FIELD: trajectory setting method and device.
SUBSTANCE: inventions group relates to trajectory setting method and device. Trajectory is set the following way: set the target trajectory coordinate, calculate over the trajectory parameters, form the braking path reference, sum the current trajectory coordinate with the braking path reference and calculate the feedback coordinate, detect the trajectory braking section depending on the target trajectory coordinate, the initial trajectory coordinate and feedback coordinate, detect the trajectory setting completion. The device contains a trajectory target coordinate setter, two mismatch calculators, two relay regulators, a functional converter and an adder connected in a certain way.
EFFECT: invention provides for increasing a trajectory setting accuracy.
2 cl, 13 dwg
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