0 means 0 degrees backlash, 200 means ~17 degrees backlash. Backlash applies in both steering directions; therefore the total backlash region is twice

the threshold.

Steering Sensitivity

Danfoss | May 2016

Block diagram closed loop steering wheel steering

Sse,

Sts0,Sts1,Sts2,Sts3,

Sts4,Sts5, Vesm

100 ms

Vehicle

Steering

speed

sensitivity

10 ms

Steering

10 ms

delta

wheel

Backlash

angle

Cp selects the closed loop control for steering wheel steering. Parameter index 1y02 must be set equal to

255. Parameter selection values: Y selects the program and ranges from 0 and 9.A fixed value of Y must

be consistently used throughout the entire configuration of a single program.

Acquire the Signals

See

Mapping a Steering Device

angle sensor.

Apply Backlash

Ri If elasticity affects the sensor readings when the driver releases the steering wheel and hereby

unintentionally operates the valve, a backlash region (Ri) can be applied to prevent it. The size of the

backlash region is normally set equal to the angle related to elasticity.

However, any set-value greater than zero leads to slower steering responds. Therefore, to minimize these

effects, the steering wheel, sensor shaft and underlying mechanics as shown below must be designed as

stiff as possible.

Sensor

Steering wheel

Since this parameter only effects changes in the set point, stability problems in closed loop are not

related to the set-value of this parameter.

The default value does not remove elasticity effects.

Index

1y04

Sensitivity is set individually for each program and can be either fixed or variable. Variability can depend

on vehicle speed or change of current device program.

Using variable sensitivity can increase comfort and drivability significantly, and depending on the vehicle

type and use the appropriate way to achieve the change might be different.

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 – hence we talk 'second-order-variability' by

using the PVED-CL.

Kd,Kc

Feed-

Anti drift

forward

Yr,Yl,Lx

Anti

Transfer

windup

function

10 ms

actuator

position

on page 31 on how to map the steering wheel sensor and steering wheel

Default

Port flow

command

limiter

Value range

0 to 200

11025583 | AQ00000216en-US0302 | 53

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Select The Control Principle; Acquire The Signals; Apply Backlash; Steering Sensitivity - Danfoss pved-cl Operation Manual