Steering Wheel State Machine - Danfoss PVED-CLS User Manual

ENGINEERING TOMORROW
3.3

STEERING WHEEL STATE MACHINE

Figure shows the steering wheel algorithm state machine.
The entry point in below state machine is after the successful OFF road safety checks. Based on the EH steering
disengage method parameter P3254 (SASA or IMD), the further transition of states is determined for steering with
SASA or steering with IMD.
In Steering wheel program 1 – 5, the EH-Valve is active and the PVED-CLS behavior can be configured individually.
Find additional information on how to setup the programs in chapter 10.
Steering Wheel State machine
OFF-Road
reaction
steering
with IMD
MMI requ est the OFF
road reactio n steering
OFF-Road
reaction
MMI requ est for
steering with
Steering Program o th er than
SASA
OFF-Ro ad reaction
PRG _CHAN GE_EN
MMI requ est for OFF-Ro ad
Reaction steering
MMI requ est
fo r STW Program 1-5
Steering wheel Program 1-5
MMI requ est for
STW Program 5
Steering Program change
PRG _CHAN GE_EN
MMI requ est for
STW P ro gram 5
MMI requ est for
Steering Program change
AND
PRG _CHAN GE_EN
MMI requ est for
STW P ro gram 4
STW Program 4
MMI requ est for
Steering Program change
PRG _CHAN GE_EN
20 | © Danfoss | August 2018
MMI requ est the OFF road
reactio n steering AND
PRG _CHAN GE_EN
MMI requ est the OFF road
non reaction steering AND
PRG _CHAN GE_EN
Entry
Disengage
Point
Entry method
IMD
Point
Disengage metho d SASA
MMI requ est for
Steering Program o th er than
AND
OFF-Ro ad n on-reactio n
Entry
PRG _CHAN GE_EN
Point
MMI requ est for
Non R eactio n steering
MMI requ est for
Steering Program o th er than
OFF-Ro ad n on-reactio n
AND
PRG _CHAN GE_EN
Entry
Point
AND
MMI requ est for STW Program 1
MMI requ est for
Steering Program change
AND
PRG _CHAN GE_EN
Entry
Point
MMI requ est for STW Program 2
MMI requ est for
Steering Program change
AND
MMI requ est for
PRG _CHAN GE_EN
STW P ro gram 3
AND
STW Program 3
Output State
OFF-Road
EH Valve: ON
Cu t-off Valve: ON
non-
reaction
Operation Status message
steering
Op eratio n statu s: OFF-Ro ad n on-reactio n
with IMD
Lo ckout for EH-Steerin g func tionality: EH-Steering fun ctio nality
allowed
Lo ckout for ste erin g d evic e changes: Con trolled by P3250 and
Vehicle speed
Lo ckout for Program chan ges: Con trolled by P3251 and Veh icle
MMI requ est the OFF road
speed
non reaction steering o r a
STW p ro gram 1-5 Steering wh eel algorithms are no t executed
Output State
EH Valve: OFF
Cu t-off Valve: OFF
Operation Status message
Op eratio n statu s: OFF-Ro ad reaction
Lo ckout for EH-Steerin g func tionality: EH-Steering fun ctio nality
allowed
Lo ckout for ste erin g d evic e changes: Con trolled by P3250 and Veh icle
AND
speed
Lo ckout for Program chan ges: Con trolled by P3251 and Veh icle s peed
Steering wh eel algorithms are no t executed
OFF-Road
OFF-Ro ad
NOTE!
non-
In order to utilize the reaction-mo de on a vehicle, the steering axle
reaction
geometry of th e vehicle has to be prepared for reaction-mo de an d th e
steering
hardware (cut-off/mode select spool in OSPE) has to be of the type
"reaction/n on-reactio n"
with SASA
Con tact your Dan foss P AE fo r more clarification
Output State
EH Valve: OFF
Cu t-off Valve: ON
Operation Status message
STW Program 1
Op eratio n statu s: OFF-Ro ad n on-reactio n
Lo ckout for EH-Steerin g func tionality: EH-Steering fun ctio nality
allowed
Lo ckout for ste erin g d evic e changes: Con trolled by P3250 and
Vehicle speed
Lo ckout for Program chan ges: Con trolled by P3251 and Veh icle
speed
Steering wh eel algorithms are no t executed
STW Program 2
Output State
EH Valve: ON
Cu t-off Valve: ON
Operation Status message
Op eratio n statu s: STW P ro gram 1-5
Lo ckout for EH-Steerin g func tionality: EH-Steering fun ctio nality
allowed
Lo ckout for ste erin g d evic e changes: Con trolled by P3250 and
Vehicle speed
Lo ckout for Program chan ges: Con trolled by P3251 and Veh icle
speed
Steering wh eel algorithms are executed
Figure 6
OFF-Road non-reaction steering
OFF-Road reaction steering
OFF-Road non-reaction steering
Steering wheel program 1-5
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