.DriveControl.Blocks.P2p

Information

The P2P block calculates an optimal point-to-point trajectory.

Note:

If intial position yIni and intitial speed vIni (at start of simulation) are specified, and the movement starts time span t0 after start of simulation, the movement starts from position y0 = yIni + vIni*t0.

If initial speed vIni moves in the opposite direction as desired, i.e. sign(vIni) <> sign (yEnd - yIni), the movement starts in the "wrong" direction until deceleration to zero and acceleration into then "right" direction is achieved.

If desired end position yEnd and desired end speed vEnd (at the end of the movement) are specified, the position is extrapolated linearly from yEnd with vEnd after end of the movement.

If desired end speed vEnd moves in the opposite direction of the movement, i.e. sign(vEnd) <> sign (yEnd - yIni), the movement shows an overshot over the desired end position yEnd. However, when the desired end speed vEnd is met, the desired end position yEnd is reached.