Closed Loop Joystick Vehicle Speed Dependent Wheel Angle Limitation - Danfoss PVED-CLS User Manual

ENGINEERING TOMORROW

11.9 CLOSED LOOP JOYSTICK VEHICLE SPEED DEPENDENT WHEEL ANGLE LIMITATION

As a risk mitigation method, when using a Closed Loop Joystick function, the PVED-
algorithm can limit the maximum allowed angle, that the wheels can be moved to, in proportion to the vehicle speed
(i.e. the faster the vehicle goes, the narrower the maximum allowed angle, that the wheel can be moved to, will be).
The range is from 0 to 100 kmph for P3723 and P3724 and from 0 to 89 [°] for P3720, P3721 and P3722.
These parameters represent the three points on the curve below (Point A, B and C). The Closed Loop Joystick-algorithm
will make linear interpolation in between each of the three points. The operator is free to move the three points in any
direction, limited by the following rules:

Point A is always specified at Vehicle speed limiting wheel angle = 0 kmph

Point C
Point C Vehicle

Point A

Point C Vehicle speed limi
50
Point A
45
40
35
30
25
20
15
10
5
0
0 5
B
AUX - closed loop joystick vehicle speed
dependent wheel angle limitation
Point B
10 15
Vehicle Speed
C Vehicle
C
B Vehicle
Point C
20 25 30
Figure 44
Closed Loop Joystick control
vehicle speeds above
A Vehicle
35 40 45 50