Danfoss PVED-CLS Startup Manual page 35

Application Guide
PVED-CLS startup guide
Parameter setting
© Danfoss | October 2018
Example of GPS wheel angle limitation
PVED-CLS GPS— wheel angle limitation tuning advice
1. Remove wheel angle limitation (raise all 3 wheel angle limits to maximum angle of vehicle), then steer
full left or right with the steering wheel or auto-guidance controller and keep the wheel angle there.
2. Slowly increase the speed of the machine while driving in a circle until the machine starts to feel tipsy
or unsafe.
Vehicle tipping hazard!
Operate carefully to avoid tipping the vehicle.
3. Use the wheel angle limitation to decrease the allowed wheel angle at that speed.
4. Iterate at faster speeds until an appropriate wheel angle limit is created for all vehicle speeds.
CAN logging can also be implemented to track vehicle speed and wheel angle set-points from the
Status Messages while auto-guidance is engaged. Scatter plotting wheel angle set-points vs. vehicle
speed should yield a curve that shows the demands from the auto-guidance controller and that can
be mimicked with the GPS Wheel Angle Limitation function.
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