AGV inheriting acceleration / deceleration

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question

Ryusuke T asked Jul 11, '22 Jason Lightfoot commented Jul 12, '22

AGV inheriting acceleration / deceleration

I attach a model.

The AGV moves by referring to the coordinate values and acceleration information in the global table.

My hope is to inherit the previous acceleration and accelerate more and more as we move toward the next coordinate value.

However, the model resets the acceleration as it moves toward the next coordinate value. Is it possible to set the operation that inherits the acceleration?

Acceleration_AGV.fsm

Software Version:

FlexSim 22.0.1

taskexecutor acceleration

acceleration-agv.fsm (30.9 KiB)

· 2

Jason Lightfoot ♦ commented · Jul 11, 2022 at 02:18 PM

I don't see the problem as you're using task executer functionality, not AGVs, and the acceleration increases for each move and then descreases again for the second half. The variables are not being reset that I can see. Please provide specific events and values that you think are wrong.

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Ryusuke T Jason Lightfoot ♦ commented · Jul 12, 2022 at 12:35 AM

@Jason Lightfoot ,

Thank you for your reply.

In this model, as the process toward the next coordinate,

"Speed 0 => Acceleration => Maximum speed => Deceleration => Speed 0" I think that this is repeated every time you move to the coordinate value.

I reached the next coordinate value with "speed 0 => acceleration => maximum speed" without decelerating, and when moving at the next coordinate value, "taken maximum speed => acceleration => maximum speed" I want you to repeat.

Is it possible to do something like this?

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Answer 1 · 2022-07-12T08:57:43Z

Felix Möhlmann answered Jul 12, '22 Ryusuke T commented Jul 12, '22

To have the task executer move faster you (also) have to increase its maximum speed.

To not have the task executer stop after each travel task, you can use the 'Custom Task' activity to define the travel tasks. This lets you set the end speed. This is the speed the task executer will decelerate to at the end of the travel if it faster. It is also the starting speed of a subsequent travel task if there is no delay inbetween the two tasks.

(Normally, leaving the value at zero should be interpreted as 'use the max speed', but this only seems to work for 'normal' travel tasks to a destination object, not the travel to location).

acceleration-agv-fm.fsm

1657616258335.png (22.7 KiB)

acceleration-agv-fm.fsm (30.9 KiB)

· 1

Ryusuke T commented · Jul 12, 2022 at 09:12 AM

@Felix Möhlmann ,

Thank you for the detailed answer and sample model.

This model has been very helpful to me.

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Answer 2 · 2022-07-12T08:58:10Z

Jason Lightfoot answered Jul 12, '22 Jason Lightfoot commented Jul 12, '22

To do this you need to use the Custom Task activity and select Travel To Loc as the task type. When you do this you'll see you have access to the EndSpeed which you should set 'high'.

1657616286471.png (15.0 KiB)

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Ryusuke T commented · Jul 12, 2022 at 09:11 AM

Thank you for your reply.

I would like to learn a lot about custom task activities.

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Jason Lightfoot ♦ Ryusuke T commented · Jul 12, 2022 at 09:23 AM

All the Task Types are listed on this page. The CustomTask activity is how you access these types in process flow without using code, that's all.

Note that the use of Milestone tasks in particular are not 'out of the box' supported, in that you need to create a non-waiting set of tasks for that to work correctly.

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