Ramps (Anti-Jerk) - Danfoss pved-cl Operation Manual

Operation Manual
PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
Steering by Low Priority Steering Device – Open Loop
Symbol Index
Sse 4y09
Sts0 4y10
Sts1 4y11
Sts2 4y12
Sts3 4y13
Sts4 4y14
Sts5 4y15
Vesm 4y16
Please note the parameter dependency of Sts.
See Mapping steering signals and J1939 Vehicle Speed to acquire " Vehicle speed"

Ramps (Anti-jerk)

© Danfoss | May 2016
max Sts = 1200
120
Sts0=105
100
Sts1=90
80
Sts2=75
Sts3=60
60
Sts4=45
40
min Sts = 20
0
100 200 300 400
Ve - Vehicle speed: 1 unit = 0.1 km/h
Sse Selects between a fixed steering sensitivity, variable to steering actuator position or vehicle speed.
Set Sse to 3 to select the sensitivity related to vehicle speed.
Sts0 Sets the linear gradient between steering angle and requested port flow when the vehicle is
standing still. When the vehicle signal unintentionally not is mapped, Sts0 is applied constantly since
variable Ve remains 0. In case the vehicle signal not is diagnosed, it is recommended to set Sts0 at a value
where sufficient directional stability at maximum vehicle speed is present
Sts1 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving
at 6.25% of the speed defined by parameter Vesm.
Sts2 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving
at 12.50% of the speed defined by parameter Vesm.
Sts3 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving
at 25.00% of the speed defined by parameter Vesm.
Sts4 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving
at 50.00% of the speed defined by parameter Vesm.
Sts5 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving
at 100.00% of the speed defined by parameter Vesm.
Vesm Sets the region where steering sensitivity is variable to vehicle speed.
Default
1
105
90
75
60
45
30
500
Ramps are normally used to minimize jerk forces in machines with articulated steered steering systems. In
these steering systems, the articulating masses can be instantly stopped by closing the valve oil flow. An
instant cylinder movement stop starts the articulating masses to oscillate until all kinetic energy is
dispatched into heat by the shock valves or by the friction between wheels and ground. Jerk is an
inherent characteristic of articulated steered vehicles and cannot be completely removed. However, it is
best minimized when the forces are monotonically reduced in magnitude.
Vesm=500
Sts saturates
(Ve)
Sts5=30
500 600 700 800 900 1000
P005 088E
Value range
Must be set at 3
20 to 1200 (Amplification of 0.2 to 12.00)
20 to Sts0
20 to Sts1
20 to Sts2
20 to Sts3
20 to Sts4
1 (0.1 km/h) to 1000 (100.0 km/h)
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