Advertisement
Parameter change
POS. ACCURACY
DYNAM NUMB SPEED
DYNAM NUMB ANG
Level 0 to 9. It is used to set the proportional contribution to a PID algorithm for
AUTC functions.
The proportional contribution is applied to the difference between the commanded
position and the real position (steered wheel angle). The accuracy of the pursuing
between commanded and real position increases if POS. ACCURACY increases.
POS. ACCURACY is used only for closed loop applications. KP and POS.
ACCURACY are a coarse and a fine contribution to the same setting.
Level 0 to 9. This parameter handles the dynamic numbness vs. the steering error
for AUTC functions. This functions applies a linear correspondence between the
steering motor speed and the angle error between the actual commanded position
and the latest steady state position of the steered wheel. This parameter sets the
percentage of the full steering motor speed is applied when in the full dynamic
numbness. The full steering motor speed is the sum of the SET SAT FREQ and
OVERSAT FREQ settings. When the angle between the actual commanded
position and the latest steady state position is less than 40% of the DINAM NUMB
ANG setting, the full dynamic numbness vs. the steering error is applied and the
steering speed is clamped to the DYNAM NUMB SPEED percentage below.
- LEVEL 0 : At full dynamic numbness, the steering motor frequency is clamped to
40% (maximum numbness)
- LEVEL 1 : At full dynamic numbness, the steering motor frequency is clamped to
46%.
- LEVEL 2 : At full dynamic numbness, the steering motor frequency is clamped to
53%.
- LEVEL 9 : At full dynamic numbness, the steering motor frequency is clamped to
100% (no numbness). Each step more has a weight of 6.6 %.
Level 0 to 9. This parameter handles the dynamic numbness vs. the steering error
for AUTC functions. This functions applies a linear correspondence between the
steering motor speed and the angle error between the actual commanded position
and the latest steady state position of the steered wheel: when this angle error is
wider than the angle specified with this setting, there will be no clamp on the steering
motor speed (full speed steering motor is SET SAT FREQ plus OVERSAT FREQ);
when this angle error is smaller than 40% of the angle specified with this setting, the
maximum numbness will be applied. This parameter sets the angle, between the
commanded position and the latest steady state position, at which the steering
motor speed get sits maximum value (SET SAT FREQ plus OVERSAT FREQ).
- LEVEL 0 : No numbness if the angle between tiller and latest steady state is higher
than 5
.
- LEVEL 1 : No numbness if the angle between tiller and latest steady state is higher
than 11 .
- LEVEL 2 : No numbness if the angle between tiller and latest steady state is higher
than 17 .
- LEVEL 9 : No numbness if the angle between tiller and latest steady state is higher
than 60 . Each step has a weight of 6 degrees.
Description
7-38
Advertisement
