Auto-Guidance Steering; Block Diagram; Gps Config - Danfoss PVED-CLS User Manual

ENGINEERING TOMORROW
AUX Joystick Vehicle
P3728 U8
speed @ Point B
AUX Joystick Vehicle
P3729 U8
speed @ Point C

Auto-guidance steering

When the PVED-CLS is in off-road steering mode (see Figure 3) the operator can choose Auto-guidance steering.
Furthermore, the PVED-CLS can be configured in such a way, that the operator can setup two Auto-guidance
controllers (GPS and GPS2).
The operator can setup two safety functions which can be enabled and run simultaneously. The two functions are
dependent on the vehicle
steering.

12.1 BLOCK DIAGRAM

GMC to WA set Speed dependent
point

12.2 GPS CONFIG

As a risk mitigation method, the operator can disengage the Auto-guidance-program and return to STW mode
(hydraulic steering only) by activating/turning the steering wheel. When driving off-road, an uneven surface etc. may
disengage the Auto-guidance steering mode. In order to allow small movements of the steering wheel without
disengaging the Auto-guidance steering, appropriate disengage threshold values should be written in P3583 and
P3584.
The PVED-CLS detects that the steering wheel is used when both the threshold P3583 and P3584 are being exceeded.
An operator is not able to perform a transition to the Auto-guidance program if both the steering wheel velocity and
steering wheel position changes are higher than the values in P3583 and 3584.
Important
operator would like to transition to the AUX-program.
P3484 controls a Low-pass filter, which can be applied upon the calculated flow command. If P3484 is set to 0, the
filter is disabled. This filter can be used to dampen machine steering commands for minimizing jerky vehicle
movements and hereby avoid introducing oscillations in the auto-guidance feedback loop.
Important
Setting the filter value too low will slow down the auto-guidance steering performance.
Danfoss recommends not to change the default value of P3484.
Kmph AUX Joystick
kmph AUX Joystick
and can limit the maximum wheel angles and flow allowed in Auto-guidance
Speed dependent
WA limit closed loop control
-algorithm is used for AUX-steering programs, hence the same rules are used when an
AUX
AUX
Table 47
Speed dependent Flow command
flow limit filter
Figure 47
OEM 0 100
OEM 0 100
Control / no-control
decision
Flow to spool
position conversion
15 S
25 S
SVC