Overview; Fig. 1 Various Dual Drive Vehicle Configurations - Curtis 1232E Manual

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Fig. 1
Various Dual Drive
vehicle configurations.
Curtis Dual Drive Manual,
1 M A R C H 2 0 1 6
The Dual Drive feature of Curtis 1232E/SE, 1234E/SE, 1236E/SE, 1238E, and
1239E controllers allows two controllers to work together in vehicles with dual
fixed-axle drive motors, a steered wheel or axle, and an analog steer-angle sensor.
The two controllers must be the same size—for example, two 1234E-23XX
controllers or two 1239E-65XX controllers. Non "E" controllers cannot be com-
bined with "E" controllers.
The pair of controllers control motor speed on the inner and outer wheels
during turns, as well as vehicle speed and acceleration while turning. Current is
automatically balanced between the two traction motors when driving straight,
and a limited operating strategy (LOS) allows limp-home in case of a steer angle
sensor or single motor or controller failure.
Figure 1 shows three typical Dual Drive vehicle configurations.
Three-wheel:
Front-wheel steer:
Rear-wheel steer:
Dual Drive uses different speed maps for the two traction motors, one for the
inner wheels and one for the outer wheels. These maps modify the throttle re-
quests when the steering angle is outside the 10° deadband. Both are symmetrical
around steer angle = 0°.
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OVERVIEW

1 — OVERVIEW
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