Danfoss PVED-CLS Startup Manual page 36

Application Guide
PVED-CLS startup guide
Parameter setting
Parameter Condition for value change
P3473-P3478 Set all Closed Loop gains to same desired value [%] unless speed dependent gain is desired. If that is the case then set
desired gains for each point which corresponds with a vehicle speed below.
P3479-P3483 If keeping all Closed Loop gains the same, these values can remain at defaults, otherwise match the desired vehicle
speed [km/h] at each point corresponding to CL gains above.
The vehicle speeds cannot be the same value or an EEPROM error will be triggered. Set the speeds so that they increase
with increasing parameter number.
36 | © Danfoss | October 2018
PVED-CLS GPS—vehicle speed dependent closed loop control
GPS Vehicle Speed Dependent Closed Loop Control sets the closed loop gain for the auto-guidance
commands. There are 2 different sets of gain values, 1 for each possible auto-guidance device. It is best to
keep the gain values static rather than vary them with speed.
P3484: It is highly recommended that Flow Command filter is left at the default setting.
P3496: GPS- Algorithm Type can be changed if desired. Please see Sections 12.2, 12.6 and 12.7 in the
PVED-CLS User Manual for an overview of the benefits of both and how to set other parameters
accordingly.
PVED-CLS GPS— CL control tuning advice
1. Tuning Advice: Start with default gain.
2. Using CAN logging, look at the curvature command and estimated curvature found respectively in
the Guidance System Command and Guidance Machine Status messages described in the
Communication Protocol.
If estimated curvature is taking too long to approach the commanded curvature, increase the gain.
If estimated curvature is overshooting the commanded curvature, decrease the gain.
The spool auto-calibration may also influence the auto-guidance performance.
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