the yaw rate on tracking performance. A higher Yaw Rate Gain
value results in a more aggressive response to yaw rate, while a lower value results in a less
aggressive response.
Position Integral Gain
This value corrects long-term errors in the wheel control. If the system is not achieving the
desired wheel angle during operation, the system will re-direct the wheels to the desired set
point. This value is generally at or near 0.
Yaw Error Compensation
Increase the yaw error compensation value to allow the machine to steer more aggressively
on curves.
Proportional Gain
Determines the rate of the wheel response. Increasing the Proportional Gain value causes the
wheel response to be faster, but can result in the machine overshooting the target wheel
angle position or can cause the wheels to take a longer time to stabilize.
Integral Gain
This value corrects long-term errors in the steering control loop. This setting should be
adjusted by qualified technicians only.
Derivative Gain
The Derivative Gain value limits the wheel response time. A larger Derivative Gain value will
reduce the tendency to overshoot the target wheel angle position, but will limit the wheel
speed.
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