Anti-Jerk - Danfoss PVED-CLS User Manual

Controller for electrohydraulic steering
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ENGINEERING TOMORROW
Name
STW Anti-drift - Max
Steering wheel drift
P3568
U8
correction
STW Anti-drift - Max
flow correction in
P3569
U8
percentage of full flow

10.6 ANTI-JERK

Jerk is a common unpleasant feeling/phenomenon which can be experienced on large, articulated vehicles. To
minimize these jerks, the PVED-CLS has a built-in anti-jerk algorithm which can be enabled and parameterized by the
operator.
Briefly, the Anti-jerk algorithm has two sets of parameters to choose from, one set for when moving away from neutral
position and one set for moving towards neutral position.
CalculatedFlowSetpoint_IR
Anti-jerk function
Flow Command
Neutral
1
2
10ms
10ms
Description of parameter
The difference between the observed and ideal STW steering angle at
Deg
which and above which the max. EFU correction ("STW Anti-drift - Max
flow correction") shall be applied.
%
Max flow correction which can be requested by the EFU algorithm
Anti-jerk function
AdjustedFlowSetpoint_IR
3
4
5
6
7
Table 36
Soft-stop
Requested flow set-point
Absolute, out; (P3574)
Absolute, in; (P3576)
Relative, out; (P3572)
Relative, in; (P3573)
8
Figure 32
Range
OEM
1
160
OEM
0
100
Flow to spool pos
Spool pos. Set-point
conversion
Absolute, out (changed from
absolute in, due to crossing neutral)
Relative, out (changed from
relative in, due to crossing neutral)
Adjusted flow set point
Flow command to PVED-CLS
Ramps
cancelation
Control loop
20
15

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