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Danfoss pved-cl Operation Manual

Ectro-hydraulic steering version 1.38
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Operation Manual
PVED-CL Controller
Electro-Hydraulic Steering Version 1.38
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Summary of Contents for Danfoss pved-cl

  • Page 1 Operation Manual PVED-CL Controller Electro-Hydraulic Steering Version 1.38 powersolutions.danfoss.com...
  • Page 2 Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Revision history Table of revisions Date Changed May 2016 Fixed references to document numbers 0302 11 Jan 2010 Major changes. For PVED-CL software release 1.38 05 May 2007 Major changes. For PVED-CL software release 1.28 01 Nov 2006 First edition.

  • Page 3: Table Of Contents

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Contents General Information Definitions and Abbreviations..............................8 Reference Documents..................................8 Introduction to Electrohydraulic Steering..........................8 EH steering valve..................................8 EHPS steering valve piloted with electric actuator PVE and/or steering unit............9 PVG 32 Proportional valve............................... 9 PVG 100 Proportional valve..............................9...
  • Page 4 Valve interface parameters..............................25 Valve calibration methods................................26 Method 1: Conservative software dead-band values....................26 Example: Determine the general software dead-bands for a series of PVED-CL / EH valve with a dynamic spool:...................................26 Method 2: Manual software dead-band calibration....................26 Method 3: Valve auto-calibration............................27 Preconditions:....................................
  • Page 5 Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Contents Ramps with Fixed Ramp Times..............................44 Example: ......................................45 Example: ......................................46 Select Ramps with Ramp Times Related to Vehicle Speed..................... 46 Example: ......................................48 Example: ......................................48 Anti-jerk Ramp Parameter Tuning Guide.........................49 Soft (Cushion) End-stop................................49 Main Spool Dead-band Control Function..........................
  • Page 6 Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Contents Steering by High Priority Steering Device – Closed Loop ....................72 Functionality Tree..................................72 Tracking......................................72 Select the Control Principle................................73 Acquire the Signals.................................. 73 Create the Set Point..................................73 Closing the Loop.................................... 74 Eliminate Noise due to Frequent Pressure Build-up......................
  • Page 7 Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Contents Auto-steering Auto-steering....................................94 Guidance Commands...................................94 Calculating the Wheel Angle..............................94 Closing the Loop.................................... 94 Trimming the System................................... 95 Noise due to Frequent Pressure Build-up..........................95 Select a Fixed Sensitivity................................96 Vehicle Speed Dependent Sensitivity............................ 96 Magnetic Valves OFF Control..............................

  • Page 8: General Information

    Electro-hydraulic steering system has the advantages over pure hydraulic steering systems such as the ability to meet specific functionalities on request. In order to give this functionality Danfoss has developed the PVED-CL which is a valve actuator with integrated controller, designed to fit onto various Danfoss valves such as:...

  • Page 9: Ehps Steering Valve Piloted With Electric Actuator Pve And/Or Steering Unit

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 General Information • Max flow: 40 l/min • Max steering pressure: 210 bar • Available as in-line and OSPE version EHPS steering valve piloted with electric actuator PVE and/or steering unit •...

  • Page 10: Pved-Cl

    The MMI transmits the specific commands via CAN bus. Application Examples Wheel Loader The use of the PVED-CL on wheel loaders typically in conjunction with EHPS gives a range of functional opportunities: 11025583 | AQ00000216en-US0302 10 | ©...

  • Page 11: Tractor

    • Plug and perform GPS control Storing the machine parameters in the PVED-CL allows a GPS controller to be moved between various machines without re-adjusting the machine parameters. Automated steering is the next step in automating the field work on farms. The automated steering gives the following advantages •...

  • Page 12: Can Interface

    CAN-bus Sensor Power-up Synchronization The PVED-CL can be configured to wait up to 10000 ms for a CAN message. This is to accommodate for slow-starting CAN devices which are transmitting data to the PVED-CL. Please see device dependent parameters HPStwPowerUpTimeout, HPStdPowerUpTimeout,...

  • Page 13: Actuator Position Sensor

    For added safety the PVED-CL provides connectivity of a second sensor inputs at the same interface type. When position sensors are mounted on the steering actuator, the signal range must be at least 5 to 10% larger than maximum physical movement of the actuator.

  • Page 14: Safety Considerations

    The provider of the vehicle speed signal shall implement means to detect faults and let the vehicle speed sensor go silent if a fault is detected. A silent vehicle speed sensor will be detected by the PVED-CL and it will enter fault state or optionally reduced state.

  • Page 15: Risk Assessment

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Safety Considerations Risk assessment Warning It is the OEMs responsibility to perform a hazard and risk analysis of the complete steering system and add the necessary risk-reducing measures. 11025583 | AQ00000216en-US0302 | 15 ©...

  • Page 16: Configuration And Adjustment

    Configuration and Adjustment Configuration and Adjustment The PVED-CL contains parameters to tailor the valve and PVED-CL to the vehicle and to provide the required functionality. The OEM must be in possession of an interface device that is capable of reading and transmitting messages on the CAN bus.

  • Page 17: Program Parameters

    The program for a steering device becomes active as soon as the steering device is activated i.e. meets the set-up criteria for when the PVED-CL shall regard a steering device as ‘being used for steering’. An overview of all program parameters can be found in appendix Program Parameters on page 112.

  • Page 18: Reading And Writing Parameters

    Default program index for steering devices is 0. Reading and Writing Parameters Configuring the PVED-CL by means of setting parameters and reading parameters is done via a J1939 CAN bus, using proprietary PGN 61184. The configuration command set is described in PVED-CL Communication Protocol, 11079551.

  • Page 19: Program Transition Control

    On reception of one or more SetParameter messages, the contents are decoded and temporarily stored in RAM. The PVED-CL will send SetParameterResponse to verify the reception of each command. Switching off the electric power to the PVED before committing the data will erase all parameter changes.

  • Page 20: Electronic Control Unit

    CAN and power supply from cables with analog control signals. When using AMP the gray connector is dedicated for CAN and electric power supply and the black for connecting analogue devices to the PVED. Deutsch connectors are not-keyed, but PVED-CL is laser- marked with description.

  • Page 21: Inductive Transducer, Lvdt (Linear Variable Differential Transformer)

    Integrated Pulse Width Modulation Positioning of the main spool in the PVED-CL is based on the pulse width modulation principle. A three-color LED on the top of the PVED provides high-dependable information of 4 basic states of the electronic hardware.

  • Page 22: Technical Specification

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Technical Specification Technical Data Technical Data Electrical Unit Required supply voltage V DC Required current with magnetic valves enabled Required current with magnetic valves disabled 0.03 Power consumption Power consumption (magnetic valves off) max 0.3...

  • Page 23: Installation

    PVED-CL replacement situation or in performance fine-tuning situations. The PVED-CL is calibrated to the valve by a dedicated valve transfer function, having 7 parameters to compensate for discontinuities (hydraulic dead-band), asymmetry (maximum flow) and non-linearity in the left and right spool characteristic.

  • Page 24: Dead-Band Crossing

    Xsp values are valid for programmed linear spool characteristic. Valve transfer function The valve transfer function matches the PVED-CL to the valve and thus also the hydraulic dead-band. The PVED-CL converts the calculated requested port flow to a spool set-point, Xsp. Xsp is a scaled representation of the physical spool displacement where 0 is neutral position and ±1000 is the maximum...

  • Page 25: Valve Interface Parameters

    Flow range Valve interface parameters Xspl_0 Left software dead-band in PVED-CL open-loop operation mode. Lspl Controls the left spool position-to-flow linearity. Use for compensating for non-linearity or to create non-linear spool characteristics. Default is linear spool characteristic. Xspl_1000 Left maximum port flow. Port flow at this set-point is equivalent to maximum valve capacity.

  • Page 26: Valve Calibration Methods

    EnterCalibrationMode in PVED-CL Communication Protocol, 11079551 on how to run the PVED-CL in calibration mode. The procedure requires a service tool to set the PVED-CL in calibration mode and to control the main spool set-point. The procedure is: 1. Find the hydraulic dead-band by gradually increasing the main spool set-point in small steps (5 – 10), until steered wheel movement is observed.

  • Page 27: Method 3: Valve Auto-Calibration

    Preconditions: 1. The PVED to valve auto-calibration is available only when PVED is in the calibration mode. See section EnterCalibrationMode in PVED-CL Communication Protocol, 11079551 on how to set the PVED-CL in calibration mode. 2. The valve auto-calibration command shall be sent from the MMI controller.

  • Page 28: Valve Auto-Calibration Procedure

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Installation Valve auto-calibration command parameters (continued) Command Description YactDiffThreshold Set the ‘change threshold’ for ‘steering actuator position’/‘steered wheel position’ (Yact) that is the criterion for detecting a flow. The position change, ∆Yact, is measured in the time-out period for each main spool position set-point increment.

  • Page 29: Suggested Valve Auto-Calibration Command Values

    The PVED-CL shall be powered-cycled after an auto-calibration before the new dead-band parameters take effect. The PVED-CL closed-loop performance can also be evaluated in calibration mode by issuing the SetFlow command. To evaluate the smallest possible actuator speed, set ‘Requested Flow’ to ±1 and apply ‘Closed-loop flow-to-spool-position scaling’.

  • Page 30: Verification Of Auto-Calibration Result Stability

    If asymmetry is evident then a new valve auto-calibration shall be performed. Verification of the closed-loop performance Check that the desired steering accuracy can be obtained when using the PVED-CL in closed-loop mode such as auto-steering. The vehicle shall follow the path within the expected precision with small steering actuator movements.

  • Page 31: Explanation

    Reading and Writing Parameters on page 18. The default settings mean a PVED-CL with power on, a CAN Steering Wheel Sensor and an analogue joystick physically connected, will not interpret any of these inputs until the mapping is done. CAN sensor messages are ignored and so are the voltage-inputs on the AD pins.

  • Page 32: Only One Signal Per Analogue Channel Can Be Acquired

    Low Priority Steering Device Enable/Disable Control on page 92. The High priority set-point controller can similarly be de-activated. Please refer to PVED-CL Communication Protocol, 11079551. Analogue Interface A 200 Hz first-order low-pass filter is applied before the AD sampling. Both analogue voltage signals at AD1 and AD2 are converted into a digital value between 0 and 1023 [AD full scale].

  • Page 33: Ad Signal Interface Requirements

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Installation AD Signal Interface Requirements When control signals are mapped to pin AD1 or AD2, the sampled voltage is range-checked to be between 20 and 967 [AD full scale]. These bounds are used for detecting the signal being shortcut to ground or VCC/battery power supply.

  • Page 34: Non-Linear Transfer Characteristic (5-Point)

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Installation Non-Linear Transfer Characteristic (5-Point) A non-linear transfer characteristic is suitable in situations where a sensor output is non-linear due to e.g. sensor mounting geometry. Scenario Applying a linear transfer characteristic (3-point) to a non-linear steered wheel angle sensor in a closed- loop application (auto-guidance or GPS) may result in incorrect steered wheel positions for set-points not equal to neutral or the end-positions.

  • Page 35: Analogue Input Drift Compensation

    CAN bus. Sending a StartStopStatus status set 1 message will invoke the PVED-CL to send out a status message with data [AD1][AD2][AD3][Xsp]. AD1 and AD2 are the analogue PVED-CL interface ports. AD3 is the spool position reading.

  • Page 36: Steering Device Transition

    Steering Device Transition Steering Device Transition The PVED-CL allows steering with electric signals from more than one steering device. Every 50 ms, the PVED sequentially monitors all mapped steering device signals according to their priority. It selects one of steering devices based on: •...

  • Page 37: Define The Steering Motion Threshold

    The steering motion threshold represents a percentage of the maximum steering motion which is defined for each steering device. This means for the PVED-CL to detect a steering request on a new steering device, the input on this device shall happen faster than the defined threshold speed.

  • Page 38: Steering Wheel Sensor Noise Gate

    Regardless of the cause, the noise in the SASA message data may propagate though the PVED-CL and show itself as small pressure build-ups or small wheel movements. This high SASA sensitivity is desired for high controllability and good response to slow steering wheel movements whereas it is less desired when the steering wheel is not activated.

  • Page 39: Steering By Steering Wheel - Open Loop

    Functionality Tree The tree below illustrates the functionality available in the PVED-CL for open-loop steering wheel steering. The manufacturing default is found by following the red line. Following the instructions in this chapter can of course modify it. The switches in the tree are used to select the functionality required. In case different functionalities are required, the EHPS software provides multiple programs for each steering device.

  • Page 40: Select The Control Principle

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Steering Wheel – Open Loop Block diagram oped loop steering wheel steering Sse , Sts0, Sts1, Sts2,Sts3, Sts4, Sts5, Vesm, StrkVol, Vcap 100 ms Sr, Lr, Tro, Tfo, Lf,...

  • Page 41: Steering Sensitivity

    The PVED-CL allows 10 different programs for the steering wheel steering with different sensitivity settings. Each program can be applied via the MMI while driving.

  • Page 42: Select A Fixed Sensitivity

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Steering Wheel – Open Loop A note on variable steering ratio: In systems with an EHPS valve, the sensitivity settings yield equivalent steering ratio results on the physical steering system.

  • Page 43: Select A Sensitivity With Relation To Vehicle Speed

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Steering Wheel – Open Loop Sse selects between a fixed steering sensitivity, variable to steering actuator position or vehicle speed. Set Sse to 2 to select the sensitivity related to steering actuator position.

  • Page 44: Ramps (Anti-Jerk)

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Steering Wheel – Open Loop Sts3 sets the steering ratio when the vehicle is driving at 25.00% of Vesm. Sts4 sets the steering ratio when the vehicle is driving at 50.00% of Vesm.

  • Page 45: Example

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Steering Wheel – Open Loop Qr, Qramp Qr Requested port flow 1000 Qramp ramp port flow YsetFr YsetFr, fast ramp down range YAbortDownRamp Up ramp slow ramp down range...

  • Page 46: Example

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Steering Wheel – Open Loop Example: A value equal to 500 means that the driver needs to steer out 500/1000 of maximum flow before the slow down-ramp is aborted. 500 again corresponds to a certain steering wheel RPM.
  • Page 47 Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Steering Wheel – Open Loop max time = 1000 Default: Verm=500 saturates (Ve) Tro=1 Trh=1 min time = 1 1000 Ve - Vehicle speed: 1 unit = 0.1 km/h...

  • Page 48: Example

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Steering Wheel – Open Loop The overall goal with the parameter is too optimize steering response time without degrading the anti- jerk performance. Set up fast ramp down time Tfr before tuning this parameter. Setting YsetFr to 1000 eliminates the effect of the fast ramp down.

  • Page 49: Anti-Jerk Ramp Parameter Tuning Guide

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Steering Wheel – Open Loop Anti-jerk Ramp Parameter Tuning Guide Tuning the parameters is an iterative process. The following sequence may be useful when tuning a vehicle: 1. Initial setting: Set Tro to Set Tfr to Set YsetFr to 1000. Set Tra to 1. Set YabortThreshold to 500.

  • Page 50: Main Spool Dead-Band Control Function

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Steering Wheel – Open Loop Off This parameter sets the permitted actuation speed when hitting the end lock defined by Yr or Yl. When the steering actuator passed Yr or Yl, actuation speed will decay to zero.
  • Page 51 OSP and the PVED. The default value disables this functionality i.e. the magnetic valve bridge is enabled at all times. Generally, the magnetic valve bridge is enabled when the PVED-CL receives a non-zero flow request. Symbol Index...

  • Page 52: Steering By Steering Wheel - Closed Loop

    Hold the steering actuator at a fixed position when steering wheel speed is zero. Warning Steering by steering wheel in closed loop mode shall only applied in systems with a PVED-CL and an EHPS valve. Using an OSP and an EH valve in closed-loop is not a valid configuration and will lead to unpredictable closed loop performance.

  • Page 53: Select The Control Principle

    The PVED-CL allows several programs for each steering device, which means that 5 to 10 different programs with different sensitivity settings can be made and applied via the MMI while driving. Each program can then use either fixed or variable sensitivity –...

  • Page 54: Select A Fixed Steering Sensitivity

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Steering Wheel – Closed Loop Max Sts = 1200 Vesm = 500 Vehicle speed dependant (linear) – program 1 Vehicle speed dependant (non-linear) – program 2 Fixed sensitivity – program 0 Vehicle speed dependant (non-linear) –...

  • Page 55: Create The Set-Point

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Steering Wheel – Closed Loop Set Sse to 3 to select the sensitivity related to vehicle speed. Sts0 sets the steering ratio when the vehicle is standing still. Sts0 applies at all times when the vehicle signal unintentionally is not configured as PRESENT (Ve remains 0).

  • Page 56: Closing The Loop

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Steering Wheel – Closed Loop much whether a linear sensor is used to detect cylinder piston position or an angular sensor at the king pin. Lx is typical set at zero when the cylinder piston position is detected using a linear sensor. When the king pin rotation is detected with an angular sensor at the king pin, Lx is typical set between 2 and 4.

  • Page 57: Steering Wheel Knob Position Control

    In order to ensure convergence, check that variable Yact is increasing for positive values of port flow. Open loop control can be used to check this. To retrieve this data, use StartStopStatus and request status data set number 2. See PVED-CL Communication Protocol. The PVED-CL will return the status data with ~ 40 ms intervals.

  • Page 58: What Makes The Steering Wheel Drift

    The default value disables this functionality i.e. the magnetic valve bridge is enabled at all times. The magnetic valve bridge is enabled when the PVED-CL receives a non-zero flow request. Use this parameter to create EHPS type 1 configurations.
  • Page 59 Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Steering Wheel – Closed Loop Symbol Index Default Value range Magnetic valves off delay time 30 000 1 to 30 000 (ms) 11025583 | AQ00000216en-US0302 | 59 © Danfoss | May 2016...

  • Page 60: Steering By High Priority Steering Device - Open Loop

    P005 202E Select the Control Principle The PVED-CL provides open loop control for steering devices with spring return or for steering devices with a speed output,. This control principle keeps a fixed or variable relation between steering input and cylinder speed. The control loop provides several parameters to transform positional information to port flow.

  • Page 61: Acquire The Signals

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by High Priority Steering Device – Open Loop SseSts0,Sts1,Sts2, Sts3,Sts4,Sts5, Vesm 100 ms Sr, Lr, Tro, Tfo, Lf, Ve -Vehicle Steering Trh, Tfh, YsetFr, Tfr, speed sensitivity TAbortDownRamp, Cf, Off...

  • Page 62: Steering Sensitivity

    The PVED-CL allows several programs for each steering device, which means that 5 to 10 different programs with different sensitivity settings can be made and applied via the MMI while driving. Each program can then use either fixed or variable sensitivity –...

  • Page 63: Select A Sensitivity With Relation To The Actuator Position

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by High Priority Steering Device – Open Loop Select a Sensitivity with Relation to the Actuator Position A steering sensitivity related to actuator position is normally chosen for increased directional stability for straightforward driving (material handling).

  • Page 64: Ramps (Anti-Jerk)

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by High Priority Steering Device – Open Loop max Sts = 1200 Sts0=105 Sts1=90 Vesm=500 Sts2=75 Sts3=60 saturates Sts4=45 (Ve) Sts5=30 min Sts = 20 1000 Ve - Vehicle speed: 1 unit = 0.1 km/h P005 088E Sse Selects between a fixed steering sensitivity, variable to steering actuator position or vehicle speed.

  • Page 65: Select Ramps With Fixed Ramp Times

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by High Priority Steering Device – Open Loop To achieve this, the EHPS software provides linear or non-linear ramps which in effect creates an orifice across the main spool to tank by holding the valve open near its closing position until all kinetic energy is dispatched into heat for some time.

  • Page 66: Example

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by High Priority Steering Device – Open Loop Use this optimization criterion: Ramp down as fast as possible for flow ranges, where jerks are not significant. Typical values are 1-50 ms. The fast ramp down time shall always be less than the slow ramp- down time.
  • Page 67 Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by High Priority Steering Device – Open Loop max time = 1000 saturates Default: (Ve) Verm=500 Tro=200 Trh=200 min time = 1 1000 Ve - Vehicle speed: 1 unit = 0.1 km/h...

  • Page 68: Example

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by High Priority Steering Device – Open Loop too optimize steering response time without degrading the anti-jerk performance. Set up fast ramp down time Tfr before tuning this parameter. Setting YsetFr to 1000 eliminates the effect of the fast ramp down.

  • Page 69: Anti-Jerk Ramp Parameter Tuning Guide

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by High Priority Steering Device – Open Loop Symbol Index Default Value range YAbortDownRamp 3y34 0 to 500 (1 unit = 0.1% of max. flow). The default value will force an down-ramp abort at a slight reverse port flow request.

  • Page 70: Spool Dead-Band Hold Control Function

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by High Priority Steering Device – Open Loop Right end lock Yr, Software end lock position 1000 Port flow Steering actuator position command time 250 ms -250 Defaults Yl=-1000 -500...

  • Page 71: Dead-Band Hold And Proportional Control

    Resolving a Steering Control Conflict On systems utilizing a PVED-CL, an EHPS valve, an OSP, a CAN or analogue steering device but no steering wheel angle sensor (SASA) (EHPS type 1), the PVED-CL has no means to detect that the steering wheel is being activated.

  • Page 72: Steering By High Priority Steering Device - Closed Loop

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by High Priority Steering Device – Closed Loop Steering by High Priority Steering Device – Closed Loop EHPS Type 2 Automatic Steering Diagram Joystick or mini wheel High Steering angle sensor...

  • Page 73: Select The Control Principle

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by High Priority Steering Device – Closed Loop Yr, Yl, Lx, Xysat, db Xstl - 10 ms Pot- Angle Port flow Q - Port flow meter Tracking limiter command like...

  • Page 74: Closing The Loop

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by High Priority Steering Device – Closed Loop YR must be set at the negative equivalent and YL must be set at the positive equivalent (See example). The default value for YR and YL is set equal to the mechanical locks of the steering actuator resulting in the vehicle to steer in the right direction.

  • Page 75: Resolving A Steering Control Conflict

    Resolving a Steering Control Conflict On systems utilizing a PVED-CL, an EHPS valve, an OSP, a CAN or analogue steering device but no steering wheel angle sensor (SASA) (EHPS type 1), the PVED-CL has no means to detect that the steering wheel is being activated.

  • Page 76: Device Diagnostic Operation

    The PVED will send one DisableSteeringDeviceResponse reply message to each DisableSteeringDevice command it receives (or on time-out), containing the present enable/disable state for all steering devices. This reply may be used by the MMI for acknowledge or display purposes (see PVED-CL Communication Protocol Technical Information, 11079551).

  • Page 77: Steering By Low Priority Steering Device - Open Loop

    P005 099E Select the Control Principle The PVED-CL provides open loop control for steering devices with spring return or for steering devices with a speed output,. This control principle keeps a fixed or variable relation between steering input and cylinder speed. The control loop provides several parameters to transform positional information to port flow.

  • Page 78: Acquire The Signals

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Low Priority Steering Device – Open Loop SseSts0,Sts1,Sts2, Sts3,Sts4,Sts5, Vesm 100 ms Sr, Lr, Tro, Tfo, Lf, Ve -Vehicle Steering Trh, Tfh, YsetFr, Tfr, speed sensitivity TAbortDownRamp, Cf, Off...

  • Page 79: Steering Sensitivity

    The PVED-CL allows several programs for each steering device, which means that 5 to 10 different programs with different sensitivity settings can be made and applied via the MMI while driving. Each program can then use either fixed or variable sensitivity –...

  • Page 80: Select A Sensitivity With Relation To The Actuator Position

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Low Priority Steering Device – Open Loop Select a Sensitivity with Relation to the Actuator Position A steering sensitivity related to actuator position is normally chosen for increased directional stability for straightforward driving (for e.g.

  • Page 81: Ramps (Anti-Jerk)

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Low Priority Steering Device – Open Loop max Sts = 1200 Sts0=105 Sts1=90 Vesm=500 Sts2=75 Sts3=60 saturates Sts4=45 (Ve) Sts5=30 min Sts = 20 1000 Ve - Vehicle speed: 1 unit = 0.1 km/h P005 088E Sse Selects between a fixed steering sensitivity, variable to steering actuator position or vehicle speed.

  • Page 82: Ramps With Fixed Ramp Times

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Low Priority Steering Device – Open Loop To achieve this, the EHPS software provides linear or non-linear ramps which in effect creates an orifice across the main spool to tank by holding the valve open near its closing position until all kinetic energy is dispatched into heat for some time.

  • Page 83: Example

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Low Priority Steering Device – Open Loop Tfr This time defines the applied ramp time in the fast ramp-down range. It is defined as the ramp time from maximum flow to no flow. This means that in practice, the actual fast ramp-down time is proportional to the fast ramp-down range divided by 1000.
  • Page 84 Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Low Priority Steering Device – Open Loop max time = 1000 saturates Default: (Ve) Verm=500 Tro=200 Trh=200 min time = 1 1000 Ve - Vehicle speed: 1 unit = 0.1 km/h...

  • Page 85: Example

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Low Priority Steering Device – Open Loop too optimize steering response time without degrading the anti-jerk performance. Set up fast ramp down time Tfr before tuning this parameter. Setting YsetFr to 1000 eliminates the effect of the fast ramp down.

  • Page 86: Anti-Jerk Ramp Parameter Tuning Guide

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Low Priority Steering Device – Open Loop Symbol Index Default Value range 4y35 1 to 1000 ms Ramp-down time for canceled down-ramp The discontinuities in the progressive characteristic are located at 50, 120 and 333 ([5.0;T at 25], [12,0;T at 50] and [33.3;T at 75] of max port flow...

  • Page 87: Spool Dead-Band Hold Control Function

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Low Priority Steering Device – Open Loop YR, YL The difference between the values of both parameter set the freedom of the steering actuator. Normally, YR is set equal at the right mechanical end lock. YL is normally set equal to the left mechanical end lock.

  • Page 88: Magnetic Valves Off Control

    Resolving a Steering Control Conflict On systems utilizing a PVED-CL, an EHPS valve, an OSP, a CAN or analogue steering device but no steering wheel angle sensor (SASA) (EHPS type 1), the PVED-CL has no means to detect that the steering wheel is being activated.

  • Page 89: Steering By Low Priority Steering Device - Closed Loop

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Low Priority Steering Device – Closed Loop Steering by High Priority Steering Device – Closed Loop EHPS Type 2 Automatic Steering Diagram Joystick or mini wheel Steering angle sensor...

  • Page 90: Select The Control Principle

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Low Priority Steering Device – Closed Loop set point and current steering actuator position or by sweeping through it. While tracking, the commanded port flow is limited at zero.

  • Page 91: Closing The Loop

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Steering by Low Priority Steering Device – Closed Loop end lock. This results in steering to the right direction. In case an opposite steering behavior is required, YR must be set at the negative equivalent and YL must be set at the positive equivalent (See example).

  • Page 92: Magnetic Valves Off Control

    Resolving a Steering Control Conflict On systems utilizing a PVED-CL, an EHPS valve, an OSP, a CAN or analogue steering device but no steering wheel angle sensor (SASA) (EHPS type 1), the PVED-CL has no means to detect that the steering wheel is being activated.

  • Page 93: Enable Or Disable Joystick Steering Device

    The PVED will send one DisableSteeringDeviceResponse reply message to each DisableSteeringDevice command it receives (or on time-out), containing the present enable/disable state for all steering devices. This reply may be used by the MMI for acknowledge or display purposes (see PVED-CL Communication Protocol Technical Information, 11079551).

  • Page 94: Auto-Steering

    Position sensor Guidance Commands To facilitate the implementation of the PVED-CL for auto-steering or guidance, it is designed to use ISO11783 auto-guide messages. This means the PVED-CL can easily be integrated with any GPS, row- guide, or similar controller sending ISOBUS specific curvature commands.

  • Page 95: Trimming The System

    The auto-steering functionality always uses closed loop control, hence the steered wheel or articulation angle is read back to the PVED-CL, and used for control purposes to ensure correct positioning. The functionality available in the PVED to steer by any curvature set-point controller is defined by...

  • Page 96: Select A Fixed Sensitivity

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Auto-steering Symbol Index Default Value range Tclpout 3000 1 to 30000 (ms) 0 to 100 (0.0 to 10.0 % of max port flow) Qth may introduce a control dead-band which may not be desired. Set Qth to 0 for tight closed-loop control and for maximum precision.

  • Page 97: Magnetic Valves Off Control

    Resolving a Steering Control Conflict On systems utilizing a PVED-CL, an EHPS valve, an OSP, a CAN or analogue steering device but no steering wheel angle sensor (SASA) (EHPS type 1), the PVED-CL has no means to detect that the steering wheel is being activated.
  • Page 98 Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Auto-steering StwDxActivationThreshold The SASA steering wheel position change threshold,|dx|, which shall be exceeded before auto-steering can be engaged. The relation between dx and steering wheel rpm is: dx= 1 is equivalent to 1.4 rpm.

  • Page 99: Reduced State

    High Priority Steering Device Fault HPSTDReducedModeAllowed parameter indicates to the PVED-CL error handler, that any fault related to the High priority steering device shall bring the PVED-CL into reduced state and change the high priority steering device functionality as follows: •...

  • Page 100: Vehicle Speed Sensor Fault

    VSReducedModeAllowed This parameter indicates to the PVED-CL error handler, that any fault related to the CAN vehicle speed sensor shall bring the PVED-CL into reduced state and change steering functionality as follows: •...

  • Page 101: Diagnostic & Troubleshooting

    Diagnostic & Troubleshooting Diagnostic Any detected fault will bring the PVED-CL in reduced state or fail-safe state. Fail safe state infers that the magnetic bridge is disabled and no pilot flow from the PVED-CL controls the valve. A fault that brings the PVED-CL in fail-safe state is denoted a ‘critical’...

  • Page 102: J1939 Diagnostic Interface

    3. The requested pressure is supplied with some delay (Pump). Self-steering Operational 1. The parameters Xspr_0 and Xspl_0 in the PVED-CL are not correctly set relative to the mechanical dead-band location in the spool-opening characteristic. Read more information in Valve Interface page 23.
  • Page 103 Diagnostic & Troubleshooting Accessing fault codes in the PVED-CL The PVED operation status is the status reflected in the OperationStatus message (see PVED-CL Communication Protocol Technical Information, 11079551) which is transmitted cyclically on the CAN bus. If the PVED operation status is not available, check the LED diagnostic, LED Diagnostic on page 106.

  • Page 104: Ad1 And/Or Ad2 Short-Circuit

    CAN sensor or cable tree fault. In this context, input signals are both CAN messages and analog samples from sensors. However, missing analog samples or invalid timing of analog samples can only be caused by an internal PVED-CL fault – nothing can be concluded about the analog sensors from this SPN.

  • Page 105: Redundant Wheel Angle Sensor Values Deviate Too Much Or Can Sensor Set-Point Data Out Of Range

    Redundant Wheel Angle Sensor Values Deviate too much or CAN Sensor Set-point Data out of Range SPN 612 indicates more faults, depending on the actual system configuration i.e. many of the PVED-CL error codes can be ignored by using the knowledge of the actual sensor mapping.

  • Page 106: Power Supply Voltage

    SPN 615 indicates that a critical PVED-CL fault has happened. The user must look up the EHPS error buffer to retrieve the EHPS error code and apply the table with PVED-CL error codes to locate the error source. The user shall locate the last entered error entry which is either the last error code before the ‘No error’...

  • Page 107: Appendix

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Appendix System Parameters Index Name Description Data Range Default Locked Type Restored Lspl Index for controlling linearity of left [-10 ; 10] flow characteristic Lspr Index for controlling linearity of right [-10 ;...
  • Page 108 Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Appendix Index Name Description Data Range Default Locked Type Restored Temperature histogram Number of 6. minute ticks where the [0 ; 4294967295] interval 1 PVED-CL is operating in temperature interval : Temperature histogram 1 : <...
  • Page 109 Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Appendix Index Name Description Data Range Default Locked Type Restored 64002 StatusReportsPGNBase Offset for proprietary B messages [0; 253] that contains status data 64003 PvedSourceAddress PVED-CL Source Address 64004 VehicleSpeedSensorSource Source Address of the vehicle speed...
  • Page 110 Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Appendix Index Name Description Data Range Default Locked Type Restored 64022 StwDxActivationThreshold The SASA steering wheel position [0 ; 4095] change threshold,|dx|, which shall be exceeded before auto-steering can be engaged. The relation between dx and steering wheel rpm is: dx= 1 is equivalent to 1.4 rpm.
  • Page 111 Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Appendix Index Name Description Data Range Default Locked Type Restored 65098 AnalogChannelCompensat Analogue input voltage ✓ compensation compensation (0) Enables radiometric measurement of Compensation ✓ voltages which are proportional to on AD1 (1)

  • Page 112: Program Parameters

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Appendix Index Name Description Data Range Default Type 65112 VehicleLength Distance [mm] between the front and rear [1 ; 65535] 4000 axles. Articulated vehicles: distance [mm] between the front axle and the articulation point.
  • Page 113 Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Appendix Name Data Description of parameter Steering Steering device External Range Default type wheel set-point High controller Priority Priority Xysat Saturation of Y at input X 1y03 3y03 4y03 5y03 [0; 1000]...

  • Page 114: Steering Device Parameters

    Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Appendix Name Data Description of parameter Steering Steering device External Range Default type wheel set-point High controller Priority Priority Steering sensitivity selector 1y09 3y09 4y09 5y09 Fixed 1 Actuator position dependent 2...
  • Page 115 Operation Manual PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38 Appendix Name Data type Description of parameter Steeri Steering device External Range Default set-point High wheel controller Priority Priority Steering Motion SIGNED16 Active State speed threshold. [0; 2000] {50, 100, Threshold...
  • Page 116 Phone: +86 21 3418 5200 Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to products already on order provided that such alterations can be made without changes being necessary in specifications already agreed.

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