Motor Control Tuning: Steering Sensitivity; Fig. 16 Steering Sensitivity Map - Curtis 1222 Manual

3 — PROGRAMMABLE PARAMETERS: Steering Sensitivity
ALLOWABLE
PARAMETER RANGE
LS Sensitivity 20 – 100 %
0x4132 0x00 6553 – 32767
HS Sensitivity 20 – 100 %
0x4133 0x00 6553 – 32767
Low Speed
0 – 32767 rpm
0x4134 0x00 0 – 32767
Mid Speed 0 – 32767 rpm
0x4135 0x00 0 – 32767
High Speed 0 – 32767 rpm
0x4136 0x00 0 – 32767
Fig. 16 Steering Sensitivity Map.
54
2 9 J A N U A R Y 2 0 1 3 D R A F T
Parameters

MOTOR CONTROL TUNING: STEERING SENSITIVITY

Defines the steering sensitivity at very low speeds (i.e., at near zero
traction rpm), as a percentage of the programmed Position Kp.
Sensitivity is typically reduced at low speeds to prevent excessive
hunting for the commanded position.
Defines the steering sensitivity at high speeds, as a percentage
of the programmed Position Kp.
Sensitivity is typically reduced at high speeds to make the vehicle
easier to drive.
n
•
Defines the speed at which 100% sensitivity will be applied, as the
vehicle accelerates.
n
•
Defines the speed at which 100% sensitivity will start to decrease
to the programmed HS Sensitivity value as the vehicle accelerates.
n
•
Sets the speed at and above which the programmed HS Sensitivity
value will be applied.
DESCRIPTION
The steering sensitivity map is shaped by the settings
of the five parameters in the Steering Sensitivity menu,
with the two sensitivity parameters along the Y axis
and the three speed parameters along the X axis.
X
A
B Low Speed
C Mid Speed
High Speed
D
The map adjusts the proportional gain (Position Kp) as
a function of traction speed.
Y
(RPM) (%)
LS Sensitivity
0
100%
100%
HS Sensitivity
Curtis 1222 Manual,
os 15