Auto-Guidance Steering; Block Diagram; Selection Of Gps Algorithm Type - Danfoss PVED-CLS User Manual

ENGINEERING TOMORROW

Auto-guidance steering

When the PVED-CLS is in off-road steering mode (see Figure ) the Auto-guidance steering can be chosen. Furthermore,
the PVED-CLS can be configured in such a way, that two auto-guidance controllers (GPS and GPS2) can be interfaced.
Two safety functions for auto-guidance controllers (GPS and GPS2) can be configured, which can be enabled and run
simultaneously. In addition, these functions are dependent on the vehicle's speed and can limit the maximum wheel angles
and flow allowed in Auto-guidance steering.
12.1

BLOCK DIAGRAM

Vehicle speed
GMC to WA dependent
setpoint wheel angle
limitation
12.2

SELECTION OF GPS ALGORITHM TYPE

It is possible to select GPS algorithm type:
GPS v1: Vehicle speed dependent flow limitation
GPS v2: Vehicle speed dependent wheel angle speed limitation.
Selection is done from the service tool under GPS config in parameter P3496: GPS Algorithm type.
GPS v1:
If the max WA and cylinder size are unknown.
If a series of machines will not have variation in cylinder size and max WA (same lock stops position across
fleet).
If the lock stops are changed after tuning and the WA is re-calibrated at it should, it will influence the system
gain.
Unless the max angles are updated, the curvature to angle conversion will not be accurate. Further the gain in
the system will change. Small changes will have limited influence in steering accuracy, but if WA is halved or
doubled, the steering inaccuracy will increase
© Danfoss | August 2018
GPS algorithm type v1:
Vehicle speed
dependent
flow command limitation
Vehicle speed
dependent
closed loop control
GPS algorithm type v2:
Vehicle speed
dependent
Wheel angle
speed limitation
Note:
GPS algoritm type v1 or v2 needs to be selected
Figure 63
Control / no control
decision
Flow command
filter
Flow to spool
position convertion
AQ00000211 | 119
SVC