11.10 Closed Loop Joystick - Vehicle Speed Dependent Wheel Angle Limitation - Danfoss PVED-CLS User Manual

ENGINEERING TOMORROW
Warning
Failure to comply with the above rules may render this function inoperable or lead to undesirable steering
behavior!
Name
AUX joystick - Flow
limit for max joystick P3690 U16
command @ Point M
AUX joystick - Flow
limit for max joystick P3692 U16
command @ Point N
AUX joystick - Flow
limit for max joystick P3694 U16
command @ Point O
AUX joystick - Vehicle
P3696 U8
speed @ Point N
AUX joystick - Vehicle
P3697 U8
speed @ Point O
11.10 CLOSED LOOP JOYSTICK – VEHICLE SPEED DEPENDENT WHEEL ANGLE LIMITATION
As a risk mitigation method, when using a Closed Loop Joystick function, the PVED-CLS's Closed Loop Joystick control
algorithm can limit the maximum allowed angle, that the wheels can be moved to, in proportion to the vehicle speed (i.e.
the faster the vehicle goes, the narrower the maximum allowed angle, that the wheel can be moved to, will be).
The range is from 0 to 100 km/h for P3723 and P3724 and from 0 to 89 [°] for P3720, P3721 and P3722.
These parameters represent the three points on the curve below (Point A, B and C). The Closed Loop Joystick-algorithm
will make linear interpolation in between each of the three points. It is allowed to move the three points in any direction,
limited by the following rules:
•
Point A is always specified at Vehicle speed limiting wheel angle = 0 km/h
•
Point C "Max wheel angle" is valid for Point C "Vehicle speed limiting wheel angle" and vehicle speeds above
Point C "Vehicle speed limiting wheel angle"
• Point A "Max wheel angle" ≥ Point B "Max wheel angle" ≥ Point C "Max wheel angle"
•
Point C "Vehicle speed limiting wheel angle" > Point B "Vehicle speed limiting wheel angle" > Point A "Vehicle
speed limiting wheel angle"
© Danfoss | August 2018
Description of parameter
Aux Joystick: flow limit for maximum joystick command at Vehicle speed
IR
of 0 km/h
Aux Joystick - flow limit for maximum joystick command at the vehicle
IR
speed of "Aux Joystick - Vehicle speed @ Point N"
Aux Joystick - flow limit for maximum joystick command at the vehicle
IR
speed of "Aux Joystick - Vehicle speed @ Point O"
Aux Joystick - Vehicle speed to limit the flow @ point N for maximum
km/h
joystick command
Aux Joystick - Vehicle speed to limit the flow @ point O for maximum
km/h
joystick command
Table 48
Range
OEM 0 1000
OEM 0 1000
OEM 0 1000
OEM 0 100
OEM 0 100
AQ00000211 | 111
1000
50
25
15
25