Create The Set-Point - Danfoss pved-cl Operation Manual

Operation Manual
PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
Steering by Steering Wheel – Closed Loop
Symbol
Sse
Sts0
Sts1
Sts2
Sts3
Sts4
Sts5
Vesm
Please note the parameter dependency of Sts. Steering sensitivity of 400 equals to 4.00 steering wheel turns to move the steering actuator from YL to
YR (left to right end-lock position) See chapters Mapping steering signals and J1939 Vehicle Speed to acquire vehicle speed.

Create the Set-point

© Danfoss | May 2016
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). In case the vehicle speed signal is not
diagnosed, it is recommended to set Sts0 at a value where sufficient directional stability at maximum
vehicle speed is present. The default value is set a value common to fast driving mobiles
Sts1 sets the steering ratio when the vehicle is driving at 6.25% of Vesm.
Sts2 sets the steering ratio when the vehicle is driving at 12.50% of Vesm.
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.
Sts5 sets the steering ratio when the vehicle is driving at 100.00% of Vesm.
Vesm sets the region where steering sensitivity is variable to vehicle speed.
The default value is set at the maximum speed of most applications.
Index Default
1y09 1
1y10 400
1y11 400
1y12 400
1y13 400
1y14 400
1y15 400
1y16 500
The transfer function provides three parameters to relate a sum of scaled steering wheel angle
increments to steering actuator set point position. The scaled steering wheel position is a sum of steering
wheel angle increments corrected by the current applied steering sensitivity and scaled according to the
operating ranges of variable Yact.
Right steering
actuator end-lock
Example
Lx = 10
YR = -750
YL = 500
YL
Min sum for
activating the
steering wheel
CCW
-1000 -750 -500 -250
Defaults
Lx = 0
YR = 1000
YL = -1000
saturation
Lx Sets the curve linearity. The parameter is set down when the cylinder position is too far (over-steer) for
small steering angles or vice versa. The optimum value for this parameter is closely related to the
inherent linearity between steering actuator position and signal. This inherent linearity depends very
Value range
Must be set at 3
20 to 1200
Sts0 to 1200
Sts1 to 1200
Sts2 to 1200
Sts3 to 1200
Sts4 to 1200
1 to 1000 (0.0 to 100.0 km/h)
1000 Saturation
750
500
YR
Lx
250
Sum of scaled delta steering
wheel angle increments
250
500 750 1000
1 unit=Sts/2000 % of 1
-250
steering wheel revolution
-500
-750
Left steering
-1000
actuator end- lock
Max sum for
activating the
steering wheel
CW
P005 201E
11025583 | AQ00000216en-US0302 | 55