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PVED-CL Controller for Electro-hydraulic Steering

1. YsetFr YsetFr fast ramp down range 750 E 2 YAbortDownRamp 500 Up ramp Slow down ramp EES time Abort down ramp Slow down ramp 1 unit 0 1 of max port flow Fast down ramp P005 205E Sr Selects the ramp type The ramp function can be disabled fixed or related to vehicle speed Set Sr to 1 to select fixed ramps 11025583 Rev CA 11 Jan 2010 71 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Open Loop Lr Sets the linearity of the ramp up curve The default value is a linear ramp Lf Sets the linearity of the slow ramp down curve The default value is a linear ramp Select Ramps with Fixed Ramp Times Tro Sets the ramp up time to open the valve from zero to max port flow The time applies for both ports To gain the best performance the ramp up time shall be set larger than the inherent ramp up time of the main spool See Technical Data on page 24 Tfo Sets the ramp down time to close the valve from max to zero port flow The time applies for both ports It has most effect when the ramp up time is set larger than the inherent ramp down time of the main spool See Technical Data on page 24 YsetFr Experience shows that ramping down from maximum flow towards medium flows do not cause as much jerk as ramping down from medium flows towards no flow close to the valve dead bands I
2. 62 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Closed Loop Symbol Index Default Value range Qm ly27 1000 0 to 1000 0 0 100 0 of max port flow Off ly28 100 0 to 1000 0 0 100 0 of max port flow StrkVol 707 600 10 to 8000 ccm In order to ensure convergence check that variable Yact is increasing for positive values of port flow Open loop control can be used to check this To retrieve this data use StartStopStatus and request status data set number 2 See PVED CL Communication Protocol The PVED CL will return the status data with 40 ms intervals This function will continuously minimize the steering wheel drift that is build up and which results in misalignment of the straight direction indication on the steering wheel and the actual driving direction The absolute steering wheel sensor position 0 defines the straight direction Aligning the steering wheel sensor with straight driving direction can be achieved by orienting the SASA sensor to output position 0 when the steering wheel and steering actuator are in straight position Alternatively the SASA sensor position 0 can be programmed after physical installation Refer to CAN message Protocol in OSPE Steering Valve SASA Sensor Technical Information 11068682 Steering Wheel Knob Position Control This function relat
3. YI Software end lock position Left end lock P005 221E Yr YI The difference between the values of both parameter set the freedom of the steering actuator Normally Yr is set equal at the right mechanical end lock YI is normally set equal to the left mechanical end lock For example setting Yr at 500 and YI at 500 reduces the freedom of the actuator by 50 The default values for Yr and YI are set equal to position of the mechanically end locks Cf Sets the region where actuation speed is slowed down This region starts from the position defined by Yr and YI Making this region to small reduces or can eliminate the effect of soft stop The default value for Cf ensures the valve is closed proportionally with actuator position In order to slow down in a controlled manner the inherent shortest time for the PVED to move the spool from max open to be fully closed has to be considered This ramp down time can be found in Technical Data on page 24 Off This parameter sets the permitted actuation speed when hitting the end lock defined by Yr or YI When the steering actuator passed Yr or YI actuation speed will decay to zero The default sets a speed that allows building up pressure when the actuator is located at Yr or YI Symbol Index Default Value range Yr 10y7 1000 1000 1000 Values smaller than 0 will be set equal to the positive equivalent Yl 10y8 1000 1000 1000 Values greater than 0 will
4. 16 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Configuration and Adjustment Configuration and Adjustment The PVED CL contains parameters to tailor the valve and PVED CL to the vehicle and to provide the required functionality The OEM must be in possession of an interface device that is capable of reading and transmitting messages on the CAN bus It is recommended to implement the PVED CL communication protocol in a service tool or MMI Parameter Tuning Process A typical parameter tuning process is Basic info on Valve type amp size CUSTOMER Steering devices SAUER DANFOSS Order prototype Sensors Vehicle data Tune parameters Desired functionality Manufacturing amp Prototyping testing a ee Ship prototype amp parameter fine j tuning Y DE ee Running Send order amp 7 production with tuned parameter customized set parameters Danfoss Technical Sales is able to ship steering valve prototypes that are vehicle install ready and where the relevant parameters have already been tuned towards their optimum values The OEM customer needs to do the fine tuning Changing Default Parameters The PVED CL is manufactured with a parameter set that provides basic functionality for the steering devices that are used In most cases the default values need to be changed to adapt the valve to the syste
5. Steering by High priority steering device 319 100 0 200 Steering by Low priority steering device 419 100 0 200 Steering by High priority external set point controller 519 100 0 200 Changes to parameters of non present steering devices have no effect Thresholds equal to zero auto selects the device whenever a device of higher priority enters the non active state Thresholds near zero could cause unintentionally transitions due to noise in the input signals No priority is given to higher priority devices when steering within the non active operation state Once a steering device has been selected for steering it will be active until another steering device meets the criteria for being selected for steering 40 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering Wheel Sensor Noise Gate Retrieving Steering Device Information The PVED CL continuously transmits status information on which steering devices is mapped in the system and their present state Refer to OperationStatus in PVED CL Communication Protocol 11025584 Steering Wheel Sensor Noise Gate Noise from the SASA sensor may be a result from sampling noise on the least significant bits or mechanical vibrations causing small steering wheel movements Regardless of the cause the noise in the SASA message data may propagate though the PVED CL and show itself as small pres
6. 11025583 Rev CA 11 Jan 2010 103 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Closed Loop e Arm joystick enable disable e Enable joystick e Disable joystick Device enabled x control byte Enable device timeout or incorrect control byte Device enabled timeout or incorrect control byte armed P Disabled at power up TRUE Disabled at power up FALSE The enabling or disabling of a steering device must follow the state transition sequence shown below in order to minimize undesired enabling or disabling of a steering device The states device enabled armed and device disabled armed are volatile states A transition from these states to the desired state requires reception of a command message within 200 ms after the reception of first command message Otherwise the device disable state will change back to its last state Boot up State of Steering Device The boot up enable disable state of the device can be configured with a parameter and can be changed via the SetParameter command see PVED CL Communication Protocol Technical Information 11025584 Symbol Index Default Value range LpStdDisabledAtBootUp 64009 0 0 FALSE 255 TRUE LpStd means Low Priority Steering Device If the device disable functionality is not desired the parameter shall be 0 Getting the Actu
7. Port flow limiter command Yact Actuator position Ve Vehicle speed P005 208E The auto steering functionality always uses closed loop control hence the steered wheel or articulation angle is read back to the PVED CL and used for control purposes to ensure correct positioning The functionality available in the PVED to steer by any curvature set point controller is defined by mapping the External Set point Controller and a Steered Wheel Sensor according to Mapping a Steering Device on page 34 As soon as these parameters are set it is ready to run but it is strongly recommended to have a steering wheel sensor to disengage auto steering just by turning the steering wheel Alternatively the power supply must be interrupted or guidance message flagged as Not intended for steering To optimize the system functionality ensure the parameters above were set correctly If this was not enough try changing the parameters below Kp This parameter is closely related to valve capacity stroke volume and amplifies the error between set point and current position The optimum value for Kp is found when a non lagging accurate non oscillating steering actuation without overshoot is achieved at e Extreme low and high oil viscosities as specified in Technical Data on page 24 e Lowand near max steering pressure when driving at low high vehicle speed and reversed gear The default value fits to steering systems with a lock to lock time of
8. AntennaOffsetY Offset or distance of Antenna related to reference point in Y direction mm 65116 AntennaOffsetZ Offset or distance of Antenna related to reference point in Z direction mm 65117 DMUOffsetX Offset or distance of DMU related to reference point in X direction mm 65118 DMUOffsetY Offset or distance of DMU related to reference point in Y direction mm 65119 DMUOffsetZ Offset or distance of DMU related to reference point in Z direction mm 65120 OSPSize Size of hydraulic steering unit in cm3 20 1200 20 65121 ValveType Defines type of the valve PVED CL is mounted on EHPS 1 EH 2 1 65122 SteeringType Used for Auto steering algorithm selection Front wheel steering 1 Rear wheel steering 2 Articulated steering 3 65123 VehicleLength2 Articulated vehicles distance mm between the rear 1 65535 40 axle and the articulation point 00 65124 STWSensorTransmissionRate Steering wheel sensor transmission rate 5 ms 0 1 10 ms 1 15 ms 2 Program Parameters Name Data Description of parameter Steering Steering device External Range Default type wheel a set point High Low controller Priority Priority Pid S16 Program identification number 1y00 3y00 4y00 5y00 0 34 0 20 25 30 Did U8 Device identification number 1y01 3y01 4y01 5y01 0 4 0 2 3 4 Cp BOOL Control principle 1y02 3y02 4y02 5y02 Open loop 0 0 0 0 255 Closed loop 255 Xysat S16 Saturation of Y at inp
9. H Related to position with fixed ramp times osition of Fixed Sr 1 H Ee ceiin Var Sr 2 Open loop sensitivity related to steering actuator H UO apars position with ramp times related to vehicle speed i No Sr 0 e i lt Open loop sensitivity related to steering actuator H position with no ramps applied Related to vehicle speed ae o itivity related to vehicle speed with pen loop sensitivity related to vehicle speed wi i oa due fixed ramp times H Var Sr 2 Open loop sensitivity related to vehicle speed with H aror lt ramp times related to vehicle speed l No Sr 0 No signal 0 i i X Open loop sensitivity related to vehicle speed AD1 1 with no ramps applied AD2 2 Closed loop CAN 4 Cp 255 Closed loop Fixed sensitivity no ramps possible default Sensitivity means Port flow amplification P005 099E The PVED CL provides open loop control for steering devices with spring return or for steering devices with a speed output This control principle keeps a fixed or variable relation between steering input and cylinder speed The control loop provides several parameters to transform positional information to port flow Cp is used to select open loop control for joystick steering by setting parameter index 4y02 equal to 0 Parameter selection values Y selects the program and ranges from 0 and 9 86 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydra
10. Tro 4y21 200 1 to 1000 ms Tfo 4y23 350 1 to 1000 ms Trh 4y22 200 1 to 1000 Tfh 4y24 350 1 to 1000 Verm 4y25 500 0 to 1000 1 unit is 0 1 km h YsetFr 4y32 1000 0 to 1000 1 unit 0 1 of max flow Fast ramp down is active in the port flow request range 1000 to YsetFr The default value disables fast ramp down Tfr 4y33 100 1 to 1000 ms Tfr shall be smaller than Tfo and less than 150 ms YAbortDownRamp 4y34 0 0 to 500 1 unit 0 1 of max flow The default value will force an down ramp abort at a slight reverse port flow request Typically YAbortDownRamp needs be increased to avoid unintentional down ramp aborts as this will infer a jerk on the driver Tra 4y35 1 1 to 1000 ms Ramp down time for canceled down ramp The discontinuities in the progressive characteristic are located at 50 120 and 333 5 0 T at 25 12 0 T at 50 and 33 3 T at 75 of max port flow capacity Anti jerk Ramp Parameter Tuning Guide Soft Cushion End stop Tuning the parameters is an iterative process The following sequence may be useful when tuning a vehicle 1 Initial setting Set Tro to Tfr to Set YsetFr to 1000 Set Tra to Set YabortThreshold to 500 2 Set the ramp down time Tfo to a start value e g 500 Decrease YsetFr from 1000 towards a smaller number Observe which value of YsetFr where the level of jerks starts to get worse to find the flow request range where ramping has an effect Optionally increase Tfr to o
11. 250 500 AD1 amp 2 input impedance Approximately 1MOhm Max analogue signal source impedance lt 100 kOhm Protection Grade of enclosure IEC 529 Connector IP 66 Over voltage at 36 V DC minutes 5 Reverse polarity minutes Infinite for all faults except see nstallation on page 25 Performance Spool position Hysteresis in of full spool stroke 0 5 1 Inherent Ramp up time from neutral to full open ms 50 210 Inherent Ramp down time from full open to neutral ms 40 150 Boot time EHPS software ms 1200 1500 Recognition time of incorrect voltage signals ms 50 Recognition time of incorrect supply voltage ms 200 Recognition time of incorrect CAN signals ms 200 Recognition time of incorrect internal operations ms 50 watchdog 24 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Installation Installation Valve Interface Connector Interface Two connector variants are available Deutsch and AMP Interchanging the Deutsch connectors will not destroy the PVED CL however the PVED CL will not work PVED CL PVED CL nmns V bat AD1 CAN low AD1 CAN low AD2 Vbatt _ peg
12. Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Configuration and Adjustment LED In case the LED indicates yellow details of the fault can be retrieved from the persistent error buffer and transmitted on CAN For more information on this topic see Diagnostic amp Troubleshooting on page 114 11025583 Rev CA 11 Jan 2010 23 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Technical Specification Technical Data Technical Data Electrical Unit Min Max Required supply voltage VDC 11 32 Required current with magnetic valves enabled A il 0 3 Required current with magnetic valves disabled A 0 1 0 03 Power consumption WwW 7 10 Power consumption magnetic valves off Ww max 0 3 Hydraulic Viscosity Cst 21 460 Contamination level ISO 4406 21 19 16 Max EMC V m max 100 Oil temperature oC 30 90 Recommended oil temperature oC 30 60 Ambient Temperature C 30 60 Pilot flow with magnetic valves disabled l min 0 2 0 4 Pilot flow with magnetic valves enabled l min 0 2 1 1 Pilot pressure to PVED bar 10 15 Signals Stabilized voltage supply VDC 4 80 5 20 Max current taken from stabilized voltage supply mA 100 Digital conversion of signals at AD1 amp 2 VDC 0 to 5 VDC into 0 1023 10 bit Available baud rates to CAN Kilo bit s 125
13. 10 ms 60 sec 4095 ticks 2 9 rpm Where e 10 ms is the steering wheel position change sampling period e 1000 ms 10 ms is the steering wheel position change per second e 4095 is the position change measured in ticks for one steering wheel revolution To cut out any steering wheel activation below 2 9 rpm for more than 5 seconds set StwDxFilterThreshold equal to 2 and StwDxFilterStartTime equal to 5000 This will allow very slow steering wheel activation below 2 9 rpm or noise for 5 seconds before the noise gate cuts of the input The values in this example are suggested starting values for a tuning process 11025583 Rev CA 11 Jan 2010 41 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Open Loop Steering by Steering Wheel Open Loop Functionality Tree EHPS Type 2 System Diagram Joystick or mini wheel Steering angle sensor Steering cylinder Automatic steering Position sensor Vehicle speed P005 225E Acquire the Signals See Mapping a Steering Device on page 34 on how to map the steering wheel sensor and steering wheel angle sensor The tree below illustrates the functionality available in the PVED CL for open loop steering wheel steering The manufacturing default is found by following the red line Following the instructions in this chapter can of course modify it The switches in the tree are used to
14. 2 seconds at max port flow Qm Sets the maximum port flow It effects the speed of the steering actuator to move towards the set point position Negative values of Qm are interpreted as the positive equivalent The default value is set equal to the inherent max port flow capacity of the valve and will therefore not have any effect Ampl Factor that amplifies the set point Used if the steered angle is always too small or too larger It applies to both sides hence if the angle is too large left and too small right this factor cannot solve it that will probably be a steered wheel sensor calibration error ClosedLoopXspOffset Spool position offset which is added to spool position command to eliminate any spool overlap The offset ensures that the spool is always operated in a range where the valve outputs a flow This is especially important for auto steering applications where any control error shall generate a flow to correct the error Symbol Index Default Value range Kp 508 50 0 to 200 0 00 to 2 00 flow capacity of the valve for 0 1 positional error 106 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Auto steering Symbol Index Default Value range Qm 5y27 1000 0 to 1000 0 0 to 100 0 of max port flow Ampl 5y37 1000 0 to 2000 Factor 0 001 Setpoint from 0 to 2 times the setpoint message
15. 500 500 500 500 1000 Changing TimeOutPeriod will affect the criterion where a flow is detected Fix the TimeOutPeriod to 500 ms or 1000 ms and adjust YactDiffThreshold until a repeatable and robust performance is obtained 11025583 Rev CA 11 Jan 2010 31 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Installation Valve auto calibration quick guide Valve auto calibration procedure 1 Issue the start valve auto calibration command from a MMI 2 Monitor valve auto calibration status messages Optionally enable status set 1 for detailed monitoring of the analogue wheel angle sensor signal and the spool position set point 3 Wait for status auto calibration completed See StartValveAutoCalibration and AutoCalibrationStatus in PVED CL Communication Protocol 11025584 Parameter tuning order 1 Adjust XspCalibrationOffset Use 65 as a starting reference N Adjust and test valve auto calibration command values PVED CL calibration mode See Suggested valve auto calibration command values on page 31 for starting values Test and evaluate open loop steering performance operation mode Repeat step 1 2 3 until satisfactory results are obtained Adjust parameter ClosedLoopXspOffset Use 65 as a starting reference Test and evaluate closed loop steering performance PVED CL operation mode NOAUA WwW Repeat step 5 6 until satis
16. 65104 PrimaryWheelAngleSensorlInterface Steered wheel angle sensor configuration No device connected 0 feedback from steered wheels Analogue device on AD1 1 Analogue device on AD2 2 CAN based device 4 65105 ExternalSetPointControllerPresent External set point controller configuration GPS BOOL Not present 0 Present 255 65107 RedundantWheelAngleSensorPresent Redundant steered wheel angle sensor configuration 65108 VehicleSpeedSensorPresent Vehicle Speed J1939 signal IO configuration 65109 OSPPresent Defines whether the hydraulic backup is present Only on EHPS system 11025583 Rev CA 11 Jan 2010 123 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Appendix Index Name Description Data Range De Type fau It 65110 SpoolMonitorPresent Valve main spool monitoring Monitors if main spool set point and actual spool position relationship 65112 VehicleLength Distance mm between the front and rear axles U16 1 65535 40 Articulated vehicles distance mm between the front 00 axle and the articulation point 65113 VehicleType Defines the vehicle type 0 65535 0 65114 AntennaOffsetX Offset or distance of Antenna related to reference point in X direction mm 65115
17. 915 Xsp values are valid for programmed linear spool characteristic Valve transfer function The valve transfer function matches the PVED CL to the valve and thus also the hydraulic dead band The PVED CL converts the calculated requested port flow to a spool set point Xsp Xsp is a scaled representation of the physical spool displacement where 0 is neutral position and 1000 is the maximum possible spool stroke 26 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Installation Valve interface parameters Diagram Flow Q L min Maximum flow Vcap Xspr_1000 l Xspl_0 XspClosedLoopOffset Xspr_0 XspClosedLoopOffset r Spool displacement e mm Xsp Open loop mode ee wi j Xspl_0 0 Xspr_0 Wi e L hydraulic deadband R Valve interface parameters Xspl_0 Left software dead band in PVED CL open loop operation mode Lspl Controls the left spool position to flow linearity Use for compensating for non linearity or to create non linear spool characteristics Default is linear spool characteristic Xspl_1000 Left maximum port flow Port flow at this set point is equivalent to maximum valve capacity Xspr_0 Right software dead band in PVED CL open loop operation mode Lspr Controls the right spool position to flow linearity Use for compensating for non linearity or to cr
18. CL allows 10 different programs for the steering wheel steering with different sensitivity settings Each program can be applied via the MMI while driving Each program can then use either fixed or variable sensitivity hence we talk second order variability by using the PVED CL Max Sts 1200 L Vesm 500 Vehicle speed dependant linear program 1 Vehicle speed dependant non linear program 2 400 Fixed sensitivity program 0 380 4 Vehicle speed dependant non linear program 3 360 340 ON m st in 22428 g a 2 nN A a n Min Sts 20 lt 10 600 700 800 900 1000 Vehicle speed o t N 6 w S S D u Ve Vehicle speed 1 unit 0 1 km h A note on variable steering ratio In systems with an EHPS valve the sensitivity settings yield equivalent steering ratio results on the physical steering system In systems with an EH valve the software does not take the parallel flow contribution from the OSP into account Unless compensated for the resulting steering ratio on the physical steering system will be lower than expected To compensate increase the sensitivity parameters and optionally limit the maximum flow Qm to achieve the desired steering ratio for the used steering programs Vcap holds information about the actual valve capacity This information is needed by the software to achieve the desired sensitivity StrkVol holds information abo
19. CL provides max vehicle speed thresholds for each steering device The default values are chosen for robustness reasons to create a region rather than a point Device Index Default Value range Steering by steering wheel 127 50 0 1000 0 0 1000 km h Steering by high priority steering device 327 50 0 1000 Steering by low priority steering device 427 50 0 1000 Steering by GPS Laser or row guidance controllers 527 50 0 1000 This condition has no effect when vehicle speed signal is not present The setting the treshold higher than the max vehicle speed disable this condition Steering actuator The spool inside the valve must be in or near its neutral position speed Steering actuator The steering actuator position must be within the limits specified by the YR and YL position parameter Select Program Program Transition The program is applied when all conditions are met otherwise it is rejected and the current program is kept A program transition request is accomplished by transmitting a SelectProgram command see SelectProgram in PVED CL Communication Protocol 11025584 20 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Configuration and Adjustment Program Transition Acknowledge Upon the reception of a SelectProgram command and if the system state allows it the program transition
20. Hydraulic Steering Version 1 38 Steering by Steering Wheel Closed Loop Ql Ff saturates 1000 7 900 Example yY Off 300 Qm 900 J 800 Z 700 defaults 600 Off 100 Qm 1000 Max port flow QI Fp O E 0 100 200 300 400 500 600 700 800 900 1000 Ff Feedforward P005 219E Off Sets max port flow at zero feed forward Setting the parameter equal to Qm disables the variable proportional band The default value is set at 10 of max port flow which is sufficient to counter act disturbances in steady state and to control the steering actuator at low steering wheel speeds Qm Sets max port flow It cuts off the function and defines hereby the maximum speed of the steering actuator to approach the set point position Kp This parameter is closely related to valve capacity stroke volume and amplifies the error between set point and current position The optimum value for Kp is found when a non lagging accurate non oscillating steering actuation without overshoot is achieved at e Extreme low and high oil viscosities as specified in Technical Data on page 24 e Low and near max steering pressure when driving at low high vehicle speed and reversed gear The default value fits to steering systems with a lock to lock time of 2 seconds at max port flow Symbol Index Default Value range Kp 108 50 0 to 200 0 00 to 2 00 of port flow capacity per 0 1 positional error
21. PVED CL Communication Protocol 11025584 For details on parameter changes refer to Changing Default Parameters on page 17 PVED CL Input Interface The PVED CL provides e Two 0 to 5 V DC analogue inputs One CAN J1939 2 0b compatible bus The CAN interface combines compact design reliability and flexibility to offer the steering functionality required Additionally the CAN interface is used for configuration and diagnostic purposes For correct signal acquisition read the requirements described in Analogue Interface page 28 and PVED CL Communication Protocol 11025584 Output Interface The PVED e Controls the physical movement of the main spool inside the valve Controls the color of the LED e Transmits process data on CAN to help service personnel during installation and to verify the Computational processed PVED CL Battery Likewise hydraulic power sufficient electric power supply to the PVED CL is crucial to operate the spool inside the valve and to transport the control signals Without it the vehicle cannot be steered by the PVED CL In order to cope with voltage fluctuations during cold engine start or disturbances by the alternator the PVED CL incorporates a regulator to stabilize the voltage level used by the electronics and sensors connected to the analogue inputs The regulator makes the same PVED CL compatible to both 12 and 24 Volt batteries For more information see Technical Data on page 24 Actuator Posi
22. PVED CL will enter fault state if a fault occurs The high priority steering device faults that can trigger reduced state can be found in J1939 Diagnostic Interface on page 115 11025583 Rev CA 11 Jan 2010 111 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Reduced State Low Priority Steering Device Fault LPSTDReducedModeAllowed parameter indicates to the PVED CL error handler that any fault related to the Low priority steering device shall bring the PVED CL into reduced state and change the Low priority steering device functionality as follows e Low priority steering device disabled e Low priority steering device enable not possible see Low Priority Steering Device Enable Disable Control on page 103 Symbol Index Default Value range LPSTDReducedModeAllowed 64014 0 0 FALSE 255 TRUE The parameter controls both analogue and CAN based steering devices False infers that the PVED CL will enter fault state if a fault occurs The low priority steering device faults that can trigger reduced state can be found in J1939 Diagnostic Interface on page 115 Vehicle Speed Sensor Fault The vehicle speed signal may be used by more steering devices Any fault on the vehicle speed sensor or signal will only affect the functionality that uses the speed signal A steering device utilizing a speed dependent functionality will continue
23. Phone 49 4321 871 0 comprehensive global service for all of our components Power Solutions ApS Nordborgvej 81 DK 6430 Nordborg Denmark Phone 45 7488 2222 Danfoss Power Solutions Shanghai Co Ltd Building 22 No 1000 Jin Hai Rd Jin Qiao Pudong New District Shanghai China 201206 Phone 86 21 3418 5200 Danfoss can accept no responsibility for possible errors in catalogues brochures and other printed material Danfoss reserves the right to alter its products without notice This also applies to products already on order provided that such alterations can be made without subsequential changes being necessary in specifications already agreed All trademarks in this material are property of the respective companies Danfoss and the Danfoss logotype are trademarks of Danfoss A S All rights reserved 11025583 Rev CA 11 Jan 2010 www danfoss com Danfoss A S 2014
24. Priority Steering Device Fault sssscssssssssssecsssesscsusecssusecsssesessuseccsnecsesuseessusscssueeessuseessuseessuseccsusesssnseersaceessnseees 111 Low Priority Steering Device Fault 112 Diagnostic amp Troubleshooting Appendix Vehicle Speed Sensor Fault 112 Steered Wheel Angle Sensor Fails ssscsssssscssssscsssecsssssccssecsssecsssssccssseessnsecesnseessnssecsuseesssseessanecssaseecsnseseenseessnseescaseees 112 PITA GMOSTIGss ssscalessisnccsenctasccossdsecsssswsdesennssesesubosa cesesdbscausszcobsdenedovesteves edsendsndsabossedcindstascavenstcusdassuadcsuacnaseesclascesdensteducsedbadegasaroscienes 114 Example on Resolving a Fault ssssccssssccssssscssssscssssessseeccssssessssesessseessuseessaseesssscessuseeccuseesssscessnsceesaseessseseesaseessnseessaneessaes 114 SOCIO n Are A E AEE E E S E 114 Troubleshooting 114 Typical Fault SOUrCES cesssssssssssscsssesessnseccsnseccsnsesssnsccssneesesusecssnscessusecssuscessusecesusecssnsceesuseessnecessusecssnseessasecesuecssnseeesusecesaseessaeees 114 J1939 DiaQmOsticllmtertacesiiascisassconaseiccasssenivcornnsseccsugnesssecstesessnaysacnessgnissconnsecnadevestascaunecennayistbsceqninsecnausuatodeagdndocedessessoayoccones 115 ADT and or AD2 ShOrt Cincuitsscssscisuscssssnassassessaissanceasessscsindshncttasssoashassbuncesussschobubssancsassscossos aancedesssscbossusncesdasssesiadianseetes 117 Missing CAN Sensor Set PpOints ssescssscsescsescssccsse
25. StS vact saturates g 2 400 O Sts0 400 Sts 1 400 D 2 2 380 is c 0 n 5 2 2 360 7 By 1S D g v U Lu saa ce Straight forward driving position min Sts 20 4 m T 100 200 300 400 500 600 700 800 900 1000 Yact Steering actuator position 1 unit 0 1 of max position P005 091E The correlation is defined by two parameters The steering sensitivity between two table coordinates is found by linear interpolation The functionality is symmetrical around neutral Vcap holds information about the actual valve capacity This information is needed by the software to achieve the desired sensitivity StrkVol holds information about the actual stroke volume cylinder size This information is needed by the software to achieve the desired sensitivity Sse selects between a fixed steering sensitivity variable to steering actuator position or vehicle speed Set Sse to 2 to select the sensitivity related to steering actuator position StsO sets the linear gradient between steering angle and requested port flow for steering straight forward When the steering actuator signal unintentionally is not mapped Sts Yact will be equal to Sts0 since variable Yact remains 0 Sts1 sets the linear gradient between steering angle and requested port flow for steering at with the minimum turning radius 46 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller
26. Vehicle SP e d ssssssssscsssesscssseccssecessseecssusecssuccessuteccsneesesuceessnecessueessuseessseessenseetse Ramps Anti lerk iscecssssciisccilssssoesuscadsccseusesecssndsssssbusocseasaderascudcaseteeasdsctasayesusatacevenassdcetnsduatavasacudsssnatentsahecelesdecaveteluvedduasaectsidectoueve Select Ramps with Fixed Ramp Times csssscssssssccsssccssesecssesscesseesssseecssecssnesssnsecsssssessuseessuscessasseesueersaseeecasecesneessneesenseesse EXAMI Ennan ae eiee aee aee le fatseussouensyo gt snepaiavecusesentasteco eteuouespsviabsttatcenst aeeniaseteeaeneueed 72 Example aisscsiactsacouscassd coasevey vosossescaedsscnestuesstossvoavsensasvaviecuaseveeetts e Select Ramps with Ramp Time Related to Vehicle Speed ss sssssssssessssssseesssssssessssenreessseseresssseneressssoerresssssorerssssssrre 73 EXAM ple a RA E RO A O AEA E OTOA anacuusseonbesteente 75 BamplEi esene in a O E iiaa N eA N EEE ANSU REE 75 Anti jerk Ramp Parameter Tuning Guide sesssssscsssessccseeecsssecssseccsssecssscesssusecssnscessueeessnscessusecesuseessuceessusecssnesssneeesenseessae 76 Soft Cushion ENA StOP ssesecsssseccsseeceeseseeeee Spool Dead band Hold Control Function Dead band JUMP CONOl cescssssssssssescsssseccsssscssnesssuseccsneecesusecssueccssusecssnsecssnsccesusecsssseecsuseessuseessusesesuseessnecessusecssnscessaseessaee 78 11025583 Rev CA 11 Jan 2010 5 Operation Manual PVED CL Controller for Electro Hydr
27. Vesm Vehicle speed range where steering 1y16 3y16 Ay16 5y16 1 1000 50 50 50 50 sensitivity is dependent on vehicle speed 11025583 Rev CA 11 Jan 2010 125 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Appendix Name Data Description of parameter Steering Steering device External Range Default type wheel 7 set point High Low controller Priority Priority Vehicle speeds higher than Vesm will saturate steering sensitivity at Sts5 Verm Vehicle speed range where ramp up down 1y25 3y25 4y25 5y25 0 1000 500 time is dependent on vehicle speed Vesm vehicle speed 10 Vehicle speeds higher than Verm will saturate ramp times at Trh and Tfh respectively Steering Device Parameters Name Datatype Description of parameter Steeri Steering Extern Range Default ng device al set wheel point Higo Kow __ contro Priorit Priorit iler y y Kp SIGNED16 Proportional gain for closed loop 108 308 408 508 0 200 50 Full_Strk SIGNED16 Fastest steering device input minimum to 111 311 411 511 1 2000 500 maximum or vice versa ms 200 For steering wheel device it is the time for one 200 revolution 200 Magnetic Valves Off SIGNED16 Delay from main spool position in neutral position to 115 315 415 515 1 30000 30000 Delay Time valve controller is disabled ms A delay equal to de
28. a nA oD D E Min sum for eet Max sum for Sum of scaled delta steering activating the i steering wheel Cw 750 1000 activating the g wheel angle increments steering wheel CCW N v Oo 500 1000 750 500 1 unit Sts 2000 of 1 steering wheel revolution 0 1 of Defaults Lx 0 1 unit steering actuator at the left end lock position YR 1000 YL 1000 i Left steering saturation actuator end lock P005 201E Lx Sets the curve linearity The parameter is set down when the cylinder position is too far over steer for small steering angles or vice versa The optimum value for this parameter is closely related to the inherent linearity between steering actuator position and signal This inherent linearity depends very much whether a linear sensor is used to detect cylinder piston position or an angular sensor at the king pin Lx is typical set at zero when the cylinder piston position is detected using a linear sensor When the king pin rotation is detected with an angular sensor at the king pin Lx is typical set between 2 and 4 The default value will not effect the resulting relation YR YL The difference between the set values of both parameters define the freedom of the steering actuator Normally YR is set equal at the mechanical end lock that steers the vehicle into a right direction YL is normally set equal to the mechanical end lock that steers the vehicle into a left
29. a separate bus as it is important to have enough CAN bus bandwidth for all the input devices controllers and the PVED CL to work in an optimal way Power up Within 1500 ms after powering up the PVED CL is fully operational and transmits an Address claim message on CAN bus Power up is normally synchronized with engine start and allows to be executed regardless any sensor input values After power up the PVED CL validates periodically the presence of all CAN and analogue control signals with the ones mapped In case a signal is not available or is invalid the PVED CL enters fault mode or optionally a reduced state where operation is continued with reduced steering functionality After successful power up the main spool inside the valve is first operated when a steering device is operated CAN bus Sensor Power up Synchronization The PVED CL can be configured to wait up to 10000 ms for a CAN message This is to accommodate for slow starting CAN devices which are transmitting data to the PVED CL Please see device dependent parameters HPStwPowerUpTimeout HPStdPowerUpTimeout LPStdPowerUpTimeout WAPowerUpTimeout and VSPowerUpTimeout in System Parameters on page 120 12 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 General Information CAN bus Protocol The PVED CL conforms to CAN bus standard J1939 Relevant J1939 compliance issues are explained in
30. angle and requested port flow StsO is normally set when max port flow defined by Qm is achieved at maximum steering device input The default value is a gradient matching maximum requested port flow to maximum port flow at the maximum steering angle Symbol Index Default Value range Sse 5y09 1 Must be set at 1 StsO 5y10 1000 0 to 1000 amplification of 0 to 100 Default StsO shall be changed to 1000 Vehicle Speed Dependent Sensitivity Variable steering sensitivity related to vehicle speed is normally used to optimize directional stability automatically and beyond the notice of the driver The values and correlation is normally close related to the present vehicle dynamics of the individual vehicle model The Sts value is used to amplify the input signal as described in Set point Transfer Function on page 87 The correlation is defined by seven parameters All Sts parameters may be set equal to each other or set monotonically falling for increasing vehicle speeds The steering sensitivity between two table coordinates is found by linear interpolation The relation is equal for negative speeds 11025583 Rev CA 11 Jan 2010 107 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Auto steering max Sts 100 120 Ve 100 80 Vesm 500 60 Steering sensitivity Sts Sts ye saturates Sts4 45 40 min Sts 20 100 200 300 400 5
31. angle sensor This can be achieved by clever mechanical sensor mounting However it may not always be possible to achieve linearity mechanically To electronically compensate for a non linear sensor characteristic two extra points are included in the calibration The two extra points represents the steered wheel angle where the steered wheel is precisely in between neutral and right or left end stop respectively 36 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Installation ASampled AD value AD1 2 _1 ooo Left j AD1 2 _1000_Right l R AD1 2 _500_Right AD1 2 _500_Left lt lt 4 p 1000 AD1 2 _Neutral 1000 Scaled value kes AD1 2 _500_Left TP AD1 2 _1000_Right AD1 2 _1000_Left 0 HE Margin EAD Short circuit Symbol Index Default Value range AD1_1000_Left 65080 100 30 957 AD1_500_Left 65055 300 AD1_Neutral 65086 500 AD1_500_Right 65062 700 D1_1000_Right A AD1_Linear 65087 0 0 Non linear 255 Linear AD2_1000_Left 65089 100 30 957 AD2_500_Left 65069 300 AD2_Neutral 65095 500 AD2_500_Right 65076 700 AD2_1000_Right 65092 900 AD2_Linear 65096 0 0 Non linear 255 Linear e When building a transfer characteristic the characteristic shall be monotonically increasing or decreasing An attempt to build illegal characteristics is not possi
32. at all times The magnetic valve bridge is enabled when the PVED CL receives a non zero flow request Use this parameter to create EHPS type 1 configurations Symbol Index Default Value range Magnetic valves off delay time 115 30 000 1 to 30 000 ms 64 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Open Loop Steering by High Priority Steering Device Open Loop EHPS Type 2 System Diagram Joystick or mini wheel Steering angle sensor Steering cylinder Automatic steering Position sensor Vehicle speed P005 225E Functionality Tree The tree below illustrates the availability of the PVED for steering by joystick mini wheel with speed output or by potentiometer like steering devices The manufacturing default functionality is found by following the red line Following the instructions in this chapter can of course modify the default The switches in the tree are used to select the functionality required In case different functionalities are required the EHPS software provides 5 programs from which the driver can select when the system is fully operative 11025583 Rev CA 11 Jan 2010 65 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Open Lo
33. at vehicle speed 0 1y21 3y21 4y21 5y21 1 1000 1 Trh Ramp up time at vehicle speed Verm 1y22 3y22 Ay22 5y22 Tfo Ramp down time at vehicle speed 0 1y23 3y23 4y23 5y23 350 Tfh Ramp down time at vehicle speed Verm 1y24 3y24 4y24 5y24 Qm Maximum port flow 1y27 3y27 4y27 5y27 1000 Off Maximum port flow at end stop 1y28 3y28 4y28 5y28 50 Soft end stop Cf Active soft end stop port flow range 1y29 3y29 4y29 5y29 1 1000 333 ke Minimum amp maximum steering sensitivity 1y30 3y30 4y30 5y30 0 20 20 bound in of Sts k Steering wheel drift control kd Proportional gain for steering wheel drift 1y31 3y31 4y31 5y31 0 200 0 control YsetFr S16 Fast ramp down range rate limitation 1y32 3y32 Ay32 5y32 0 1000 1000 Tfr Fast ramp down time rate limitation 1y33 3y33 4y33 5y33 1 1000 100 YAbort Input flow command threshold for canceling 1y34 3y34 4y34 5y34 0 500 0 Down down ramp rate limitation Ramp Tra Ramp down time for canceled down ramp 1y35 3y35 4y35 5y35 1 1000 1 Ampl U16 Set point amplification Factor 0 001 1y36 3y36 Ay36 5y36 0 2000 1000 Invertl BOOL Steering device signal inversion control 1y37 3y37 Ay37 5y37 Normal 0 0 nputSi Inverted 255 gnal Sse S16 Steering sensitivity selector 1y09 3y09 4y09 5y09 Fixed 1 1 Actuator position dependent 2 Vehicle speed dependent 3 Sr Rate limitation selector anti jerk 1y17 3y17 4y17 5y17 No ramps applied 0 0 Fixed ramp times 1 Vehicle speed dependent 2
34. attempt to have 0 5 V and 4 5 V at the end stops and approximately 2 5 V at neutral The parameter defaults are set up to this voltage range A weak internal pull down resistor will pull the input below the fault detection threshold if the input is open circuited The AD input impedance is gt 1 MQ Scaling Analogue Signals The sampled analogue values needs to be scaled to the internal calculation domain before the signals can be applied in the software control algorithms Scaling is a method to fully utilize the software calculation dynamic by assigning fixed calculation domain values to the equivalent analogue values for maximum left right and neutral and even intermediate values if desired Scaling is done by sample value to calculation domain transfer characteristics Two different transfer characteristics are available for each AD input Linear Transfer Characteristic 3 Point Linear transfer characteristic is suitable for sensors with a known characteristic such as joysticks and mini wheels The transfer characteristic orientation depends on the sensor mounting orientation both cases are shown below 11025583 Rev CA 11 Jan 2010 35 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Installation Sampled AD value ADUE AQOO LEI o AD1 2 _1000_Right Max left 800 Max left 30 Neutral 4
35. convenient at high speeds and results in difficulties driving precise and straight Including the vehicle speed information will allow the software to interpolate between maximum and minimum ramp times as a function of vehicle speed Ramp time T Ve is determined by interpolating between Tro and Tfo as well as Tfo and Tfh as shown in the figure below The relation is equal for negative speeds 50 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Open Loop max time 1000 a 500 v 400 S 2 300 a o 209 Default 2 i Verm 500 e ioo ek eo E Tive saturates Trh 1 g Tro deli Trh min time 1 O gt _ 0 _ _ r O 100 200 300 400 500 600 700 800 900 1000 Ve Vehicle speed 1 unit 0 1 km h max time 1000 T a 500 E amp v Default Verm 500 E A TS Tfo 350 8 Tfh 200 T ve saturates a E DO o Tfh E 10 5 min time 1 0 100 200 300 400 500 600 700 800 900 1000 Ve Vehicle speed 1 unit 0 1 km h P005 220E Sr Selects the ramp type The ramp function can be disabled fixed or related to vehicle speed Set Sr to 1 to select fixed ramps Lr Sets the linearity of the ramp up curve The default value is a linear ramp Lf Sets the linearity of the slow ramp down curve The default value is a l
36. drift Feed spee sensitivity YrYILx forward Qm 10 ms Steering Anti Transfer Port flow Port flow angle actuator 10 ms Ri position Cp selects the closed loop control for steering wheel steering Parameter index 1y02 must be set equal to 255 Parameter selection values Y selects the program and ranges from 0 and 9 A fixed value of Y must be consistently used throughout the entire configuration of a single program Acquire the Signals See Mapping a Steering Device on page 34 on how to map the steering wheel sensor and steering wheel angle sensor Apply Backlash Ri If elasticity affects the sensor readings when the driver releases the steering wheel and hereby unintentionally operates the valve a backlash region Ri can be applied to prevent it The size of the backlash region is normally set equal to the angle related to elasticity However any set value greater than zero leads to slower steering responds Therefore to minimize these effects the steering wheel sensor shaft and underlying mechanics as shown below must be designed as stiff as possible Sensor y Steering wheel H Since this parameter only effects changes in the set point stability problems in closed loop are not related to the set value of this parameter The default value does not remove elasticity effects Symbol Index Default Value range Ri 1y04 0 0 to 200 11025583 Rev CA 11 Jan 2010 57 Denpi Operati
37. external set point 28 7 generator 6400 HPStdDisabledAtBootUp High priority steering device state at power up BOO Enabled 0 0 8 device enable disable L Disabled 255 6400 LPStdDisabledAtBootUp Low priority steering device state at power up 9 device enable disable 6401 HPExtDisabledAtBootUp High priority external set point controller state 0 at power up enable disable 6401 WAReducedModeAllowed Reduced mode switch for the wheel angle sensor Not allowed 0 0 1 signal Allowed 255 6401 VSReducedModeAllowed Reduced mode switch for the vehicle speed sensor 2 signal 6401 HPStdReducedModeAllowed Reduced mode switch for the high priority steering 3 device 6401 LPStdIReducedModeAllowed Reduced mode switch for the low priority steering 4 device 6401 HPStwPowerUpTimeout Power up timeout value for the steering wheel signal U16 100 10 000 100 5 Unit 1 ms 6401 HPStdPowerUpTimeout Power up timeout value for the high priority steering 6 device set points CAN Unit 1 ms 6401 LPStdPowerUpTimeout Power up timeout value for the low priority steering 7 device set points CAN Unit 1 ms 6401 WAPowerUpTimeout Power up timeout value for the wheel angle sensor U16 60 10 000 60 8 Unit 1 ms 6401 VSPowerUpTimeout Power up timeout value for the vehicle speed signal 160 10 000 160 9 Unit 1 ms 11025583 Rev CA 11 Jan 2010 121 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Versio
38. functionality as e Detection criteria for steering device activation e Steering device closed loop proportional gain e Spool control in the valve dead band region e Program transition criteria for a steering device e Magnetic bridge enable disable control for a steering device An overview of all steering device parameters can be found in appendix Steering Device Parameters on page 126 Program Parameters A number of user programs are available to each steering device This enables programming flexible functionality for each steering device such as e Possibility to adapt the steering system to the working situation e Personalized steering behavior novice or expert level e Customized variable steering ratio gain settings e Invert flow direction for e g backward steering A number of programs are allocated to each steering device as shown in the table below Each program has a unique number which is used for requesting a new program from the MMI Number of programs per steering device Steering device Number of programs Program number Steering wheel sensor SASA 10 0 9 High priority steering device 5 20 24 Low priority steering device 5 25 29 High priority set point controller 5 30 34 Example on program layout for high priority steering device Set point flow command s p j to Ramp Limitation Cushion stop to w Flow command spod position Activ
39. is executed and a SelectProgram response is transmitted see SelectProgramResponse in PVED CL Communication Protocol 11025584 The currently active program is continuously transmitted in the PVED CL operation status message see OperationStatus in PVED CL Communication Protocol 11025584 How does the PVED work The PVED incorporates a printed circuit board PCB LVDT sensor and a solenoid operated hydraulic H bridge The PCB provides connectivity to CAN and analogue signals by two 4 pin connectors each colored differently to distinguish CAN and power supply from cables with analog control signals When using AMP the gray connector is dedicated for CAN and electric power supply and the black for connecting analogue devices to the PVED Deutsch connectors are not keyed but PVED CL is laser marked with description AMP connector AMP connector The 4 pin AMP Junior Power Timer has been designed especially for the Gray Black automotive industries where high reliability and safety is required The features of the AMP connectors are Separate insulation of each lead ensures minimum risk of short cutting Safe JPT locking Safe locking of housing Mechanical coding of housing IP 66 Different color for each connector which prevents mistakes during installation Easy disassembly AMP connectors Contour of PVG 32 casting Electronic Control Unit The Electronic Control Unit ECU performs the fo
40. missing 10229 Analog input 1 samples are missing Internal PVED CL fault 10230 Analog input 2 samples are missing Internal PVED CL fault 10231 Analog spool position input samples are missing Internal PVED CL fault 11025583 Rev CA 11 Jan 2010 117 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Diagnostic amp Troubleshooting Redundant Wheel Angle Sensor Values Deviate too much or CAN Sensor Set point Data out of Range SPN 612 indicates more faults depending on the actual system configuration i e many of the PVED CL error codes can be ignored by using the knowledge of the actual sensor mapping SPN PVED CL Possible root cause Error Code 612 10104 The primary steered wheel angle sensor set point and the redundant steered wheel angle sensor set point deviates too much One of the sensors may not work or the sensor values differs due to a physical sensor offset 10105 The deviation between the primary steered wheel angle sensor set point and the redundant steered wheel angle sensor set point exceeds the valid range 10232 The SASA steering wheel sensor set point exceeds the valid range 10234 High priority steering device CAN sensor set point exceeds the valid range 10235 Low priority steering device CAN sensor exceeds the valid range 10236 Primary wheel angle CAN sensor set point exceeds the valid ran
41. ms after the reception of first command message Otherwise the device disable state will change back to its last state Boot up State of Steering Device The boot up enable disable state of the device can be configured with a parameter and can be changed via the SetParameter command see PVED CL Communication Protocol Technical Information 11025584 Symbol Index Default Value range HPStdDisabledAtBootUp 64008 0 0 FALSE 255 TRUE HpStd means High Priority Steering Device If the device disable functionality is not desired the parameter shall be 0 Getting the Actual Enable disable Status of the Device The PVED will send one DisableSteeringDeviceResponse reply message to each DisableSteeringDevice command it receives or on time out containing the present enable disable state for all steering devices This reply may be used by the MMI for acknowledge or display purposes see PVED CL Communication Protocol Technical Information 11025584 The device enable disable present status for all devices is also transmitted periodically in the OperationStatus message which is transmitted on the CAN bus by default see PVED CL Communication Protocol Technical Information 11025584 84 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Open Loop Steering by Low Priority Steering De
42. optimization YAbortDownRamp To come around the problem of slow steering response for large down ramp times especially if a sudden emergency change of direction is needed a slow down ramp can be aborted by requesting a flow in the opposite direction Once a slow down ramp is aborted an abort down ramp time Tra is applied Obviously Tra shall be significantly smaller than the slow down ramp to get any effect Example A value equal to 500 means that the driver needs to steer out 500 1000 of maximum flow before the slow down ramp is aborted 500 again corresponds to a certain steering wheel RPM Typical values are 100 300 to have the abort down ramp possibility and to avoid unintentional abort of the down ramp due to steering wheel activation due to vibrations Setting the value to 1000 disables the abort down ramp functionality Symbol Index Default Value range Sr ly17 0 must be set to 1 Lr 1y19 0 0 linear to 10 max progressive Lf 1y20 0 Tro 1y21 1 1 to 1000 ms 52 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Open Loop Symbol Index Default Value range Tfo 1y23 350 Trh 1y22 1 Tfh 1y24 350 Verm 1y25 500 1 to 1000 1 unit is 0 1 km h YsetFr 1y32 1000 0 to 1000 1 unit 0 1 of max flow Fast ramp down is active in the port flow request rang
43. select the functionality required In case different functionalities are required the EHPS software provides multiple programs for each steering device 42 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Open Loop Open Loop Control Select the Control Principle xo U lt Z 3 2 2 a a ig F g A E E a 2 z 5 a c d a Program number Y 2 5n 3 U 5 n ce 4 H z 7 i gt Y 0 witches i Fixed Open loop fixed sensitivity with fixed ramp times H Sr 1 i Var __ Open loop fixed sensitivity with variable ramp Sr 2 times as function to vehicle speed ae Open loop fixed sensitivity with no ramps H applied i Open loop sensitivity related to steering actuator H Fixed position with fixed ramp times H Related to Sr 1 Aaa i i position of Var Open loop sensitivity as function to steering actuator i steering a position with variable ramp times related to vehicle H Sse 2 speed H No S Open loop sensitivity related to steering actuator i Sr 0 position no ramps applied H Related to Open loop a a Open loop sensitivity related to vehicle speed A Cp 0 J with fixed ramp times i Open loop sensitivity related to vehicle speed i with ramp times related to vehicle speed H Open loop sensitivity related to vehicle speed No signal
44. steering device but no steering wheel angle sensor SASA EHPS type 1 the PVED CL has no means to detect that the steering wheel is being activated A steering conflict between OSP steering and steering device steering is thus possible To resolve this conflict set Tolsout to a value typically 50 ms 200 ms to disable the magnetic valve bridge when no flow request is being commanded with the steering device Low Priority Steering Device Enable Disable Control The PVED functionality allows the user to dynamically enable or disable a steering device during operation from the cabin MMI via CAN bus This functionality enables e g an armrest device to be folded away for easy access to the cabin while the system operational to avoid the risk of unintended device activation when the user enters or leaves the cabin Another user scenario is to disable one or more lower priority steering devices when only the steering wheel device is in use for a longer period of time and the user wishes to eliminate the risk of unintentional device activation System Requirements The device enable disable control functionality is only functional if the following conditions are fulfilled The system must be in operational state The device that shall be enabled disabled is mapped An OSP for hydraulic backup exists and the presence of the OSP is configured in the PVED Symbol Index Default Value range LowPrioritySteeringDevicelnterface 65103
45. symmetric in both directions i e that the steering actuator moves with the same speed in both directions for the same steering input in both directions If asymmetry is evident then a new valve auto calibration shall be performed 32 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Installation Verification of the closed loop performance Check that the desired steering accuracy can be obtained when using the PVED CL in closed loop mode such as auto steering The vehicle shall follow the path within the expected precision with small steering actuator movements If the vehicle cannot follow a path within the expected precision or deviates from the desired path then it may be due to a hydraulic dead band Increase ClosedLoopXspOffset in steps of 5 10 and test until the performance is satisfactory If the steered wheels move aggressively and jerky while following a path in closed loop mode then the valve outputs too much flow for small corrections and ClosedLoopXspOffset shall be decreased and tested in steps of 5 10 If there is a tendency that the vehicle deviates in only one direction in closed loop mode then one of the open loop dead bands may not be correct and a new valve auto calibration shall be performed Logging and monitoring In addition to ValveAutoCalibrationStatus PVED CL status set 1 can also be enabled for detailed monitoring and l
46. the enable disable button to be pressed for a well defined period of time e The OEM shall ensure that a steering device outputs a signal within a valid range when the device is enabled Device Diagnostic Operation The steering device diagnostic checks are performed both when the device is enabled and disabled 11025583 Rev CA 11 Jan 2010 83 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Closed Loop Enable or Disable Joystick Steering Device The device enable disable control is executed by means of the DisableSteeringDevice command see PVED CL Communication Protocol Technical Information 11025584 from e g the man machine interface The DisableSteeringDevice command options are e Arm joystick enable disable e Enable joystick e Disable joystick The enabling or disabling of a steering device must follow the state transition sequence shown below in order to minimize undesired enabling or disabling of a steering device 7 J a a A E enon control byte Enable device control byte Disable device Device disabled control byte Arm device disable Sii i aE A armed Te Disabled at power up TRUE Disabled at power up FALSE The states device enabled armed and device disabled armed are volatile states A transition from these states to the desired state requires reception of a command message within 200
47. value ClosedLoopXspOffset 748 0 0 to 1000 0 to 7 mm Kp and ClosedLoopXspOffset correlates By increasing ClosedLoopXspOffset the proportional gain may be reduced It is recommended to first set ClosedLoopXspOffset to 20 and then tune Kp Noise due to Frequent Pressure Build up Eliminating noise is accomplished by stopping the controller to respond to minor deviations between set point and current actuator position The spool inside the valve is set in neutral when the port flow command has been within a threshold value Qth for a given time Tclpout The spool is reactivated again when port flow command exceeds the threshold value Tclpout Sets the time delay ms before the main spool is set in neutral Qth Sets the threshold value for port flow command when the controller is in steady state Symbol Index Default Value range Tclpout 517 3000 1 to 30000 ms Qth 518 0 0 to 100 0 0 to 10 0 of max port flow Select a Fixed Sensitivity Qth may introduce a control dead band which may not be desired Set Qth to 0 for tight closed loop control and for maximum precision A fixed steering sensitivity is chosen if the valve shall output a flow which is only dependent on the control error and Kp Sse Selects between a fixed steering sensitivity variable to steering actuator position or vehicle speed Set Sse to 1 to select the fixed sensitivity StsO Sets a gradient between steering
48. 0 no ramp times applied Fixed Ponge Closed loop Sse 1 Closed loop fixed sensitivity CAN 255 Cp 255 Related to ae N vehicle speed Closed loop sensitivity related to vehicle speed Sse 3 default Sensitivity means number of revolutions on steering wheel from lock to lock P005 202E Open loop steering shall be chosen for implementing variable steering ratio or when sideward forces on articulated steered vehicles must be actively reduced Block diagram oped loop steering wheel steering Sse Sts0 Sts1 Sts2 Sts3 Sts4 Sts5 Vesm StrkVol Vcap 100 ms E Ve Sr Lr Tro Tfo Lf Steering Trh Tfh YsetFr Tfr 10 ms eo speed sensitivity TAbortDownRamp Cf Off Tra Verm Yr YI Actuator positio 10 ms Steering Transfer Ramp Q Lo ag Posi wheel Backlash function function Port flow teering angle dt comman wheel A A angle Ri Qm Lx 100 ms 10 ms Ve Vehicle_ Yact _N speed Actuator position P005 206E Cp is used to select Open loop control for steering wheel steering by setting parameter index 1y02 equal to 0 Parameter selection values Y selects the program and ranges from 0 and 9 11025583 Rev CA 11 Jan 2010 43 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Open Loop Apply Backlash Ri If elasticity affects the sensor readings when the driver releases the steering wheel and hereby u
49. 0 1 unit 0 1 of max flow The default value will force an down ramp abort at a slight reverse port flow request Typically YAbortDownRamp needs be increased to avoid unintentional down ramp aborts as this will infer a jerk on the driver The discontinuities in the progressive characteristic are located at 50 120 and 333 5 0 T at 25 12 0 T at 50 and 33 3 T at 75 of max port flow capacity Select Ramps with Ramp Time Related to Vehicle Speed To optimize the anti jerk performance to different work cycles the vehicle speed can be used to derive ramp times by interpolation between ramp values for 0 km h 11025583 Rev CA 11 Jan 2010 73 Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Open Loop max time 1000 T Nn E 500 v E 400 5 2 a 300 Default Tive saturates x Verm 500 z Tro 200 et 200 amp r Trh 200 gt i E E 100 7 E mintime 1 a a a e a a aa a a a a ataa O 100 200 300 400 500 600 700 800 900 1000 Ve Vehicle speed 1 unit 0 1 km h maxtime 1000 T 500 g Default B Verm 500 E AN Tfo 350 2 300 Tfh 200 Tive saturates a z amp 200 Tfh 2 g gt 100 min time 1 j 0 100 200 300 400 500 600 700 800 900 1000 Ve Vehicle speed 1 unit 0 1 km h P005 218E Sr Selects the ramp type The ramp functi
50. 0 0 NONE 1 AD1 2 AD2 4 CAN OSP present 65109 0 0 NONE 255 PRESENT If an OSP is not present the device enable disable control command is ignored The OSP shall be present because it is theoretically possible to electrically disable all steering devices if the primary steering wheel sensor is not mapped In this situation only the OSP pilot signals are driving the valve Caution The vehicle system integrator shall consider the following to ensure a safe and reliable device enable disable functionality The vehicle velocity shall be included in the decision whether a device disable request shall be sent to the PVED or not The location of the enable disable button shall be well considered to avoid unintentional enabling disabling of a steering device Unintended enabling disabling should be further avoided by requiring the enable disable button to be pressed for a well defined period of time The OEM shall ensure that a steering device outputs a signal within a valid range when the device is enabled Device Diagnostic Operation The steering device diagnostic checks are performed both when the device is enabled and disabled Enable or Disable Joystick Steering Device The device enable disable control is executed by means of the DisableSteeringDevice command see PVED CL Communication Protocol Technical Information 11025584 from e g the man machine interface The DisableSteeringDevice command options are
51. 00 600 700 800 900 1000 Ve Vehicle speed 1 unit 0 1 km h Sse Selects between a fixed steering sensitivity variable to steering actuator position or vehicle speed Set Sse to 3 to select the sensitivity related to vehicle speed StsO Sets the linear gradient between steering angle and requested port flow when the vehicle is standing still When the vehicle signal unintentionally not is mapped Sts0 is applied constantly since variable Ve remains 0 In case the vehicle signal not is diagnosed it is recommended to set Sts0 at a value where sufficient directional stability at maximum vehicle speed is present Sts1 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving at 6 25 of the speed defined by parameter Vesm Sts2 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving at 12 50 of the speed defined by parameter Vesm Sts3 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving at 25 of the speed defined by parameter Vesm Sts4 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving at 50 of the speed defined by parameter Vesm Sts5 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving at 100 of the speed defined by parameter Vesm Vesm Sets the region where steering sensitivity is variable to vehicle spee
52. 1 Jan 2010 Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Contents Auto steering Reduced State Resolving a Steering Control CONFLICtK esssseccsscsssssecsssescssseeccssecessusesssuseessneecesusecsssscessnsecesneessasecesuecssaseecenseeseaseesse 103 Low Priority Steering Device Enable Disable Control ssssssssssccsssesssccsssesssesssssssecssssessssssnsssecssnsessssssnseeeessnsesssasnsecs 103 System REQUIFEMEMES ccssessncssssssecsasenddeessensnssnsnsssuseconegenssconss ouscvbssesssoesasseasedoseseas dswscanviebalecnoddnasesnaseceaecsadessdenrasstendbesedsuebene 103 Device Diagnostic OPeratiOnssccsiaciisisssasccnsscensascessceasevssseiascanssscnesenesnsasepnsesonesenvns seggondeenagetbascenscedssnsnsasassasnsssnseestadcesssiade 103 Enable or Disable Joystick Steering DeVice esssssccssssscsssssscsecssssseccsecsssseessssecesssseccsueessssecssnseeccsseessneeeesaeceenueessaeees 103 Boot up State of Steering DeViCe sssscsssssscsesecsssessecsecssssessssesssssecssssseesuseesssseeessnecessseesssuseessucesssseeecsueesssneesseneeessneees 104 Getting the Actual Enable disable Status of the Device csssssscssssesssccssseesecssssessccsssseseesnsseccessseeseesnsnecsenneeeeees 104 PAUILOSSLCOT II E AE A A E A E E A A AT AE 105 Guidance Command w 105 Calculating the Wheel Angle sssesssssccsssssccssssecsseesssusecssseesssseecssuecessneccsnsecssuecessusecssnsesssuscsesus
53. 16 10 000 1 to 30 000 ms Magnetic Valves OFF Control Magnetic valves off delay time disables the magnetic valve bridge after a time specified in ms when the flow request is 0 otherwise it remains enabled This parameter is used when electrical energy consumption by the magnetic valve bridge in the PVED must be reduced or to resolve a steering control conflict between the OSP and the PVED CL implementing EHPS type 1 systems only The default value disables this functionality i e the magnetic valve bridge is enabled at all times The magnetic valve bridge is enabled when the PVED CL receives a non zero flow request Symbol Index Default Value range Magnetic valves Off delay time 415 30 000 1 to 30 000 ms Resolving a Steering Control Conflict On systems utilizing a PVED CL an EHPS valve an OSP a CAN or analogue steering device but no steering wheel angle sensor SASA EHPS type 1 the PVED CL has no means to detect that the steering wheel is being activated A steering conflict between OSP steering and steering device steering is thus possible To resolve this conflict set Tolsout to a value typically 50 ms 200 ms to disable the magnetic valve bridge when no flow request is being commanded with the steering device 98 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority S
54. 2 Use trail and error Example A value equal to 500 means that the driver needs to steer out 500 1000 of maximum flow before the slow down ramp is aborted 500 again corresponds to a certain steering wheel RPM 92 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Open Loop Typical values are 100 300 to have the abort down ramp possibility and to avoid unintentional abort of the down ramp due to steering wheel activation due to vibrations Setting the value to 1000 disables the abort down ramp functionality Symbol Index Default Value range Sr 4y17 0 Must be set at 1 Lr 4y19 0 0 linear to 10 max progressive Lf 4y20 0 Oto 10 Tro Ay21 1 1 to 1000 ms Tfo 4y23 350 1 to 1000 ms YsetFr 4y32 1000 0 to 1000 1 unit 0 1 of max flow Tfr 4y33 100 1 to 1000 ms Tfr shall be smaller than Tfo and less than 150 ms YAbortDownRamp 4y34 0 0 to 500 1 unit 0 1 of max flow The default value will force an down ramp abort at a slight reverse port flow request Typically YAbortDownRamp needs be increased to avoid unintentional down ramp aborts as this will infer a jerk on the driver Tra 4y35 1 1 to 1000 ms Ramp down time for canceled down ramp The discontinuities in the progressive characteristic are located at 50 120 and 333 5 0 T at 25 12 0 T at 50 a
55. 34 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Installation Analogue Interface A 200 Hz first order low pass filter is applied before the AD sampling Both analogue voltage signals at AD1 and AD2 are converted into a digital value between 0 and 1023 AD full scale A running average filter which takes 5 consecutive samples per 5 ms removes high frequent noise In case a redundant steered wheel angle sensor occupies both analogue inputs comparison between both scaled values is made Block diagram of processing analogue to digital converted signals Init 1000 Hz 200 Hz sampler sampler o Pre filter 10 bit Running average Raw analog to digital Analogue signal low pass l filter L converted signals range 0 to 5 V DC 200 Hz A D N 5 dt 1ms range 0 to 1023 Pull down resistor P005 222E AD Signal Interface Requirements When control signals are mapped to pin AD1 or AD2 the sampled voltage is range checked to be between 20 and 967 AD full scale These bounds are used for detecting the signal being shortcut to ground or VCC battery power supply Voltage signals must always be in range in order not to trigger the signal validation monitor which results in PVED fault state or reduced state The maximum input range which leaves margin for noise etc is 30 to 957 AD full scale As a rule of thumb one should
56. 3y17 0 Must be set at 2 Lr 3y19 0 0 to 10 linear to max progressive 11025583 Rev CA 11 Jan 2010 75 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Open Loop Symbol Index Default Value range Lf 3y20 0 Oto 10 Tro 3y21 200 1 to 1000 ms Tfo 3y23 350 1 to 1000 ms Trh 3y22 200 1 to 1000 Tfh 3y24 350 1 to 1000 Verm 3y25 500 0 to 1000 1 unit is 0 1 km h YsetFr 3y32 1000 0 to 1000 1 unit 0 1 of max flow Fast ramp down is active in the port flow request range 1000 to YsetFr The default value disables fast ramp down Tfr 3y33 100 1 to 1000 ms Tfr shall be smaller than Tfo and less than 150 ms YAbortDownRamp 3y34 0 0 to 500 1 unit 0 1 of max flow The default value will force an down ramp abort at a slight reverse port flow request Typically YAbortDownRamp needs be increased to avoid unintentional down ramp aborts as this will infer a jerk on the driver The discontinuities in the progressive characteristic are located at 50 120 and 333 5 0 T at 25 12 0 T at 50 and 33 3 T at 75 of max port flow capacity Anti jerk Ramp Parameter Tuning Guide Soft Cushion End stop Tuning the parameters is an iterative process The following sequence may be useful when tuning a vehicle 1 Initial setting Set Tro to 1 Tfr to 1 Set YsetFr to 1000 Set Tra
57. 40 Neutral 500 Max right 75 Max right 957 p gt ee AD1 2 _Neutral 1000 Scaled value Si AD1 2 _1000_Right AD1 2 _1000_Left 0 HE Margin Short circuit Symbol Index Default Value range AD1_1000_Left 65080 100 30 957 AD1_Neutral 65086 500 AD1_1000_Right 65083 900 AD1_Linear 65087 255 0 Non linear 255 Linear AD2_1000_Left 65089 100 30 957 AD2_Neutral 65095 500 AD2_1000_Right 65092 900 AD2_Linear 65096 255 0 Non linear 255 Linear e When building a transfer characteristic the characteristic shall be monotonically increasing or decreasing An attempt to build illegal characteristics is not possible e AD values for Neutral shall be between the AD values for left and right Non Linear Transfer Characteristic 5 Point A non linear transfer characteristic is suitable in situations where a sensor output is non linear due to e g sensor mounting geometry Applying a linear transfer characteristic 3 point to a non linear steered wheel angle sensor in a closed loop application auto guidance or GPS may result in incorrect steered wheel positions for set points not equal to neutral or the end positions Furthermore the steered wheel angle may not be symmetrical around neutral The effect of non linearity may become apparent in auto steering applications where a vehicle shall drive in precise circles In general it is recommended to have an as linear as possible relation between the steered wheel angle and the steered wheel
58. 5 14 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Safety Considerations Safety Considerations The steering architecture shall be designed with care Controlling an EHPS or EH valve with a PVED CL is designed for off road use only More single channels of control may be identified in the architecture meaning that a single failure may have an impact on the steering behavior which cannot be resolved by the architecture itself In these situations the driver or external equipment must intervene to bring the steering system to a safe state The PVED CL has on board fault monitoring on the sensor interface as well as other critical parts of the system Please refer to Diagnostic amp Troubleshooting on page 114 for an overview of the PVED CL fault monitoring On road Operation A Warning The PVED CL shall be de energized while driving on road It is the OEMs responsibility to establish the necessary means to inform and de energize the PVED CL from the cabin when driving on public roads Vehicle Speed Sensor The vehicle speed sensor may be used to modulate the steering valves output as a function of vehicle speed However the PVED CL has no means to validate the validity of the vehicle speed signal as long as the messages arrive correctly and the data field is within the valid range Therefore A Warning It is the OEMs responsibility t
59. 5V Out f 2a 2b H CAN high 5V Out V neg J 3a3b H GND Lie alll GND CAN high 7 kW pg SBH an2 SS Analog sensors Switch CAN bus r V sensors WV e CAN L 1 1 AD1 _f Vbat 2 2 5V out D Vbat 3 i 3 GND CAN H 4 4 AD2 F Uninterruptable p Black connector power source Grey connector P005 095E The CAN wiring is done according to J1939 15 where as Analogue wiring is recommended to be at least 0 75 mm2 and no longer than 9 meters A Warning The following wiring faults will destroy the PVED CL 5V out output e Connecting GND to 5V out AND Vbat to Vbat e Connecting Vbat to 5V out Short circuit 5V out to GND for more than 5 minutes The PVED CL shall always be calibrated to the valve it is controlling Valve calibration enables interfacing to various valve types as well as cancellation of mechanical electrical and environmental dependent tolerances which can lead to performance degradations Valve calibration is normally only needed once at production time at installation time in a PVED CL replacement situation or in performance fine tuning situations The PVED CL is calibrated to the valve by a dedicated valve transfer function having 7 parameters to compensate for discontinuities hydraulic dead band asymmetry maximum flow and non linearity in the left and right spool characteristic Correct parameter values are essential for achieving optimum performa
60. 9 deg C 3 70 79 deg C 4 80 89 deg C 15 L 90 99 deg C 6 100 109 deg C 7 110 119 deg C 8 120 129 deg C 9 130 139 deg C 120 11025583 Rev CA 11 Jan 2010 Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Appendix Inde Name Description Data Range Defau Lo Not x Type It ck Res ed tore d 947 Temperature histogram interval 16 20 gt 140 deg C The temperature measured on the PVED CL printed 948 Temperature histogram interval 17 circuit as long as the PVED CL is powered Read only 949 Temperature histogram interval 18 950 Temperature histogram interval 19 951 Temperature histogram interval 20 6300 not used user defined U32 0 4294967295 0 ov 0 20 general purpose storage parameters 6301 9 6400 StatusReportsPGNBase Offset for proprietary B messages that contains status U8 0 253 0 2 data 6400 PvedSourceAddress PVED CL Source Address 19 3 6400 VehicleSpeedSensorSourceAddress_ Source Address of the vehicle speed sensor 251 4 6400 ControlDeviceSourceAddress Source Address of the MMI controller 252 5 6400 ConfigurationDeviceSourceAddress Source Address of the configuration diagnostic tool 253 6 6400 HPExtSourceAddress Source Address of the high priority
61. A small value lt 5 could potentially produce a more accurate calibration result at the expense of calibration time However repeatability of the calibration result may be poor A step size gt 5 will speed up the calibration time at the expense of calibration accuracy YactDiffThreshold Set the change threshold for steering actuator position steered wheel position Yact that is the criterion for detecting a flow The position change AYact is measured in the time out period for each main spool position set point increment A low threshold lt 20 will detect very small flows but is sensitive to e g noise from the wheel angle sensor Too low thresholds will often result in false flow detection which again results in too conservative software dead bands A high threshold gt 60 requires a significant position changes Further more the calibration time increases because the main spool needs to be increment to a higher set point before the necessary output flow is present Yact is the scaled steering actuator position steered wheel position TimeOutPeriod The time between two consecutive steps of the automatic calibration process and thus sets the measurement time in which AYact is measured A value lt 500 could reduce the calibration time but requires careful selec tion of the YactDiffThreshold setting A value gt 1000 significantly in creases the calibration time requirement XspCalibr
62. CL allows several programs for each steering device which means that 5 to 10 different programs with different sensitivity settings can be made and applied via the MMI while driving Each program can then use either fixed or variable sensitivity hence we talk second order variability by using the PVED CL Max Sts 1200 r Vesm 500 Vehicle speed dependant linear program 1 420 Vehicle speed dependant non linear program 2 Fixed sensitivity program 0 380 4 Vehicle speed dependant non linear program 3 360 I 340 olen m st nn s22 g pal 2 Ana av a a i Min Sts 20 lt _ 0 100 200 300 400 500 600 700 800 900 1000 Ve Vehicle speed 1 unit 0 1 km h Vehicle speed A fixed steering sensitivity is chosen when no cylinder position or vehicle speed signal is available on the vehicle Sse Selects between a fixed steering sensitivity variable to steering actuator position or vehicle speed Set Sse to 1 to select the fixed sensitivity StsO Sets a gradient between steering angle and requested port flow StsO is normally set when max port flow defined by Qm is achieved at maximum steering device input This is calculated by the following function _ Qm 100 Sts 1000 db 88 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Open Loop T
63. CONFLICT ssssccsssssccssssecssecssssseccsseecsssecesssecessueeccssesessscesssuseccsnecsssueeessueecesueecssneeeesseesssaes Steering by High Priority Steering Device Closed LOOP ssssscssssssccssecssstssccssecessseeessuecccsseesesueeessneesssueecesneeessneessauenses 99 Functi nality Tree ssccscssccsescctesssscasssecesssenvscsccnascsnnsyesicuascoadeconnigeataselgniveceannsustaugscbesonstasstscbsasendoeeshinscesssecnavecasutaseussecensansctbsscgoanesenanss 99 TACKLING seccasscctesccstsdeccsntcebtnsagessscetesvsssivedstestatccbvacanscdccsetCoussecuvatcnsu ecsbvstchnssettanduansdeiassssaudebescady E ARENS 100 Select the Control Principle sesssssssccssssccsssecssssccsseessssseccssecsssseeecsueecsssecsssueccsseesesuecconecessuseessuteecsseesesueccsnsesesseeseeneeessneeees 100 Acquire the signals Create the Set POI te ssecscssseacasesnsesrsciannseoconnsssassnnnssesennnuveasshnnsssenotaussassennsisosnbanseassbnndsstoseositascunninsesedniaissSunnusseodeonibasaetodndusnbnsabaciyie Closing the LOOP saiscissccsstsste eceseesconseesosadessdsscandseecusscsenduencauecchbgedecdsaesucossbuopestas n a aa ae aa N ianiai Eliminate Noise due to Frequent Pressure BUIIC Up ssssssssccsseccssessccssecssseessssecesuseesssseessuecssnseessusecesaseessueessnseeseneees 102 Magnetic Valves OFF COntrol ssssssssssssssecssssscsssecssnessssuseccsnssscssesssusecssasesesssecssneessusecssaseeesusesesaseessaseeesasecssneessaecesaeessneeses 102 11025583 Rev CA 1
64. Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 powersolutions danfoss com Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Revision History Table of Revisions Date Changed Rev 11 Jan 2010 Major changes For PVED CL software release 1 38 CA 05 May 2007 Major changes For PVED CL software release 1 28 BA 01 Nov 2006 First edition For PVED CL software release 1 26 AA 11025583 Rev CA 11 Jan 2010 Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Contents General Information Safety Considerations Definitions and ABBreviatiOnssssiisssiecscecsssssiscsssonssesosconsiesssovssecassnsnsessiounseasetnabvasstonas naai aiai 8 Reference DOCUMENS cssesecscssseeeseeenseeesees 8 Introduction to Electrohydraulic Stee ring secssssscccssssscsseccssescesssecssnseecssecsssuseccsscessuseessueeessueeesueecsusceesueersaseessneesseneessaeees 8 EEE Ste riinc Val Ve essccsissccsascecossacceutestassvecasescansetansagestsescasa a a E D E 9 EHPS steering valve piloted with electric actuator PVE and or steering Unit sssssssessccssseessecssseesseesneesseenssees 9 PVG 32 Proportional ValVe sesscsssssccssssscssesssssesccsseesesnsecssnscessuseccssseessssesesasecssnseeessueesssueessasecessseesssuecsaseesesuteccsueeeesseessauentes 9 PVG 100 Proportional Valve ssgsisascc
65. EE E EEE N INN EE esisaayaiaseetsasbias oy ci EA 22 Technical Datarriiinsseni aieeaa NAAR UNTE ANR ENANA A A EA OR 24 11025583 Rev CA 11 Jan 2010 3 Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Contents Installation Steering Device Transition Ur Stea at nV sealed cases Sauacusiccasbscceysanecsnsavoc bab osan ARAA A TEAN A TERAN 25 Connector Interface Valve Interface Valve calibration objectives Dead band crossing Valve types overview Valve transfer function Valve interface Pparameters cssecssssscssssscccsseccssssssusecssnssccnsecssueeessaseccsnscessaseeesuecssnsesesusecesucessusecesuseessaeeesusecssaseeesaseessnseessae 27 Valve calibration methods iisssicsssssssscssiseassenssnnssssacsnsieesnsnsperadinasseesasvasscacinaiyaeasonntetazioaisesconaibensdosdsagaconsuvesscddanoedsoraddassesoduncnsoratiec 28 Method 1 Conservative software dead band ValUeS ssssecssssssecssessssececsssseessecsssessssssssessessnsecseesnssecsessnseesesensseesees 28 Example Determine the general software dead bands for a series of PVED CL EH valve with a IY TIAIMIG SOO sccsassccasssececsschevescivsscatassesvascupcassccansdecsassesosscatbeacatgencetavatavsesetectecbustlebasatyapeceduscatasuivessscsuesabesauseuone EENES 28 Method 2 Manual software dead band calibration Method 3 Valve auto calibration 29 PreCONCITIONS sesccsssseescecessessecesss
66. PVED CL The PVED CL is a steering controller in the Danfoss valve actuator family The steering controller is designed to meet the functional requirements for steering electro hydraulically any of road vehicle by following types of steering methods e Steering with operator input via steering devices such as joystick steering wheel sensor mini wheel etc e Automated steering with input from GPS laser or row guidance controllers The compact design of the PVED CL reduce space wiring installation time and provides the most optimal location of any controller executing software to steer any vehicle Especially when more than with a one steering device is available in a vehicle or when closed loop control is used the advantage of the controller being integrated in the valve becomes clear Input Devices Controllers The PVED CL allows up to four steering devices controllers to be active in one system For example Steering wheel and joystick steering in one system can both be connected to the PVED CL The input steering device selection principle works as follows e Incase the operator wants to switch to a lower priority steering device controller the steering valve must be in neutral no steering before it can switch to the requested steering device e Incase the operator wants to switch to a higher priority steering device controller the switch will happen instantaneously This means that when several steering devices are operated
67. Sts ye Saturates g Sts1 400 a 400 P 2 ia F Z o ero 30 Q 2 2 amp S c ti dt II Xi g Bd a 3 i u P lt H H A ny N N N pe 2 360 i a o g N 340 min Sts 20 0 100 200 300 400 500 600 700 800 900 1000 Ve Vehicle speed 1 unit 0 1 km h P005 204E Variable steering sensitivity related to actuator position is normally applied to have a higher sensitivity around neutral driving straight and lower sensitivity at different turning angles Sse selects between a fixed steering sensitivity variable to steering actuator position or vehicle speed Set Sse to 3 to select the sensitivity related to vehicle speed StsO sets the steering ratio when the vehicle is standing still StsO applies at all times when the vehicle signal unintentionally is not configured as PRESENT Ve remains 0 In case the vehicle speed signal is not diagnosed it is recommended to set Sts0 at a value where sufficient directional stability at maximum vehicle speed is present The default value is set a value common to fast driving mobiles Sts1 sets the steering ratio when the vehicle is driving at 6 25 of Vesm Sts2 sets the steering ratio when the vehicle is driving at 12 50 of Vesm Sts3 sets the steering ratio when the vehicle is driving at 25 00 of Vesm Sts4 sets the steering ratio when the vehicle is driving at 50 00 of Vesm Sts5 sets the steering ratio when the vehicle is driving at 100 00 of Vesm Vesm sets the region where steeri
68. The default sets a speed that allows building up pressure when the actuator is located at YR or YL Symbol Index Default Value range YR 4y07 1000 1000 1000 Values smaller than 0 will be set equal to the positive equivalent YL 4y08 1000 1000 1000 Values greater than 0 will be set equal to the negative equivalent Off Ay28 50 0 to 1000 0 0 100 0 of max port flow Cf 4y29 333 1 to 1000 See chapter Mapping steering signals Steering actuator Sensor feedback from vehicle wheels and Steering actuator position to acquire steering actuator position Tolsout Maximum time where the main spool is allowed to be operated proportionally within the valve dead bands The main spool control range for this function can be seen on the Dead band crossing on page 26 This function is useful to eliminate frequent spool relocating events from its neutral to its dead band position and back so called jumps at small flow requests The flow request is 0 while moving the high priority steering device within the steering device dead band db see Set point Transfer Function on page 87 11025583 Rev CA 11 Jan 2010 97 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Open Loop Spool Dead band Hold Control Function Dead band Jump Control Set Tolsout lower than 21 ms to momentarily set the main spool in neutral
69. U16 0 Vv v 4 time 6500 not used user defined U32 5 6500 not used user defined 6 6505 BaudRate The CAN bus physical baud rate 250 v 1 6505 AD1_500_Left Value of the analogue AD 1 between extreme left and U16 30 957 300 v 5 neutral 6506 AD1_500_Right Value of the analogue AD 1 between extreme right 700 v 2 and neutral 6506 AD2_500_Left Value of the analogue AD 2 between extreme left and 300 v 9 neutral 6507 AD2_500_Right Value of the analogue AD 2 between extreme right 700 v 6 and neutral 6508 AD1_1000_Left Extreme value of the analogue input AD 1 steering left 125 250 500 100 v 0 6508 AD1_1000_Right Extreme value of the analogue input AD 1 steering 30 957 900 v 3 right 6508 AD1_Neutral Neutral value of analogue input AD 1 500 v 6 6508 AD_1_Linear Defines whether AD1 scaling is based on 3 or 5 points BOO 5 point 0 255 v 7 L 3 point 255 122 11025583 Rev CA 11 Jan 2010 Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Appendix Inde Name Description Data Range Defau Lo Not x Type It ck Res ed tore d 6508 AD2_1000_Left Extreme value of the analogue input AD 2 steering left U16 30 957 100 ov 6509 AD2_1000_Right Extreme value of the analogue input AD 2 steering 300 v 2 right 6509 AD2_Neutral Neutral value of analogue i
70. a sudden emergency change of direction is needed a slow down ramp can be aborted by requesting a flow in the opposite direction Once a slow down ramp is aborted an abort down ramp time Tra is applied Obviously Tra shall be significantly smaller than the slow down ramp to get any effect Tra is the ramp down time applied when the slow down ramp is aborted This rampdown time shall typically be much lower than the slow ramp down time Tfo in order to gain any increased steering responsiveness Typical value is half the value of Tfo or Tfh time if vehicle speed dependency is applied Sr 2 Use trail and error Example A value equal to 500 means that the driver needs to steer out 500 1000 of maximum flow before the slow down ramp is aborted 500 again corresponds to a certain steering wheel RPM Typical values are 100 300 to have the abort down ramp possibility and to avoid unintentional abort of the down ramp due to steering wheel activation due to vibrations Setting the value to 1000 disables the abort down ramp functionality Symbol Index Default Value range Sr 4y17 0 Must be set at 2 Lr 4y19 0 0 to 10 linear to max progressive 11025583 Rev CA 11 Jan 2010 95 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Open Loop Symbol Index Default Value range Lf 4y20 0 Oto 10
71. ail safe state is denoted a critical fault All critical faults are stored in the PVED CL error buffer for diagnostic purposes The PVED CL may be accessed via CAN for diagnostic purposes while being in fail safe state but parameter configuration is not possible in fail safe state If the fault is related to the sensors or CAN bus cable tree these faults should be resolved and the PVED CL should be powered up again If the fault requires parameters to be changed the user must bring the PVED CL in calibration mode or operational or reduced state if possible before re configuring the parameters Example on Resolving a Fault A sensor is mapped see Mapping a Steering Device on page 34 as present but does not exist in the system The sensor cannot be unmapped because the PVED CL enters fail safe state when powered on Solution The PVED CL needs to run in operational reduced state or calibration state before any parameter may be changed i e a Simulate the sensor signal to satisfy the PVED CL sensor checks while changing the parameter or b power up the PVED CL in calibration mode The PVED CL software performs diagnostic checks on the CAN bus interface analogue sensors magnetic valve bridge interface internal hardware peripherals and software execution plausibility All detected faults which are rated as safety critical will bring the PVED CL in to its fail safe state Secondly the diagnostic checks provide precise indication of the
72. al Enable disable Status of the Device The PVED will send one DisableSteeringDeviceResponse reply message to each DisableSteeringDevice command it receives or on time out containing the present enable disable state for all steering devices This reply may be used by the MMI for acknowledge or display purposes see PVED CL Communication Protocol Technical Information 11025584 The device enable disable present status for all devices is also transmitted periodically in the OperationStatus message which is transmitted on the CAN bus by default see PVED CL Communication Protocol Technical Information 11025584 104 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Auto steering Auto steering Guidance Commands Calculating the Wheel Angle EHPS Type 2 Automatic Steering System Diagram Curvature command Vehicle speed Steering angle sensor Steering cylinder Position sensor To facilitate the implementation of the PVED CL for auto steering or guidance it is designed to use 1SO11783 auto guide messages This means the PVED CL can easily be integrated with any GPS row guide or similar controller sending ISOBUS specific curvature commands The messages GuidanceSystemCommand and GuidanceMachineStatus are defined in the PVED CL Communication Protocol Technical Information 11025584 To position the wheels or the articulation a
73. al and any steering device movements within db will be ignored To utilize proportional control a steering device dead band db needs to be created If db is set a low value the main spool will effectively be operated as dead band jump control Responding to Flow Requests after Tolsout If the main spool has been set in neutral after Tolsout ms any flow request will cause the spool to immediately jump to the relevant spool position with no initial proportional dead band control Symbol Index Default Value range Tolsout 316 10 000 1 to 30 000 ms Magnetic Valves OFF Control Magnetic valves off delay time disables the magnetic valve bridge after a time specified in ms when the flow request is 0 otherwise it remains enabled This parameter is used when electrical energy consumption by the magnetic valve bridge in the PVED must be reduced or to resolve a steering control conflict between the OSP and the PVED CL implementing EHPS type 1 systems only The default value disables this functionality ie the magnetic valve bridge is enabled at all times The magnetic valve bridge is enabled when the PVED CL receives a non zero flow request Symbol Index Default Value range Magnetic valves Off delay time 315 30 000 1 to 30 000 ms Resolving a Steering Control Conflict On systems utilizing a PVED CL an EHPS valve an OSP a CAN or analogue steering device but no steering wheel angle senso
74. alve bridge is enabled at all times The magnetic valve bridge is enabled when the PVED CL receives a non zero flow request 82 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Closed Loop Symbol Index Default Value range Magnetic Valves Off delay time 315 30 000 1 to 30 000 ms Resolving a Steering Control Conflict On systems utilizing a PVED CL an EHPS valve an OSP a CAN or analogue steering device but no steering wheel angle sensor SASA EHPS type 1 the PVED CL has no means to detect that the steering wheel is being activated A steering conflict between OSP steering and steering device steering is thus possible To resolve this conflict set Tolsout to a value typically 50 ms 200 ms to disable the magnetic valve bridge when no flow request is being commanded with the steering device High Priority Steering Device Enable Disable Control The PVED functionality allows the user to dynamically enable or disable a steering device during operation from the cabin MMI via CAN bus This functionality enables e g an armrest device to be folded away for easy access to the cabin while the system operational to avoid the risk of unintended device activation when the user enters or leaves the cabin Another user scenario is to disable one or more lower priority steeri
75. ance as possible Faults on the following sensors can be configured to allow the PVED CL to enter reduced state e High Priority HP steering device faults e Low Priority LP steering device faults e Vehicle speed sensor faults Steered wheel angle sensor faults start i r Operation stat peration state fault related to ee HP steering device OR Reduced state LP steering device OR A Vehicle speed sensor OR Steered wheel angle sensor d Yes No Yes IS ga SWAReducadModeAlbwed OR VSReducedModeAlbwed OR HPSTLReducedModeAlbwed OR LPSTLReducedModeAlbwed TRUE Power off a No Reduced Steering Functionality The steering functionality in reduced state is dependent on which of the allowed faults are present as presented below High Priority Steering Device Fault HPSTDReducedModeAllowed parameter indicates to the PVED CL error handler that any fault related to the High priority steering device shall bring the PVED CL into reduced state and change the high priority steering device functionality as follows e High priority steering device disabled e High priority steering device enable not possible see High Priority Steering Device Enable Disable Control on page 83 Symbol Index Default Value range HPSTDReducedModeAllowed 64013 0 0 FALSE 255 TRUE The parameter controls both analogue and CAN based steering devices False infers that the
76. andle is in the middle or released position The default value is set twice the maximum deviation of most spring returned steering devices Lx Effect the inherent linearity between steering actuator speed and steering angle The set value is set down when slower cylinder speed at larger steering angles is required 11025583 Rev CA 11 Jan 2010 87 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Open Loop The default value will not effect the resulting relation Qm Limits the maximum cylinder speed for steering the vehicle in the right steering direction See set point transfer function above The default value is set equal to the inherent max port flow capacity of the valve and will therefore not have any effect Symbol Index Default Value range db 4y05 50 0 to 250 Lx Ay06 0 10 max regressive 0 linear to 10 max progressive Qm 4y07 1000 O to 1000 100 flow at CR or CL port Steering Sensitivity Select a Fixed Sensitivity Sensitivity is set individually for each program and can be either fixed or variable Variability can depend on vehicle speed steered wheel position or change of current device program Using variable sensitivity can increase comfort and drivability significantly and depending on the vehicle type and use the appropriate way to achieve the change might be different The PVED
77. as soon as the flow request is 0 No proportional spool movement will take place The spool will jump from neutral to either of the valve dead bands depending on a flow request The steering device dead band db has no impact for these Tolsout values Dead band Hold and Proportional Control Setting Tolsout between 21 and 30000 ms defines the maximum time where the main spool is either set on the valve dead band or controlled proportionally within the valve dead band granted that the flow request is 0 during this time After a flow request to either left or right port the main spool will be set on the respective left or right valve dead band Any steering device movement within the defined steering device dead band db will result in proportional main spool movement Proportional control will be allowed for Tolsout ms If the flow request has been 0 for Tolsout ms the main spool will be set in neutral and any steering device movements within db will be ignored To utilize proportional control a steering device dead band db needs to be created If db is set a low value the main spool will effectively be operated as dead band jump control Responding to Flow Requests after Tolsout If the main spool has been set in neutral after Tolsout ms any flow request will cause the spool to immediately jump to the relevant spool position with no initial proportional dead band control Symbol Index Default Value range Tolsout 4
78. ationOffset Main spool displacement offset which is subtracted from the detected spool set point which satisfies the output flow detected criterion Subtracting the offset from the detected spool set points results in the open loop software dead bands values XspCalibrationOffset is a parameter value and is used for both left and right spool direction XspCalibrationOffset parameters Symbol Index Default Value range XspCalibrationOffset 758 25 0 300 scaled main spool set points Xsp XspCalibrationOffset is a parameter value and not intended to be modified on each auto calibration invocation Valve auto calibration procedure The valve calibration procedure and how all involved parameters are used works as follows The procedure is showed for the right dead band only 30 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Installation A Steering actuator speed Steered wheel angle speed AYact dt Spool displacement 7 Xsp Compensate Xspr_1000 value 1 The main spool set point starts at XspStartSearch e AYact is calculated as the difference measured in TimeOutPeriod ms Every TimeOutPeriod ms the main spool set point is incremented by XspIncrementSize Step 1 is repeated until step 2 becomes valid 2 The measured AYact exceeds YactDiffThreshold The current Xsp is stored and deno
79. aulic Steering Version 1 38 Contents Dead band Hold and Proportional Control sesssssssssssecssssssccsssscssusecssseccssuseccsnscesssecsssueccsneecesseeesaneecesueeseeneeesaneessauss 78 Steering by High Priority Steering Device Closed Loop Steering by Low Priority Steering Device Open Loop Responding to Flow Requests after Tolsout 78 Magnetic Valves OFF Control ssccssseccseeeesees 78 Resolving a Steering Control CONFLICT essesccsssseccssscsssecssssteccssecesssecesssecessuseesssecesssecsssueccsseesssseeessneeessueessaeseccsneesssess 78 Steering by High Priority Steering Device Closed LOOP sssssssssscsssessesssescsnseessuseecsnsecrsneecesuseersuseessusecssuesssnseeesneetse 79 F nctionality Mee nesre EOE Ea aaa Aaa a aA eaaa EEA EEE RERE 79 AELE a AAEE EEE ENEE OAT E AEEA AOE AE A EN 80 Select the Control Principle 80 Acquire the Signals 81 Create the Set Point 81 Closing th LOOP sscsciscccassestsssesdssezonnaybacoseyeccnsnctonsucsaugacecvorovassscoaysscovenestuacchqasucnassussesdsennncansasincassaybanseetenduccauqucebieainsta coaysnensdegossaees 82 Eliminate Noise due to Frequent Pressure BUIIC Up sscsssssscsssseccssseccsssecesneessssscccsnecesusecssuccssueecesnsecssaeeesueccenseeeenseees 82 Magnetic Valves OFF Control esssssssscsssecsssessessseessneessee 82 Resolving a Steering Control Conflict sseccsseeceeee 83 High Priority Steering Device Enable Disa
80. be set equal to the negative equivalent Off 1y28 50 0 to 1000 0 0 100 0 of max port flow Cf 1y29 333 1 to 1000 See chapters Mapping Steering Signals Steering Actuator Sensor feedback from vehicle wheels and Steering Actuator Position to acquire steering actuator position Main Spool Dead band Control Function Tolsout maximum time where the main spool is allowed to be operated proportionally within the valve dead bands The main spool control range for this function can be seen on the Dead band Jump Control on page 55 This function is useful to eliminate frequent spool relocating events from its neutral to its dead band position and back so called jumps at low steering wheel speeds The flow request is 0 while moving the steering wheel within the defined steering wheel backlash range see Apply Backlash on page 44 54 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Open Loop Dead band Jump Control Set Tolsout lower than 21 ms to momentarily set the main spool in neutral as soon as the flow request is 0 No proportional main spool movement will take place The spool will jump from neutral to either of the valve dead bands depending on the flow request The backlash parameter has no impact for these Tolsout values Dead band Hold and Proportional Control Setting Tolsout between 21 and 30 000
81. ble e AD values for Neutral shall be between the AD values for left and right Steering Actuator Position Signal The steering actuator position signal can be mapped to either AD1 or AD2 Scaling parameters Max left and Max right are set respectively equal to the digital converted voltage at the left and right end lock position The third parameter Middle is normally set equal to the digital converted voltage when the steering actuator is set in the straight forward driving position The default values meet most analogue sensors with standard 0 5 to 4 5 signal span Analogue Input Drift Compensation A radiometric compensation algorithm has been implemented to ensure robustness of the checks even in situations where the Vext supply voltage fluctuates from 4 80 to 5 20 V DC Range checking is done on 11025583 Rev CA 11 Jan 2010 37 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Installation Symbol the compensated value Compensation is only required for analogue sensors without built in compensation hence sensors whose output is directly depending on the Vext supply supply voltage The objective is to reduce the risk of drift in calibration value as a result of aging or temperature of the electronic circuits To select compensation in PVED CL or not use parameter AnalogChannelCompensation Compensation can be applied to either input or both of them Index Defaul
82. ble Control 83 System REQUIFEIMEMES isis csscssesscicsssscesscanssonauestescinssenssotesarodujensesounssaustabevsnssansbeussbevedeniaaCosneaisenasssdsyisasschascdutensadeatsscbaasetteeleens 83 Device Diagnostic OPeratiOneaicsissassssssiscacsesscasssnsssnsssccnsosotsecasacnascjevecoasipnvssousgsvndsossdansssonsseabiecsdeesbicesaiecoustbasasougacuss eap nsasess 83 Enable or Disable Joystick Steering Device 11 84 Boot up State of Steering Device 1184 Getting the Actual Enable disable Status of the Device ssssssssssssssessesssessessnsssecesssssesccsssnseceesnsneeseensnseesesnnseeesess 84 Steering by Low Priority Steering Device Open LOOP ssssscsssssscssssscsseecssssseessseesesuecessuecessuseccsuseccsuceessuteccsnsessueeesenees 85 Functionality TEC seeccssseccsstscesseecessteccsseecesnseessnccesneecsenees 85 Select the Control Principle sscsesseisesccssssecsasgecsnsssannsecennsssacossggsanseecansuatsaesseanerednssessongsncnnse nstescenasssenabedstassagnuscontnasiesaieensasecetastecsnay 86 Acquire the Signals einna a A A NR 87 Set point Transfer Function 87 Steering Sensitivity Steering by Low Priority Steering Device Closed Loop Select a Fixed SeNsitivity eessseccssesscseseccsseesessseersneeesseeees 88 Select a Sensitivity with Relation to the Actuator POSitiOn sessssscsssssscssseesessecssnsscsssesessnseccsseecesuseessneessneecseneeessneess 89 Select a Sensitivity wi
83. cations expertise we work closely with our customers to ensure exceptional performance for a broad range of off highway vehicles We help OEMs around the world speed up system development reduce costs and bring vehicles to e Displays market faster Electrohydraulic Power Danfoss Your Strongest Partner in Mobile Hydraulics Steering Go to www powersolutions danfoss com for further product information e Electrohydraulics e Hydraulic Power Steering Wherever off highway vehicles are at work so is Danfoss e Integrated Systems We offer expert worldwide support for our customers ensuring the best possible solutions for outstanding performance And with an extensive network of Global Service Partners we also provide e Joysticks and Control Handles Microcontrollers and Please contact the Danfoss Power Solution representative nearest you Software Open Circuit Axial Piston Pumps Orbital Motors e PLUS 1 GUIDE Proportional Valves Sensors Steering Transit Mixer Drives Comatrol www comatrol com Local address Schwarzmiiller Inverter www schwarzmueller inverter com Turolla www turollaocg com Valmova www valmova com Hydro Gear www hydro gear com Daikin Sauer Danfoss www daikin sauer danfoss com Danfoss Danfoss Power Solutions US Company Power Solutions GmbH amp Co OHG 2800 East 13th Street Krokamp 35 Ames IA 50010 USA D 24539 Neum nster Germany Phone 1 515 239 6000
84. csissscsssssenesasesssscdevssssswasestnsccqnsnesonnbesstasauadesdendngstassugnssovendouditesasalesvtdqstisccnqustanseyesiescaqnadects 10 PV EDC EAA EE E A E A AREE ES 10 St TiC POSSIDItIESsinriiuranennn iei NEEE E E E i R TT EE Ta 10 Input Devices COntrollers sssesssccsssesssseesetsscessssssessenssesesssnsseeseessseesseonssesseesuseeseenssessecsusecessenssesessnsesessenseeeseesnseeeseenneeesees 10 POG ANS EEE EE EEE EE EE E AA E AA EEEE A EET 10 InterfacE OVER VIC Winni st a NEE A iR E N EEEE EER A ESTES AN ainia 11 Application Examples Wheel Loader Tractor CAN Interface POWOP Up ss isaisssdsesscacvsssesssanseveecvodonsceasctdseduonnassdassasenscecaseusenscoddsusesausbosenssanscisondzechscon cassssbcubotansddsbeandnondssosd nscenavenssieesdbsbasentenssdosase CAN bus Sensor Power Up Syn chronization ssssscssssssccssecssssecsssseccsseesssussecssecessuseecsueeessuecessuecssuesssneessneeessneeeesnseesse 12 CAN BUS Protocol iss cccssssccsssecsossscsnascccanssasussetenssssodcbesciegsanss tant eusveetczcutstdsbencabancoodan dtussapansscsenddesoasatecsus tard gavecsavestosnustebetecateuece 13 PVED GL IMmput Mtera CE sinnani a EENE ERA 13 Output tenace innne dia aieiai i E EA ra AN EEEE 13 BATTEN hie aaea aliesa chavcaucnasnnsasvadansniyatundeda eaaa Seara PEA Osee aoi Ee SEA SAAS Ea Ea e e N Eai Eaa N SANE O TIANA EKES N GEA 13 Actuator Position Sensor wld Functional Options OVErVieW sssssssssssssesssecsssecssscsssecssses
85. ctivating the Max input signal for activating the steering device into the left 1000 750 500 250 steering idevice into the right direction N U 750 1000 direction g Xstl Input signal 1 unit 0 1 of max activation Defaults db 0 Lx 0 Xysat 1000 YR 1000 7504 YL 1000 e g 500 F c a steering actuator at the left end lock position Left steering saturation 1000 P005 212E db Sets a dead band about the middle region of the signal The parameters prevent self steering caused by manufacturing deviations in the signal when the handle is in the middle or released position However db is normally set to zero for pot meter like steering devices The default value is set to serve pot meter like steering devices Lx Set the curve linearity The parameter is set down when the cylinder position is too far over steer for small steering angles or vice versa The optimum value for this parameter is closely related to e The inherent linearity between steering actuator position and signal e The inherent linearity between device handle angle and signal e The inherent over or under steer tendency of the vehicle when steering into curves e The default value will not effect the resulting relation YR YL The difference between the values of both parameter set the freedom of the steering actuator Normally YR is set equal at the right mechanical end lock YL is norma
86. d Symbol Index Default Value range Sse 5y09 1 Must be set at 3 StsO 5y10 1000 20 to 1200 Amplification of 0 2 to 12 00 Sts1 5y11 20 to StsO Sts2 5y12 20 to Sts1 Sts3 5y13 20 to Sts2 Sts4 5y14 20 to Sts3 Sts5 5y15 20 to Sts4 Vesm 5y16 500 1 0 1 km h to 1000 100 0 km h 108 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Auto steering Symbol Index Default Value range Please note the parameter dependency of Sts Magnetic Valves OFF Control See Mapping steering signals and J1939 Vehicle Speed to acquire Vehicle speed Magnetic valves off delay time Disables the magnetic valve bridge after a time specified in ms when the flow request is 0 otherwise it remains enabled This parameter is used when electrical energy consumption by the magnetic valve bridge in the PVED must be reduced or to resolve a steering control conflict between the OSP and the PVED CL implementing EHPS type 1 systems only The default value disables this functionality i e the magnetic valve bridge is enabled at all times The magnetic valve bridge is enabled when the PVED CL receives a non zero flow request Symbol Index Default Value range Magnetic valves Off delay time 515 30 000 1 to 30 000 ms Resolving a Steering Control Conflict On sys
87. default values may not be suitable for all valve types Valve calibration methods The PVED CL can be calibrated to a valve in three possible ways e Use conservative software dead band values e Manual software dead band calibration e Valve auto calibration Method 1 Conservative software dead band values This method does not require any specific sensor or measurement equipment The principle in this method is to set the open loop and closed loop software dead bands sufficiently low and high respectively and let these dead bands be valid for an entire series of valve units 1 The open loop dead bands are determined based on the minimum hydraulic dead band tolerances for a particular valve 2 The closed loop dead bands are determined by setting the ClosedLoopXspOffset parameter based on knowledge to the maximum hydraulic dead band tolerances for a particular valve and adding some margin to always have a correcting flow available Example Determine the general software dead bands for a series of PVED CL EH valve witha dynamic spool e All dead band values are in scaled spool position set points Xsp e From the Valve types overview on page 26 we get the minimum hydraulic dead band to 77 anda maximum hydraulic dead band equal to 108 e Xspl_0 and Xspr_0O are set to 70 to have a small overlap 7 to the minimum hydraulic dead band e To ensure enough flow for e g auto steering ClosedLoopXspOffset is set equal to the maxim
88. direction In case an opposite steering behavior is required YR must be set at the negative equivalent YL must be set at the positive equivalent The default value for YR and YL is set equal to the mechanical locks of the steering actuator and provides steering in the right direction Symbol Index Default Value range Lx 1y06 0 10 to 10 60 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Closed Loop Symbol Index Default Value range YR 1y07 1000 1000 to 1000 Yr 0 YL 1y08 1000 1000 to 1000 YI 0 Lx in quadrant 1 or 4 is located at 500 Yr 20 Lx 40 Lx in quadrant 2 or 3 is located at 500 YI 20 Lx 40 Closing the Loop YR and YL may not both be zero nor have same sign Feed forward This variable is used to feed the drivers steering intends forward to the valve It minimizes effectively lag in the steering actuator motion The feed forward has most effect when the system responds 80 to 90 of the exact intend This is accomplished by scaling steering wheel speed using the following parameter StrkVol scales the feed forward in order to get the specified number of steering wheel turns within the end locks It represents the stroke volume between the mechanical end locks in cm3 Kp must be temporarily set at zero to eliminate the closed loop contribution wh
89. e for activating the steering device y 250 a irae steering device into the left Z f pea os into the right directonor direction or CW CCW EET 1000 750 500 250 750 1000 Xstl input signal 1 unit 0 1 of Max activation Defaults db 50 Lx 0 Qm 1000 Sts 105 Saturation 1000 m CL port Y P005 210E Db Sets a dead band in the middle region of the steering input It prevents self steering caused by manufacturing deviations in the signal when the handle is in the middle or released position The default value is set twice the maximum deviation of most spring returned steering devices Lx Effect the inherent linearity between steering actuator speed and steering angle The set value is set down when slower cylinder speed at larger steering angles is required 11025583 Rev CA 11 Jan 2010 67 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Open Loop The default value will not effect the resulting relation Qm Limits the maximum cylinder speed for steering the vehicle in the right steering direction See set point transfer function above The default value is set equal to the inherent max port flow capacity of the valve and will therefore not have any effect Symbol Index Default Value range db 3y05 50 0 to 250 Lx 3y06 0 10 max regressive 0 linear to 10 ma
90. e 1000 to YsetFr The default value disables fast ramp down Tfr ly33 100 1 to 1000 ms Tfr shall be smaller than Tfo and less than 150 ms YAbortDownRamp 1y34 0 0 to 500 1 unit 0 1 of max flow The default value will force an down ramp abort at a slight reverse port flow request Typically YAbortDownRamp needs be increased to avoid unintentional down ramp aborts as this will infer a jerk on the driver The discontinuities in the progressive characteristic are located at 50 120 and 333 5 0 T at 25 12 0 T at 50 and 33 3 T at 75 of max port flow capacity Soft Cushion End stop Anti jerk Ramp Parameter Tuning Guide Tuning the parameters is an iterative process The following sequence may be useful when tuning a vehicle 1 Initial setting Set Tro to Set Tfr to Set YsetFr to 1000 Set Tra to 1 Set YabortThreshold to 500 2 Set the ramp down time Tfo to a start value e g 500 3 Decrease YsetFr from 1000 towards a smaller number Observe which value of YsetFr where the level of jerks starts to get worse to find the flow request range where ramping has an effect Optionally increase Tfr to optimize on the fast ramp down operation Tfr should not exceed 150 ms and always be smaller than Tfo 4 Adjust the ramp down time Tfo until at good anti jerk performance is achieved 5 Increase the ramp up time Tro to further improve the anti jerk performance Tro is typically smaller than Tfo 6 Fine tune th
91. e in operational reduced or calibration mode observe current mode in OperationStatus message to accept parameter changes Configure On reception of one or more SetParameter messages the contents are decoded and temporarily stored in RAM The PVED CL will send SetParameterResponse to verify the reception of each command Switching off the electric power to the PVED before committing the data will erase all parameter changes Attempts to write or read non existing parameters have no effect Commit to EEPROM On reception of a single CommitData message all RAM parameters are stored in EEPROM During this operation all parameters are range checked The commit procedure copying data from RAM to EEPROM will take 4 seconds to complete Committed parameters will first have any effect after the next boot up If power is disconnected before all parameters are stored in EEPROM the PVED will power up with the previous set of valid parameters Observe CommitDataResponse for information on commit process and success rate Program Transition Control The PVED CL can change steering program and thus steering behavior maximum 50 ms after reception of a Select Program command However before a new program is applied the PVED CL validates the system state for safe program transition System State The system state is defined by Variable Description Vehicle speed The vehicle shall drive slower or equal to a threshold value The PVED
92. e performance by experimenting with Tfr Tra and YsetFr Note that the largest jerks shall be tuned away with the ramp up time Tro and ramp down time Tfo 7 Finally the YAbortThrehold and Tra may be adjusted Consider how many steering wheel RPM is needed to abort the down ramp Secondly adjust Tra to reduce the jerk when aborting the down ramp Obviously Tra needs to be less than the down ramp time Tfo to get a faster steering response Typical values for Tra is 50 100 ms The above typical parameter settings may vary from vehicle to vehicle To prevent the steering actuator to hit the mechanical end lock with great speed the PVED is able to slow down the actuator speed when approaching the end lock electronically The red line in the figure below shows how the actuator is slowed down near the end lock position The black line in the figure below shows how port flow is reduced The steering actuator signal must be present in the PVED for this functionality to work 11025583 Rev CA 11 Jan 2010 53 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Open Loop Right end lock 1000 Yr Software end lock position e 750 7 N pon flow i a Steering actuator position command 500 E 2 A a 2507 3 u r B time gg o Fs 4 2 250 Defaults E Yl 1000 500 Yr 1000 Off 50 750 Cf 350 1000
93. e program for high Program subsets priority steering device lt Program selection gt MT Er Program rogram ASHE Progrant22 Program 21 L Program 20 At power up the lowest program number for each device is applied i e program 0 for steering wheel sensor program 20 for high priority steering device etc 18 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Configuration and Adjustment The program for a steering device becomes active as soon as the steering device is activated i e meets the set up criteria for when the PVED CL shall regard a steering device as being used for steering An overview of all program parameters can be found in appendix Program Parameters on page 124 Indexing Parameter Each parameter has a unique index Only one parameter can be accessed at a time The system parameter and steering device parameter indices are explicit and can be found in Appendix on page 120 The program parameters are organized in a matrix Each program parameter index for given program and for a given steering device can be derived as follows Parameter index Steering Device number Program index Program parameter sub index Number of programs per steering device Steering device Steering Device Number Program Index Steering wheel sensor SASA 1 0 9 Hi
94. e spool is out of control 13054 Main valve spool position signal is out of range 118 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Diagnostic amp Troubleshooting Internal PVED CL Error SPN 615 indicates that a critical PVED CL fault has happened The user must look up the EHPS error buffer to retrieve the EHPS error code and apply the table with PVED CL error codes to locate the error source The user shall locate the last entered error entry which is either the last error code before the No error code or the error code at the last error entry If the error buffer is filled up new error codes will overwrite the error code in the last error entry LED Diagnostic The PVED CL has a LED mounted at the connector side for low level diagnostic LED color PVED CL Operation PVED CL Status Status Black Off Not available No battery power is supplied to the PVED CL Orange Fault PVED CL is in fault state More information is available in DM1 CAN message Operational PVED CL is operational but no device has been selected Once a steering device is activated the LED changes to green Green Operational PVED CL is operational Reduced PVED CL is in reduced state Calibration PVED CL is operating in calibration mode Red Not available A critical PVED CL specific fault has happened PVED CL is in fail silent state silent di
95. e steering sensitivity is variable to vehicle speed The default value is set at the maximum speed of most applications Symbol Index Default Value range Vcap 706 25 5 to 120 L min StrkVol 707 600 100 to 8000 ccm Sse 1y09 1 Must be set at 3 StsO 1y10 400 20 to 1200 Sts1 1y11 400 Sts0 to 1200 Sts2 1y12 400 Sts1 to 1200 Sts3 1y13 400 Sts2 to 1200 Sts4 1y14 400 Sts3 to 1200 Sts5 1y15 400 Sts4 to 1200 Vesm 1y16 500 1 to 1000 0 0 to 100 0 km h Please note the parameter dependency of Sts Steering sensitivity of 400 equals to 4 00 steering wheel turns to move the steering actuator from YL to YR left to right end lock position See chapters Mapping a Steering Device on page 34 and J1939 Diagnostic Interface on page 115 to acquire vehicle speed Ramps Anti jerk Ramps are normally used to minimize jerk forces in machines with articulated steered steering systems In these steering systems the articulating masses can be instantly stopped by closing the valve oil flow An instant cylinder movement stop starts the articulating masses to oscillate until all kinetic energy is dispatched into heat by the shock valves or by the friction between wheels and ground Jerk is an inherent characteristic of articulated steered vehicles and cannot be completely removed However it is best minimized when the forces are monotonically reduced in magnitude To achieve this the EHPS software provides
96. e trial and error Example A value of 800 can be interpreted as allowing the spool to ramp down with a fast ramp for flow requests between maximum flow 1000 and 800 1000 of maximum flow Tfr This time defines the applied ramp time in the fast ramp down range It is defined as the ramp time from maximum flow to no flow This means that in practice the actual fast ramp down time is proportional to the fast ramp down range divided by 1000 Use this optimization criterion Ramp down as fast as possible for flow ranges where jerks are not significant Typical values are 1 50 ms The fast ramp down time shall always be less than the slow ramp down time Once the value is set it should not be adjusted anymore during further ramp parameter optimization YAbortDownRamp To come around the problem of slow steering response for large down ramp times especially if a sudden emergency change of direction is needed a slow down ramp can be aborted by requesting a flow in the opposite direction Once a slow down ramp is aborted an abort down ramp time Tra is applied Obviously Tra shall be significantly smaller than the slow down ramp to get any effect Tra is the ramp down time applied when the slow down ramp is aborted This rampdown time shall typically be much lower than the slow ramp down time Tfo in order to gain any increased steering responsiveness Typical value is half the value of Tfo or Tfh time if vehicle speed dependency is applied Sr
97. eate non linear spool characteristics Default is linear spool characteristic Xspr_1000 Right maximum port flow Port flow at this set point is equivalent to maximum valve capacity Vcap Parameter holding information about the maximum flow capacity of the valve ClosedLoopXspOffset Spool position offset which is added to spool position set point in closed loop mode only The offset ensures that the spool is always operated at a point where the valve outputs a flow The offset extends the software open loop dead bands to form closed loop dead bands as illustrated above Symbol Index Default Value range Xspl_O 737 185 250 to 0 for EH valve 350 to 0 for EHPS valve Lspl 702 0 10 to 10 max regressive to max progressive Xspl_1000 729 1000 1000 to 300 for EH valve 1000 to 400 for EHPS valve Xspr_0 738 185 0 to 250 for EH valve 0 to 350 for EHPS valve Lspr 703 0 10 to 10 max regressive to max progressive Xspr_1000 747 1000 300 to 1000 for EH valve 400 to 1000 for EHPS valve Vcap 706 25 5 to 120 5 to 120 L min ClosedLoopXspOffset 748 25 0 to 1000 0 to maximum spool stroke 11025583 Rev CA 11 Jan 2010 27 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Installation Valve interface parameters continued Symbol Index Default Value range ValveType 65121 1 1 EHPS valve 2 EH OSPE valve Note that the
98. ecssessseecssessssecsussessecsssscsseccusecsseeessessssessnessusessuesesseseuecsseeeuseesneesaseesse 117 Redundant Wheel Angle Sensor Values Deviate too much or CAN Sensor Set point Data out of System PAAIMISTRLS sess csescsncaisesiciusseusentalsccudesacssouecstnecessssuvasna esuesebuedesdtonGessoausensestansesuastabecdudshudssnaseedaaasaaavesdeccudenatesengivsneciaseadbeteats Program Parametets Steering Device Parameters 11025583 Rev CA 11 Jan 2010 7 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 General Information Definitions and Abbreviations Definitions and Abbreviations Term Description DTC Diagnostic Trouble Code ECU Electronic Control Unit EHPS Electro Hydraulic Power Steering MMI Man Machine Interface XID Extended Message Identifier PVED CL Proportional Valve Digital Closed Loop here the valve controller SPN Suspect Parameter Number Reference Documents Refering to Literature Reference PVED CL Communication Protocol version 1 38 11025584 Introduction to Electrohydraulic Steering F300 700 As operator comfort receives higher and higher focus along with higher demands for automation new technologies are necessary to take on this challenge The new technologies are using electro hydraulics combining hydraulic power with electronics and computer power Electro hydraulic
99. ect control of the main spool On reception of a SetSpoolPosition message see PVED CL Communication Protocol 11025584 the main spool can be commanded to a specific set point position Manual software dead band calibration can only be performed when the PVED CL is in calibration mode See section EnterCalibrationMode in PVED CL Communication Protocol 11025584 on how to run the PVED CL in calibration mode The procedure requires a service tool to set the PVED CL in calibration mode and to control the main spool set point The procedure is 1 Find the hydraulic dead band by gradually increasing the main spool set point in small steps 5 10 until steered wheel movement is observed Must be done for both left and right direction 2 Determine Xspl_0 and Xspr_0 by subtracting 10 25 from the detected hydraulic dead bands This shall ensure that the open loop dead bands are inside the hydraulic dead band with an over lap 3 The closed loop dead band values are calculated as the detected hydraulic dead band values plus some margin depending on the desired minimum correction flow Typical values are 20 30 fur ther out than the hydraulic dead band values 4 Xspl_1000 and Xspr_1000 are set to the respective maximum stroke for the valve see valves types overview The applied values are example values The optimum values are vehicle specific The result that can be achieved with manual calibration is also operator sensitive Manual valve calib
100. ed Set Sse to 1 to select the fixed sensitivity Sts0 Sets a gradient between steering angle and requested port flow Sts0 is normally set when max port flow defined by Qm is achieved at maximum steering device input This is calculated by the following function _ Qm 100 Sts 1000 db 68 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Open Loop The default value is a gradient matching maximum requested port flow to maximum port flow at the maximum steering angle Symbol Index Default Value range Sse 3y09 1 Must be set at 1 StsO 3y10 105 20 to 1200 Amplification of 0 2 to 12 00 Select a Sensitivity with Relation to the Actuator Position A steering sensitivity related to actuator position is normally chosen for increased directional stability for straightforward driving material handling The values amp correlation is normally closely related to the mechanical geometry between steering actuator and steered wheels of the individual vehicle The correlation is defined by 2 parameters The steering sensitivity between two table coordinates is found by linear interpolation The relation is equal for negative positions max Sts 1200 Sts saturates Yact Straight forward driving position Steering sensitivity Sts yact 40 End lock positio
101. ed before auto steering can be engaged The relation between dx and steering wheel rpm is dx 1 is equivalent to 1 4 rpm StwActivationTimeout The amount of time where immediate engaging auto steering is kept possible after dx getting lower than StwDxActivationThreshold Kept possible in this context means Without first requiring detection of SASA steering wheel position changes Symbol Index Default Value range StwDxActivationThreshold 64022 5 0 to 4095 StwActivationTimeout 64023 Ox7FFFFFFF 0 to Ox7FFFFFFF Default is also denoted disable value Time in ms 11025583 Rev CA 11 Jan 2010 109 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Auto steering A Warning It is recommended that the SASA disengage ability check is enabled in auto steering applications to reduce the risk of not being able to disengage auto steering with the steering wheel SASA Note that the check is not enabled by default 110 11025583 Rev CA 11 Jan 2010 Desf Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Reduced State Reduced State The PVED CL contains functionality that allows the system architect to set up a graceful degradation behavior if e g a sensor faults should occur The overall objective is to sustain the machine up time and to allow the driver to finish the mission with as much steering perform
102. ed is 0 kmph The time applies for both ports To gain the best performance the ramp up time shall be set larger than the inherent ramp up time of the main spool See Technical Data on page 24 Tfo Sets the ramp down time to close the valve from max to zero port flow when the vehicle speed is 0 kmph The time applies for both ports It has most effect when the ramp up time is set larger than the inherent ramp down time of the main spool See Technical Data on page 24 for these data 94 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Open Loop Trh Sets the ramp up time to open the valve from zero to max port flow when the vehicle speed is equal to Verm kmph The time applies for both ports To gain the best performance the ramp up time shall be set larger than the inherent ramp up time of the main spool See Technical Data on page 24 for these ramp times Tfh Sets the ramp down time to close the valve from max to zero port flow when the vehicle speed is equal to Verm kmph The time applies for both ports It has most effect when the ramp up time is set larger than the inherent ramp down time of the main spool See Technical Data on page 24 for these ramp times Verm Sets the region in kmph where ramp up Trh and ramp down Tfh time is variable to vehicle speed YsetFr Experience shows that ramping down f
103. eesccenseseeceessees 29 Valve auto calibration command ParAaMetels sccsssscccssecccseseecssecessseeccsneseesueesssuteccsneecesuecssaceeesaseceeneecssaseessueecteneeeeeee 30 Valve auto calibration ProCceCure ssscsssssccssssssssseesssessecsseessssssesnsecssssescssseessnseessnscecssseessaseeesasecsssucecssucessnseessnueeceuseessaeeesses 30 Suggested valve auto calibration command VAlUCS scsssccssseccssessccssecssseecesseccsnseessuseeesssecssaseeesuseessneeesuecsenseessee 31 Valve auto calibration Quick Quide escssscscsssecssssssssssecsssessssnsesssusecssuessssuseessuecessusecssuseessaceessusecssnseeessseessnscessnseescaseessneeeseee 32 Valve auto calibration ProceCure ssscsssssscsssscssssecsssssccssecssssseesssecsssseessssecssucesssseeccssecssaseeesasecsenseeccaneeesaseessnseecesseessaeeessas 32 Parameter tuning Orde rissscscscasicessescccssest2esdsessvecosateucesssansasecgausscedassasoceesobs4dcevusuasbiugctscbecgoavasdunsetctdsedgeancccsesusoasqsanaecgebusccsaseenes 32 Verification of auto calibration result stability sscsssecssssssccseccssesecsseccesseecssuesesssecsssussessneesssseesssueeessneesseneessneees 32 Verification of the open loop PerfOrMANCE ssscsssssccssessccssecsssessecssecsssseecssnecessseessseseesssecssaseeessseesssueeessneeesnseessaeeeesaneees 32 Verification of the closed loop PerfOrmManne secssssscssssssssssecsssescsnseessnesesssecssasecssnsessssseessssecesusecssnseesssueecenseeseaneeeesaeees 33 L
104. eessasecesuseessneeessasecseaseessneeeesaes 105 Closing the OOP sccsisisicissssazesesnssssconssctavensnatssccnnessennesessaacccnisconsdoisieasuansnsecchasundoseaasadeusgnisnechnducnbnsstaseeaseusaestesssnstass quanseebesestasanadete 106 Trimming th Sy Ste Meerane E A ARAR 106 Noise due to Frequent Pressure BUiIC Up ssscssssscsssssscsssescssseccsssecesasecssnesscuseessssecssnsesecasecessueeesusecessueecssneeseaseessaneeccaneess 107 Select a Fixed Sensitivity essssscssseccsssseccssssccseessssssccsseccssscessssecessuseccsnscessuccessuseccsuscessueesssueeessaecesueessneeessusecssaeeessneesesnseesse 107 Vehicle Speed Dependent Sensitivity ssscssssccsssessssssesssecsssnseccssessssueeessucessueesssuseecsneesssusecssueessuseessnseessuesessnseessaeeeseae 107 Magnetic Valves OFF COntrol ssssssssssssssecssssesssusecssnssssssseccsnsecssnessssnsecssasesssusecssaseeesaeccsneessusesssueessneesesuecssneeesueeesaneeeesnseees 109 Resolving a Steering Control CONFLICtK ssssccssecessseecsseescsseecssusecssuseecsuseessueesesusecsssscessuecessusecssaseecsusecssneeeecueessaseesse 109 SASA disengage ability ChECK sssssssssssccsseesssusecsssesccsssesssseecssnescsnseessuscsesuseccsnsesesuseessuecessueessuseessuccessusecssaeessueeessneesssnseees 109 REGUCE States E E 111 Reduced Steering FUNCtIONALItY sssscssseessssseccssessccuseccsseccssueeccsnsecssuccessusecssnsesesuseessuecessusesesusecssneesssuseccsnsesesueeessneeesenseees 111 High
105. enoid bridge in the PVED must be reduced or to remove a steering control conflict between the OSP and the PVED The default value disables this functionality i e the magnetic valve bridge is enabled at all times Generally the magnetic valve bridge is enabled when the PVED CL receives a non zero flow request Symbol Index Default Value range Magnetic valves off delay time 115 30 000 1 to 30 000 ms If Qm is set to 0 then the magnetic valve bridge will be disabled immediately when the SASA sensor is the selected device 11025583 Rev CA 11 Jan 2010 55 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Closed Loop Steering by Steering wheel Closed Loop Functionality Tree Closed loop steering by wheel steering is chosen when e The knob of the steering wheel must return in the same position for straight forward driving e Accurate steering sensitivity is required e Steering motion is required at extreme low steering wheel speeds Hold the steering actuator at a fixed position when steering wheel speed is zero A Warning Steering by steering wheel in closed loop mode shall only applied in systems with a PVED CL and an EHPS valve Using an OSP and an EH valve in closed loop is not a valid configuration and will lead to unpredictable closed loop performance The tree below illustrates the functional
106. ensor Analogue or CAN Mapping a Steering Device page 33 Redundant Feedback Analogue or CAN Mapping a Steering Device page 33 Steering wheel sensor SASA CAN Mapping a Steering Device page 33 Control principle Closed loop Page 60 Control principle Open loop Page 42 Vehicle Speed Dependent Sensitivity Page 55 62 Actuator Dependent Sensitivity Page 46 Anti Drift knob position control Page 68 Soft End Stop Page 55 Anti Jerk Fixed Ramps Page 48 Anti Jerk Speed Dependent Time Page 49 High Priority steering device Analogue or CAN Mapping a Steering Device page 33 Control principle Closed loop Page 97 Control principle Open loop Page 71 Vehicle Speed Dependent Sensitivity Page 76 Actuator Dependent Sensitivity Page 75 Soft End Stop Page 85 Anti Jerk Fixed Ramps Page 78 Anti Jerk Speed Dependent Time Page 79 Low Priority steering device Analogue or CAN Mapping a Steering Device page 33 Control principle Closed loop Page 114 Open loop Page 97 Vehicle Speed Dependent Sensitivity Page 101 Actuator Dependent Sensitivity Page 100 Soft End Stop Page 110 Anti Jerk Fixed Ramps Page 103 Anti Jerk Speed Dependent Time Page 104 Control principle High Priority set point controller GPS 1SO11798 CAN Mapping a Steering Device page 33 Control principle Closed loop Page 114 Vehicle Speed Dependent Sensitivity Page 12
107. eration from 100 toO0 km h U16 0 32000 0 799 Ve_0_to_100_time Fastest time in ms to acceleration from 0 to 100 km h 832 SensorSupplyVoltage Sensor supply voltage mV Read only 0 5100 833 Temperature Temperature measured on the PVED CL printed circuit 16 50 451 board in degrees C Read only 931 OperationTime The time PVED has been operating since the first boot U32 0 4294967295 v Unit 6 min Read only 932 Temperature histogram interval 1 Number of 6 minute ticks where the PVED CL is U32 0 4294967295 933 Temperature histogram interval 2 934 Temperature histogram interval 3 935 Temperature histogram interval 4 936 Temperature histogram interval 5 937 Temperature histogram interval 6 938 Temperature histogram interval 7 939 Temperature histogram interval 8 940 Temperature histogram interval 9 941 Temperature histogram interval 10 942 Temperature histogram interval 11 943 Temperature histogram interval 12 944 945 Temperature histogram interval 13 Temperature histogram interval 14 946 Temperature histogram interval 15 operating in temperature interval 1 lt 40 deg C 2 40 31 deg C 3 30 21 deg C 4 20 11 deg C 5 10 9 deg C 6 0 9 deg C 7 10 19 deg C 8 20 29 deg C 9 30 39 deg C 0 40 49 deg C 1 50 59 deg C 2 60 6
108. ering angle and requested port flow when the vehicle is driving at 12 50 of the speed defined by parameter Vesm Sts3 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving at 25 00 of the speed defined by parameter Vesm Sts4 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving at 50 00 of the speed defined by parameter Vesm Sts5 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving at 100 00 of the speed defined by parameter Vesm Vesm Sets the region where steering sensitivity is variable to vehicle speed Symbol Index Default Value range Sse 3y09 1 Must be set at 3 70 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Open Loop Symbol Index Default Value range StsO 3y10 105 20 to 1200 Amplification of 0 2 to 12 00 Sts1 3y11 90 20 to StsO Sts2 3y12 75 20 to Sts1 Sts3 3y13 60 20 to Sts2 Sts4 3y14 45 20 to Sts3 Sts5 3y15 30 20 to Sts4 Vesm 3y16 500 1 0 1 km h to 1000 100 0 km h Please note the parameter dependency of Sts See Mapping steering signals and J1939 Vehicle Speed to acquire Vehicle speed Ramps Anti Jerk Ramps are normally used to minimize jerk forces
109. es the absolute steering wheel position to the position of the steering actuator What makes the steering wheel drift Flow amp pressure saturation events that might occur during high steering wheel speeds combined with low steering ratios Applying different steering ratios when driving into and out a curve Only when variable steering ratio is active e Activating joystick steering and re activate steering wheel steering at a different actuator position from where the joystick initially was activated Steering wheel drift is compensated by manipulation of the present steering sensitivity Sts Kd Amplifies the steering wheel drift error The resulting value represents a request in changing the present steering sensitivity The default value disables the function Kc Limits the change in percentage of the present steering sensitivity The default value ensures that drift compensation is carried out beyond the notice of the driver Symbol Index Default Value range Kd ly31 0 0 to 200 Kc 1y30 10 0 to 20 gt If Sts 400 Kc 10 Sts ranges from 360 to 440 Eliminate Noise due to Frequent Pressure Build up Eliminating noise is accomplished by stopping the controller to respond to minor deviations between set point and current actuator position The spool inside the valve is set in neutral when the port flow command has been within a threshold value Qth for a given time Tclpout The spool is reacti
110. est minimized when the forces are monotonically reduced in magnitude To achieve this the EHPS software provides linear or non linear ramps which in effect creates an orifice across the main spool to tank by holding the valve open near its closing position until all kinetic energy is dispatched into heat for some time Ramps work on the valve spool set point Sr sets the method The ramp times can be disabled fixed or related to vehicle speed Set Sr to Oto select no ramps default 1 to select fixed ramp times or e 2 forspeed dependent ramp times The figure below shows the operation of ramps with fixed ramp times and illustrates different ramp scenarios Qr is the request port flow commanded with the steering wheel Qramp the ramp limited port flow and can be regarded as the result of the ramp function Qr Qramp eee Qr Requested port flow 1000 Qramp ramp port flow YsetFr YsetFr fast ramp down range 750 E 3 YAbortDownRamp 500 Up ramp Slow down ramp time 1 unit 0 1 of max port flow NG w vI vI o 6 6 Fast down ramp MOU A eee P005 205E 11025583 Rev CA 11 Jan 2010 91 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Open Loop Symbol Index Default Value range Sr 4y17 0 0 default Ramps with Fixed Ramp Times Sr Selects t
111. evices with spring return or for steering devices with a speed output This control principle keeps a fixed or variable relation between steering input and cylinder speed The control loop provides several parameters to transform positional information to port flow Cp selects the open loop control using parameter index 3y02 equal to 0 default Y selects the program and ranges from 0 and 9 66 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Open Loop Set point Transfer Function SseSts0 Sts1 Sts2 Sts3 Sts4 Sts5 Vesm ee f L Ve Vehicle Sr Lr Tro Tfo Lf speed Steering Trh Tfh YsetFr Tfr Toms L Yact Actuator sensitivity TAboitDownRamp Cf Off Tra Verm Yr YI position Transfer Ramp 10 ms Xstl Joystick L Port flow signal function function Onai Qm Lx db Ve Yact Vehicle 100 ms Actuator 10 ms speed position P005 207E Acquire the Signals See Mapping a Steering Device on page 34 on how to map the steering wheel sensor and steering wheel angle sensor The transfer function provides 3 parameters to transfer joystick inputs signal to requested port flow CR port 1000 Saturation Example db 100 Lx 10 ZT 750 Qm 750 25 Sts 116 ro Oo x A S 32 500 Max input signal Bs eae vs Max input signal for activating the ot ai i
112. factory results are obtained The PVED CL shall be powered cycled after an auto calibration before the new dead band parameters take effect The PVED CL closed loop performance can also be evaluated in calibration mode by issuing the SetFlow command To evaluate the smallest possible actuator speed set Requested Flow to 1 and apply Closed loop flow to spool position scaling See SetFlow in PVED CL Communication Protocol 11025584 Verification of auto calibration result stability Check that the calibration results can be reproduced repeatedly 10 20 times for a specific set of auto calibration command values The resulting parameters Xspr_O and Xspl_O should stay within XsplIncrementSize If repeatability is poor then adjust the auto calibration command values Typically YactDifffhreshold and XspCalibrationOffset are subject for tuning and needs to be increased Verification of the open loop performance Check that no unwanted steering actuator movement takes place while operating the PVED CL in open loop mode for e g variable steering ratio or joystick applications Verify that the steering actuator is not quivering in a steady state and that the steered wheels are not moving aggressively for small steering wheel or joystick inputs Both situations indicate no or a too small hydraulic dead band XspCalibrationOffset should be increased and auto calibration is repeated Secondly verify that the steering performance is
113. fault keeps the valve controller constantly enabled programs to be used for steering km h 10 TolsOut SIGNED16_ Time out value for main spool position variable at 116 316 416 516 1 30000 10 000 dead band in open loop control ms TclpOut SIGNED16_ Time out value for main spool position variable 117 317 417 517 1 30000 3000 between Valve opening threshold and dead band in closed loop control ms Qth SIGNED16 Valve Opening Threshold for main spool position 118 318 418 518 0 100 50 50 control in closed loop 50 0 Steering Motion SIGNED16 Active State speed threshold 119 319 419 519 0 2000 50 100 Threshold Detection of steering request with a steering device 100 10 of maximum activation speed 100 P_Ve_Transit_Threshold SIGNED16 Vehicle speed Threshold value to allow new 127 327 427 527 0 1000 50 126 11025583 Rev CA 11 Jan 2010 Dost Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 11025583 Rev CA 11 Jan 2010 127 Products we offer Danfoss Power Solutions is a global manufacturer and supplier of high quality hydraulic and electronic components We specialize in providing state of the art technology and solutions that Bent Axis Motors excel in the harsh operating conditions of the mobile off highway market Building on our extensive Closed Circuit Axial Piston Pumps and Motors appli
114. fault source and thus reduce system down time However not all unexpected system behavior can be traced via error codes E g a too low gain related parameter value may result in too slow steering actuation but this cannot be detected as a fault To rule out faults resulting from conflicting system and parameter settings the following trouble shooting steps are recommended e Check the list of typical faults first e Check the J1939 Diagnostic interface e Check the PVED CL LED diagnostic interface see LED Diagnostic on page 119 The table below contains symptoms and possible resolutions The PVED CL operation status is the status reflected in the CAN OperationStatus message see PVED CL Communication Protocol Technical Information 11025584 which is transmitted periodically on the CAN bus If the PVED CL operation status is not available on the CAN bus check the LED diagnostic interface see LED Diagnostic on page 119 Symptom PVED CL Operation Status Cause Solution No actuation with high or low priority steering device or external set point controllers Operational 1 No or insufficient pressure is supplied to the valve 2 No steering device is mapped 3 Parameter Qm set to 0 4 No or incorrect auto steering message from external set point controller 5 Spool sticks in neutral position Fault 1 No or missing signal from steering signals at the AD1 AD2 or CAN interface 2 Missing sensor signa
115. for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Open Loop Symbol Index Default Value range Vcap 706 25 5 to 120 L min StrkVol 707 600 100 to 8000 ccm Sse 1y09 1 Must be set at 2 StsO 1y10 400 20 to 1200 Sts1 1y11 See Mapping a Steering Device on page 34 Steering actuator Sensor feedback from vehicle wheels Steering actuator position to acquire steering actuator position Select a Sensitivity with Relation to Vehicle speed Variable steering sensitivity related to vehicle speed is normally used to optimize steering controllability at higher driving speeds The parameter values and correlation is normal closely related to the present vehicle dynamics of the individual vehicle model The correlation is defined by seven parameters All Sts parameters may be set equal to each other or monotonically increasing for higher vehicle speeds The steering sensitivity between two table coordinates is found by linear interpolation The relation is equal for negative speeds max Sts 1200 J Vesm 500 example Sts ye Saturates g Sts1 4000 07 Nn eer a p WN 1400 o 2 o oo fo i E 330 S99 g fan Wo Ao N J i s P QB 9 yy in APA A a 2 D360 2 7 U A i WY 340 i min Sts 20 L i l 0 100 200 300 400 500 600 700 800 900 1000 Ve Vehicle speed 1 unit 0 1 km h P005 204E Vcap holds inf
116. g device Symbol Index Default Value range db 3y05 0 0 0 to 250 0 0 to 25 0 of max activation in the right steering direction Lx 3y06 0 10 to 10 10 max regress 0 linear 10 max progress YR 3y07 1000 1000 to 1000 YL 3y08 1000 1000 to 1000 Yxsat 3y03 1000 251 to 1000 Parameter Yxsat db amp Lx have same value in quadrant 2 amp 3 Lx in quadrant 1 or 4 is located at Xysat db 2 YR 20 Lx 40 Lx in quadrant 2 or 3 is located at Xysat db 2 YL 20 Lx 40 Closing the Loop Kp Amplifies the error between set point and current position The optimum value for Kp is found when a non lagging accurate non oscillating steering actuation without overshoot is achieved at extreme low and high oil viscosities as specified in chapter robustness to changes sin dead times and at low and near max steering pressure when driving at low high vehicle speed and reversed gear robustness to changes in damping amp dead times Moreover Kp is closely related to valve capacity stroke volume See section Steady State Error on page 61 for information on accuracy The default value fits to steering systems with a lock to lock time of 2 seconds at max port flow Qm Sets the maximum port flow It effects the speed of the steering actuator to move towards the set point position Negative values of Qm are interpreted as the positive equivalent The default value is set equal to the inherent max port fl
117. g wheel speed 1 unit 0 1 of Max activation P005 203E Lx affects the inherent linearity between steering actuator speed and steering wheel speed The set value affects the linearity of a second order function Increase Lx to achieve slower cylinder speed at low 44 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Open Loop steering wheel RPMs and consequently higher cylinder speeds at higher steering wheel RPMs The default value gives a linear relationship between steering wheel RPM and cylinder speed Qm sets the maximum port flow It defines the maximum achievable cylinder speed for steering left and right The default value is set to maximum flow and thus dependent on the maximum flow of the applied valve Symbol Index Default Value range Lx 1y06 0 10 max regressive 0 linear to 10 max progressive Qm 1y27 1000 0 to 1000 100 flow at CL or CR port Steering Sensitivity Select a Fixed Sensitivity Sensitivity is set individually for each program and can be either fixed or variable Sensitivity can depend on vehicle speed steered wheel position or change of current device program Using variable sensitivity can increase comfort and controllability significantly and depending on the vehicle type and use the appropriate way to achieve the change might be different The PVED
118. ge 10237 Redundant wheel angle CAN sensor set point exceeds the valid range 10238 External CAN set point generator curvature or spool position set point exceeds the valid range Steering Wheel Speed Plausibility Check Failure SPN 613 indicates an abnormal steering wheel activation i e the measured rpm exceeds 600 rpm Vehicle Speed CAN Sensor Data Plausibility Check Failure SPN 84 indicates that the vehicle speed sensor data is invalid SPN PVED CL Possible root cause Error Code 84 10217 Vehicle speed CAN sensor message period exceeds 150 ms 10228 Vehicle speed CAN sensor messages are missing Power Supply Voltage SPN 627 indicates that the battery voltage supply is either below 9V or has exceeded 32V Sensor Supply Voltage SPN 1079 indicated that the regulated 5V supply for external sensors is out of range This could be due to a short circuit overload or an internal PVED CL hardware fault Loss of Main Spool Control or Spool Position Plausibility Check Failure SPN 614 indicates that the main valve spool is out of control This may be caused by an incorrect sensor mapping i e if a SASA sensor is not mapped as present and the steering wheel is activated simultaneously with e g a joystick Secondly it may indicate that the spool position signal is out of range Subsequently the fault my also be traced to a PVED CL hardware error SPN PVED CL Possible root cause Error Code 614 13053 Main valv
119. gh priority steering device 3 0 4 Low priority steering device 4 0 4 High priority set point controller 5 0 4 The program parameter sub index is the two last digits in program parameters in appendix Program Parameters on page 124 What is the program parameter index for Steering sensitivity selector Sse for the steering wheel program 4 Steri Description of parameters High priority device COO e f m so Control pnnaple 3x2 Ssturstion of Y at input X 3305 Steemng wheel backlash 3304 u je ja C e fe e OOOO e o Left position imit 338 Ss us Steering sensitivity selector C se A 1509 3309 Steering wheel device is defined as device number 1 The index for program number 4 is derived by substituting x with 4 i e the index is 1409 Sse for high priority steering device program 1 is 3109 etc Default program index for steering devices is 0 11025583 Rev CA 11 Jan 2010 19 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Configuration and Adjustment Reading and Writing Parameters Configuring the PVED CL by means of setting parameters and reading parameters is done via a J1939 CAN bus using proprietary PGN 61184 The configuration command set is described in PVED CL Communication Protocol 11025584 The following steps are needed to change a parameter Variable Description Power up PVED CL The PVED CL shall b
120. h Vehicle speed Select a Fixed Steering Sensitivity Sse selects between a fixed steering sensitivity variable to steering actuator position or vehicle speed Set Sse to 1 to select the fixed sensitivity StsO set the steering ratio This value should provide sufficient directional stability at all vehicle speeds The default value is set at a steering ratio most used Symbol Index Default Value range Sse 1y09 1 Must be set at 1 StsO 1y10 400 20 to1200 A steering ratio of 400 equals to 4 00 steering wheel turns to move the steering actuator from YL to YR left to right end lock position Select a Sensitivity with Relation to Vehicle Speed Variable steering sensitivity related to vehicle speed is normally used to optimize steering controllability at higher driving speeds The values amp correlation is normal closely related to the present vehicle dynamics of the individual vehicle model 58 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Closed Loop The correlation is defined by seven parameters All Sts parameters may be set equal to each other or monotonically rising for higher vehicle speeds The steering sensitivity between two table coordinates is found by linear interpolation The relation is equal for negative speeds max Sts 1200 lt Vesm 500 420 example
121. he default value is a gradient matching maximum requested port flow to maximum port flow at the maximum steering angle Symbol Index Default Value range Sse 4y09 1 Must be set at 1 StsO 4y10 105 20 to 1200 Amplification of 0 2 to 12 00 Select a Sensitivity with Relation to the Actuator Position A steering sensitivity related to actuator position is normally chosen for increased directional stability for straightforward driving for e g material handling The values and correlation is normally closely related to the mechanical geometry between steering actuator and steered wheels of the individual vehicle The correlation is defined by two parameters The steering sensitivity between two table coordinates is found by linear interpolation The relation is equal for negative positions max Sts 1200 Sts saturates Yact 80 60 Straight forward driving position Steering sensitivity Sts yact 40 End lock position A 0 100 200 300 400 500 600 700 800 900 1000 min Sts 20 Yact Steering actuator position 1 unit 0 1 of max position P005 098E Sse selects between a fixed steering sensitivity variable to steering actuator position or vehicle speed Set Sse to 2 to select the sensitivity related to steering actuator position Sts0 sets the linear gradient between steering angle and requested port flow for steering straightforward When the steering actuator signa
122. he ramp type The ramp function can be disabled fixed or related to vehicle speed Set Sr to 1 to select fixed ramps Lr Sets the linearity of the ramp up curve The default value is a linear ramp Lf Sets the linearity of the slow ramp down curve The default value is a linear ramp Tro Sets the ramp up time to open the valve from zero to max port flow The time applies for both ports To gain the best performance the ramp up time shall be set larger than the inherent ramp up time of the main spool See Technical Data on page 24 for these ramp times Tfo Sets the ramp down time to close the valve from max to zero port flow The time applies for both ports It has most effect when the ramp up time is set larger than the inherent ramp down time of the main spool See Technical Data on page 24 for these ramp times YsetFr Experience shows that ramping down from maximum flow towards medium flows do not cause as much jerk as ramping down from medium flows towards no flow close to the valve dead bands In order to expedite the ramping at large flows a flow range can be set up where the spool can move faster down to a flow range where the slow down ramp is active The overall goal with the parameter is too optimize steering response time without degrading the anti jerk performance Set up fast ramp down time Tfr before tuning this parameter Setting YsetFr to 1000 eliminates the effect of the fast ramp down Typical settings are 500 800 Us
123. heel sensor SASA shall be installed and mapped The wheels shall be positioned in the straight ahead position 25 of the max angle in one direction prior to invoking valve auto calibration 6 Auto calibration shall be performed while the wheels are on an even and solid surface No front load or front attachment shall be mounted wu AWN 7 Parameter configuration is not possible during the auto calibration procedures Any attempt to read or write parameters is ignored 11025583 Rev CA 11 Jan 2010 29 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Installation Valve auto calibration command parameters See section StartValveAutoCalibration in PVED CL Communication Protocol 11025584 on how to format the command and for detailed status error code information Valve auto calibration command parameters Command Description XspStartSearch Sets the starting main spool set point Values close to 0 will include more of the hydraulic dead band in the search and thus consume more time Setting the value closer to a main spool position where flow is expected will speed up the calibration time The starting main spool set point is used for both the left and right direction XspIncrementSize The main spool set point increment size defines the step that the algorithm is using in each iteration As a consequence it defines the resolution of the calibration result
124. iagnostic on page 119 Available J1939 Diagnostic Trouble Codes SPN Description Lamp FMI cM oc Corresponding Status PVED CL Error Code 1083 AD1 short circuit to GND Red Amber 4 0 Yes 10106 1083 AD1 short circuit to VCC 3 0 Yes 10108 1084 AD2 short circuit to GND 4 0 Yes 10107 1084 AD2 short circuit to VCC 3 0 Yes 10109 611 Missing sensor set points 14 0 Yes 10210 10212 10215 10218 10221 10223 10226 10229 10231 612 Redundant wheel angle sensor values deviate too 14 0 Yes 10104 10105 10232 much or CAN sensor set point data out of range 10234 10238 613 Steering wheel speed plausibility check failure Red 14 0 Yes 13063 84 Vehicle speed CAN sensor data plausibility check Red Amber 12 0 Yes 10217 failure 10228 627 Power supply voltage below min threshold value Red 4 0 Yes 13030 627 Power supply voltage exceeds max threshold value 3 0 Yes 13031 1079 Sensor supply voltage below min threshold value 4 0 Yes 13032 1079 Sensor supply voltage exceeds max threshold value 3 0 Yes 13033 614 Loss of main spool control or spool position 14 0 Yes 13053 13054 plausibility check failure 615 1 Vehicle speed CAN sensor data plausibility check Red Amber 14 0 Yes 13064 failure 615 2 Internal PVED CL error any other classified as Red 14 0 Yes any other classified as critical critical 116 11025583 Rev CA 11 Jan 2010 Devt Operation Man
125. id Spool or piston valve bridge Feedback signal Inductive Transducer LVDT Linear Variable Differential Transformer Set point Spool pos When the main spool is moved a voltage proportional to the spool position is induced The use of LVDT gives contact less monitoring of the main spool position This means an extra long working life and no limitation as regards the type of hydraulic fluid used In addition LVDT gives a precise position signal of high resolution Integrated Pulse Width Modulation Positioning of the main spool in the PVED CL is based on the pulse width modulation principle LED A three color LED on the top of the PVED provides high dependable information of 4 basic states of the electronic hardware Inactive No electric power Green The PVED controls the spool movement inside the valve Yellow The magnetic valves are temporary disabled due to the power saving feature or until the PVED is operated The magnetic valves can also permanently be disabled due to a major fault in the PVED or wrong signal reception The CAN bus communication is still operational for diagnostics according to protocol definition The spool position control is disabled Red The PVED has detected a critical fault or inconsistency and has executed a failed silent procedure The spool position controller Magnetic valves is disabled CAN is disabled for diagnostics 22 11025583 Rev CA 11 Jan 2010 Denpi
126. ile tuning Tuning is finished when the number of steering wheel turns from lock to lock is at 80 to 90 of the turns specified If 4 turns was specified the number of turns should be between 4 4 and 4 8 Steady State Error Since the steering actuator acts as a free integral and the dead band in the valve is compensated in software the loop does not necessarily include a second integrate term to achieve accuracy The controller in EHPS software has therefore only a proportional term which keeps tuning relatively simple To achieve steady state accuracy e The difference between the location of spool dead band specified in the spool compensation function in the EHPS software and the true locations should be as little as possible e The amount of internal leakage at all potential locations between cylinder and valve and its dependency on steering pressure should be as little as possible e The amount of backlash in the feedback signal Extreme care must be taken when an actuator position sensor is installed The controller has proofed repeatable steady state accuracy at 1 of the full control region Proportional Band In order to acquire open loop steering characteristics like absences of stability problems and lag the available proportional band for the controller is variable to steering wheel speed as shown in the figure below 11025583 Rev CA 11 Jan 2010 61 Denpi Operation Manual PVED CL Controller for Electro
127. imes Open loop sensisitivity related to vehicle speed with ramp times related to vehicle speed Open loop sensisitivity related to vehicle speed no ramp times applied Closed loop fixed sensisitivity Closed loop sensisitivity related to vehicle speed Sensitivity means number of revolutions on steering wheel from lock to lock 2 For safety reasons an anti wind up function prevents the steering actuator to lag behind the drivers steering intends The function is typically needed when not enough flow is supplied to the steering 56 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Closed Loop Select the Control Principle system at high steering wheel speeds combined with a low steering ratio or when not enough pressure is provided when the driver steers against a high resistance Under these conditions and without effective measures it might significantly reduce the ability to steer the vehicle at higher speeds The anti wind up function operates continuously and will limit the set point when commanded port flow exceeds the max flow capacity of the valve These events always increase the number of steering wheel turn from lock to lock Block diagram closed loop steering wheel steering Sse Sts0 Sts1 Sts2 Sts3 Sts4 Sts5 Vesm Kd Ke 100 ms Vehicle Steering Anti
128. in machines with articulated steered steering systems In these steering systems the articulating masses can be instantly stopped by closing the valve oil flow An instant cylinder movement stop starts the articulating masses to oscillate until all kinetic energy is dispatched into heat by the shock valves or by the friction between wheels and ground Jerk is an inherent characteristic of articulated steered vehicles and cannot be completely removed However it is best minimized when the forces are monotonically reduced in magnitude To achieve this the EHPS software provides linear or non linear ramps which in effect creates an orifice across the main spool to tank by holding the valve open near its closing position until all kinetic energy is dispatched into heat for some time Ramps work on the valve spool set point Sr sets the method The ramp times can be disabled fixed or related to vehicle speed Set Sr to 0 to select no ramps Default 1 to select fixed ramp times or 2 for speed dependent ramp times Symbol Index Default Value range Sr 3y17 0 Must be set at 0 The below figure shows the operation of ramps with fixed ramp times and illustrates different ramp scenarios Qr is the request port flow commanded with the high priority steering device Qramp the ramp limited port flow and can be regarded as the result of the ramp function Qr Qramp eee Qr Requested port flow Qramp ramp port flow
129. inear ramp Tro Sets the ramp up time to open the valve from zero to max port flow when the vehicle speed is 0 kmph The time applies for both ports To gain the best performance the ramp up time shall be set larger than the inherent ramp up time of the main spool See Technical Data on page 24 for these ramp times Tfo Sets the ramp down time to close the valve from max to zero port flow when the vehicle speed is 0 kmph The time applies for both ports It has most effect when the ramp up time is set larger than the inherent ramp down time of the main spool See Technical Data on page 24 for these ramp times 11025583 Rev CA 11 Jan 2010 51 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Open Loop Trh Sets the ramp up time to open the valve from zero to max port flow when the vehicle speed is equal to Verm kmph The time applies for both ports To gain the best performance the ramp up time shall be set larger than the inherent ramp up time of the main spool See Technical Data on page 24 for these ramp times Tfh Sets the ramp down time to close the valve from max to zero port flow when the vehicle speed is equal to Verm kmph The time applies for both ports It has most effect when the ramp up time is set larger than the inherent ramp down time of the main spool See Technical Data on page 24 for these ramp times Verm Sets the region in kmph
130. ing angle and requested port flow when the vehicle is driving at 100 00 of the speed defined by parameter Vesm Vesm Sets the region where steering sensitivity is variable to vehicle speed Symbol Index Default Value range Sse 4y09 1 Must be set at 3 90 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Open Loop Symbol Index Default Value range StsO 4y10 105 20 to 1200 Amplification of 0 2 to 12 00 Sts1 4y11 90 20 to StsO Sts2 4y12 75 20 to Sts1 Sts3 4y13 60 20 to Sts2 Sts4 4y14 45 20 to Sts3 Sts5 4y15 30 20 to Sts4 Vesm 4y16 500 1 0 1 km h to 1000 100 0 km h Please note the parameter dependency of Sts See Mapping steering signals and J1939 Vehicle Speed to acquire Vehicle speed Ramps Anti jerk Ramps are normally used to minimize jerk forces in machines with articulated steered steering systems In these steering systems the articulating masses can be instantly stopped by closing the valve oil flow An instant cylinder movement stop starts the articulating masses to oscillate until all kinetic energy is dispatched into heat by the shock valves or by the friction between wheels and ground Jerk is an inherent characteristic of articulated steered vehicles and cannot be completely removed However it is b
131. ion Mapping a Steering Device Xspl_1000 have values close the default values 30 for the applied valve See Xsp maximum spool displacement in table Valve types overview on page 26 Check for severe noise levels from the analogue wheel angle sensor The wheel angle sensor AD noise shall not exceed 4 counts when observed via Status set 1 see Status in PVED CL Communication Protocol 11025584 High noise levels will increase the likelihood of interpreting noise as steered wheel movement Furthermore repeatability may be poor All the above mentioned functionality must be activated by mapping or Setting Present the individual steering devices This means appropriate parameters must be set to the right values as shown in the table below This is done as mentioned in Reading and Writing Parameters on page 20 The default settings mean a PVED CL with power on a CAN Steering Wheel Sensor and an analogue joystick physically connected will not interpret any of these inputs until the mapping is done CAN sensor messages are ignored and so are the voltage inputs on the AD pins Steering Device Signals Index Default Mapping Set Value Steering wheel angle signal Priority 1 65101 0 0 not present 255 present on CAN High priority steering device Priority 2 Low priority steering device Priority 3 65102 0 0 not present 1 present at AD1 2 present at AD2 4 present at CAN 65103 0 0 not pre
132. ion and back so called jumps at small flow requests The flow request is 0 while moving the high priority steering device within the steering device dead band db see Set point Transfer Function on page 44 11025583 Rev CA 11 Jan 2010 77 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Open Loop Spool Dead band Hold Control Function Dead band Jump Control Set Tolsout lower than 21 ms to momentarily set the main spool in neutral as soon as the flow request is 0 No proportional spool movement will take place The spool will jump from neutral to either of the valve dead bands depending on a flow request The steering device dead band db has no impact for these Tolsout values Dead band Hold and Proportional Control Setting Tolsout between 21 and 30000 ms defines the maximum time where the main spool is either set on the valve dead band or controlled proportionally within the valve dead band granted that the flow request is 0 during this time After a flow request to either left or right port the main spool will be set on the respective left or right valve dead band Any steering device movement within the defined steering device dead band db will result in proportional main spool movement Proportional control will be allowed for Tolsout ms If the flow request has been 0 for Tolsout ms the main spool will be set in neutr
133. ionality Soft stop at cylinder end positions Variable steering ratio fixed mode Lower steering ratio during a load cycle High steering ratio during a transport cycle Variable steering ratio speed dependant The higher driving speed the higher the steering ratio Joystick steering Graceful degradation operation in reduced mode Allow faults to partly shut down of steering functionality to maximize system performance for the rest of the mission Other articulated vehicles can have similar advantages 11025583 Rev CA 11 Jan 2010 11 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 General Information CAN Interface Tractor e Auto guidance with GPS laser or row guidance controllers e Variable steering ratio actuator dependant Lower steering ratio during load cycle e Variable steering ratio speed dependant The higher driving speed the higher ratio e Plug and perform GPS control Storing the machine parameters in the PVED CL allows a GPS controller to be moved between various machines without re adjusting the machine parameters Automated steering is the next step in automating the field work on farms The automated steering gives the following advantages e Longer operation time e Ensures that the machine works optimally minimal waste Bus Architecture Considerations It is recommended to install the steering system on
134. ity available in the PVED CL for closed loop steering wheel steering The manufacturing default is found by following the red line Following the instructions in this chapter can of course modify it The switches in the tree are used to select the functionality required In case different functionalities are required the EHPS software provides multiple programs for each steering device Channel mapping switch switches gt No signal 0 CAN 255 default Program number Y 4 3 Control principle switch Sensitivity switch 4 Ramp switch Fixed Sr 1 Var Sr 2 No Sr 0N Fixed Related to Sr 1 position of Var steering a sre Sse 2 No Sr 0N Related to vehicle speed Open loop Cp 0 ar Fixed Sr 1 Var _ Sr 2 No Sr 0N Fixed Closed loop Sse 1 Cp 255 Related to vehicle speed Sse 3 Open loop fixed sensisitivity with fixed ramp times Open loop fixed sensisitivity with variable ramp times as function to vehicle speed Open loop fixed sensisitivity with no ramps applied Open loop sensisitivity related to steering actuator position with fixed ramp times Open loop sensisitivity as function to steering actuator position with variable ramp times related to vehicle speed Open loop sensisitivity related to steering actuator position no ramps applied Open loop sensisitivity related to vehicle speed with fixed ramp t
135. l see J7939 Diagnostic Interface on page 115 2 PVED CL expects a different baud rate at network 3 Insufficient electrical power supply to the PVED CL 114 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Diagnostic amp Troubleshooting Symptom PVED CL Operation Status Cause Solution 4 PVED CL has suffered a internal critical error No status available 1 CAN bus not operational Check connection 2 No electric power supply 3 PVED CL is damaged see LED Diagnostic on page 119 Opposite actuation Operational 1 Hoses between valve and steering actuator are swapped 2 Steering wheel angle sensor and possibly OSP is incorrectly installed 3 Steering device input transfer function is mirrored 4 The InvertInputSignal program parameter is set incorrectly see page 127 5 The ValveType parameter is set incorrectly see page 124 6 Steered wheel sensor outputs a constant valid voltage value closed loop Slow actuation responds delays Operational 1 Air is trapped in the steering actuator or hoses 2 Oil has high viscosity Make sure to apply to the technical requirements listed in Technical Data on page 24 3 The requested pressure is supplied with some delay Pump Self steering Operational 1 The parameters Xspr_0 and Xspl_0 in the PVED CL are not correctly set relati
136. l unintentionally is not mapped StsO will be constantly used since variable Yact remains 0 Sts1 sets the linear gradient between steering angle and requested port flow for steering at the minimum turning radius Symbol Index Default Value range Sse 4y09 1 Must be set at 2 StsO 4y10 105 20 to 1200 Amplification of 0 2 to 12 00 Sts1 4y11 90 20 to 1200 See chapter Mapping steering signals Steering actuator Sensor feedback from vehicle wheels and Steering actuator position to acquire steering actuator position 11025583 Rev CA 11 Jan 2010 89 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Open Loop Select a Sensitivity with Relation to Vehicle speed Variable steering sensitivity related to vehicle speed is normally used to optimize directional stability automatically and beyond the notice of the driver The values and correlation is normally close related to the present vehicle dynamics of the individual vehicle model The Sts value is used to amplify the input signal as described in Set point Transfer Function on page 87 The correlation is defined by seven parameters All Sts parameters may be set equal to each other or set monotonically falling for increasing vehicle speeds The steering sensitivity between two table coordinates is found by linear interpolation The relation is equal for negati
137. linear or non linear ramps which in effect creates an orifice across the main spool to tank by holding the valve open near its closing position until all kinetic energy is dispatched into heat for some time Ramps work on the valve spool set point Ramps with Fixed Ramp Times Sr sets the method The ramp times can be disabled fixed or related to vehicle speed Set Sr to Oto select no ramps default e 1 to select fixed ramp times or e 2for speed dependent ramp times Symbol Index Default Value range Sr 1y17 0 0 default The figure below shows the operation of ramps with fixed ramp times and illustrates different ramp scenarios Qr is the request port flow commanded with the steering wheel Qramp the ramp limited port flow and can be regarded as the result of the ramp function 48 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Open Loop Qr Qramp ee Qr Requested port flow Qramp ramp port flow YsetFr YsetFr fast ramp down range 750 a YAbortDownRamp 500 Up ramp Slow down ramp 1 unit 0 1 of max port flow 0 ye __ time 250 Abort down ramp 500 Slow down ramp 750 Fast down ramp K000 Rne a eee eee P005 205E Sr Selects the ramp type The ramp function can be disabled fixed or related to vehicle speed Set Sr to 1 to select fixed ra
138. lizing this signal will continue to work while by passing the functionality using the steered wheel angle sensor signal SWAReducedModeAllowed parameter indicates to the PVED CL error handler that any fault related to the steered wheel angle sensor shall bring the PVED CL into reduced state and change steering functionality as follows 112 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Reduced State Soft stop functionality is by passed e Actuator dependent steering sensitivity is by passed e Closed loop control with any steering device or external set point controller is not possible Symbol Index Default Value range SWAReducedModeAllowed 64011 0 0 FALSE 255 TRUE False infers that the PVED CL will enter fault state if a fault occurs The steered wheel angle sensor faults that can trigger reduced state can be found in J1939 Diagnostic Interface on page 115 11025583 Rev CA 11 Jan 2010 113 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Diagnostic amp Troubleshooting Diagnostic Troubleshooting Typical Fault Sources Any detected fault will bring the PVED CL in reduced state or fail safe state Fail safe state infers that the magnetic bridge is disabled and no pilot flow from the PVED CL controls the valve A fault that brings the PVED CL in f
139. llowing tasks e CAN messages The PVED hardware is compatible to CAN 2 0B e Converting two analogue input voltages between 0 and 5V to digital signals 10 bit e Executing the steering software amp monitoring for discrepancies with fixed time intervals e Output the main spool position setpoint Controlling the LED color Solenoid Valve Bridge The PVED CL features an integrated feedback transducer that measures spool movement in relation to the input signal from the main micro controller and by means of a solenoid valve bridge controls the direction velocity and position of the main spool of the valve The integrated electronics compensate for 11025583 Rev CA 11 Jan 2010 21 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Configuration and Adjustment flow forces on the spool internal leakage changes in oil viscosity pilot pressure etc This results in lower hysteresis and better resolution Control Principle In principle the input signal set point signal determines the level of pilot pressure which moves the main spool The position of the main spool is sensed in the LVDT transducer which generates an electric feedback signal registered by the electronics The variation between the set point signal and feedback signal activates the solenoid valves The solenoid valves are actuated so that hydraulic pressure drives the main spool into the correct position Soleno
140. lly set equal to the left mechanical end lock This results in steering to the right direction In case an opposite steering behavior is required YR must be set at the negative equivalent and YL must be set at the positive equivalent See example The default value for YR and YL is set equal to the mechanical locks of the steering actuator resulting in the vehicle to steer in the right direction Yxsat Sets a threshold for the output to be at its maximum or minimum when the input signal exceeds the threshold value Yxsat is normally set down when more sensitivity is required than inherently available with the steering device The default value will not effect the inherent sensitivity of the steering device 11025583 Rev CA 11 Jan 2010 101 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Closed Loop Symbol Index Default Value range db 4y05 0 0 0 to 250 0 0 to 25 0 of max activation in the right steering direction Lx 4y06 0 10 to 10 10 max regress 0 linear 10 max progress YR 4y07 1000 1000 to 1000 YL 4y08 1000 1000 to 1000 Yxsat 4y03 1000 251 to 1000 Parameter Yxsat db amp Lx have same value in quadrant 2 amp 3 Lx in quadrant 1 or 4 is located at Xysat db 2 YR 20 Lx 40 Lx in quadrant 2 or 3 is located at Xysat db 2 YL 20 Lx 40 Closing the Loop Kp Amplifies the e
141. m Configuration of the PVED CL is required to customize the EHPS EH system to a particular vehicle Parameters are used to e g map steering devices and sensors compensate for non linearity in steering signals and to control the functionality features in the PVED CL There exists three different kinds of parameter types System Parameters System parameters are parameters which describe e PVED CL interface amp environment configuration sensors valves e Start up default behavior sensor interface e Addresses on J1939 CAN bus customization of CAN IDs e System identification information valve type software version sales order number PVED CL serial number It is vital in order to achieve correct PVED CL functionality that the system parameters are set correctly Some system parameters are used by the software to calculate the correct hydraulic gain determining left and right direction etc An overview of all system parameters can be found in appendix System Parameters on page 120 11025583 Rev CA 11 Jan 2010 17 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Configuration and Adjustment Steering Device Parameters Steering device parameters are parameters which define functionality related to a particular steering device These parameters will be common to a particular device at all times during operation and for all steering device programs The parameters define
142. mally closely related to the present vehicle dynamics of the individual vehicle model The Sts value is used to amplify the input signal as described in Set point Transfer Function on page 44 The correlation is defined by seven parameters All Sts parameters may be set equal to each other or set monotonically falling for increasing vehicle speeds The steering sensitivity between two table coordinates is found by linear interpolation The relation is equal for negative speeds max Sts 120 120 Ve 100 80 Vesm 500 60 Sts4 45 Sts ye saturates Steering sensitivity Sts 40 min Sts 20 100 200 300 400 500 600 700 800 900 1000 Ve Vehicle speed 1 unit 0 1 km h P005 088E Sse Selects between a fixed steering sensitivity variable to steering actuator position or vehicle speed Set Sse to 3 to select the sensitivity related to vehicle speed StsO Sets the linear gradient between steering angle and requested port flow when the vehicle is standing still When the vehicle signal unintentionally not is mapped Sts0 is applied constantly since variable Ve remains 0 In case the vehicle signal not is diagnosed it is recommended to set Sts0 at a value where sufficient directional stability at maximum vehicle speed is present Sts1 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving at 6 25 of the speed defined by parameter Vesm Sts2 Sets the linear gradient between ste
143. mps Lr Sets the linearity of the ramp up curve The default value is a linear ramp Lf Sets the linearity of the slow ramp down curve The default value is a linear ramp Tro Sets the ramp up time to open the valve from zero to max port flow The time applies for both ports To gain the best performance the ramp up time shall be set larger than the inherent ramp up time of the main spool See Technical Data on page 24 for these ramp times Tfo Sets the ramp down time to close the valve from max to zero port flow The time applies for both ports It has most effect when the ramp up time is set larger than the inherent ramp down time of the main spool See Technical Data on page 24 for these ramp times YsetFr Experience shows that ramping down from maximum flow towards medium flows do not cause as much jerk as ramping down from medium flows towards no flow close to the valve dead bands In order to expedite the ramping at large flows a flow range can be set up where the spool can move faster down to a flow range where the slow down ramp is active The overall goal with the parameter is too optimize steering response time without degrading the anti jerk performance Set up fast ramp down time Tfr before tuning this parameter Setting YsetFr to 1000 eliminates the effect of the fast ramp down Typical settings are 500 800 Use trial and error Example A value of 800 can be interpreted as allowing the spool to ramp down with a fast ramp f
144. ms defines the maximum time where the main spool is either set on the valve dead band or controlled proportionally within the dead band granted that the flow request is 0 during this time After a flow request to either left or right port the main spool will be set on the respective left or right valve dead band Any steering wheel movement within the defined backlash region will result in proportional main spool movement as a function of the steering wheel movement Proportional control will be allowed for Tolsout ms If the flow request has been 0 for Tolsout ms the main spool will be set in neutral and any steering wheel movements within the backlash range is ignored To utilize proportional control a steering wheel backlash range needs to be created If the backlash range is set a low value the main spool will effectively be operated as dead band jump control Responding to Flow Requests after Tolsout If the main spool has been set in neutral after Tolsout ms any flow request will cause the spool to immediately jump to the relevant spool position with no initial proportional dead band control Symbol Index Default Value range Tolsout 116 10 000 1 to 30 000 ms Magnetic Valve Control Magnetic valves off delay time disables the magnetic valve bridge after a time specified in ms when the flow request is 0 otherwise it remains enabled This parameter is used when electrical energy consumption by the sol
145. n min Sts 20 0 100 200 300 400 500 600 700 800 900 1000 Yact Steering actuator position 1 unit 0 1 of max position P005 098E Sse Selects between a fixed steering sensitivity variable to steering actuator position or vehicle speed Set Sse to 2 to select the sensitivity related to steering actuator position Sts0 Sets the linear gradient between steering angle and requested port flow for steering straightforward When the steering actuator signal unintentionally is not mapped StsO will be constantly used since variable Yact remains 0 Sts1 Sets the linear gradient between steering angle and requested port flow for steering at the minimum turning radius Symbol Index Default Value range Sse 3y09 1 Must be set at 2 StsO 3y10 105 20 to 1200 Amplification of 0 2 to 12 00 Sts1 3y11 90 20 to 1200 See chapter Mapping steering signals Steering actuator Sensor feedback from vehicle wheels and Steering actuator position to acquire steering actuator position 11025583 Rev CA 11 Jan 2010 69 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Open Loop Select a Sensitivity with Relation to Vehicle Speed Variable steering sensitivity related to vehicle speed is normally used to optimize directional stability automatically and beyond the notice of the driver The values and correlation is nor
146. n order to expedite the ramping at large flows a flow range can be set up where the spool can move faster down to a flow range where the slow down ramp is active The overall goal with the parameter is to optimize steering response time without degrading the anti jerk performance Set up fast ramp down time Tfr before tuning this parameter Setting YsetFr to 1000 eliminates the effect of the fast ramp down Typical settings are 500 800 Use trial and error Example A value of 800 can be interpreted as allowing the spool to ramp down with a fast ramp for flow requests between maximum flow 1000 and 800 1000 of maximum flow Tfr This time defines the applied ramp time in the fast ramp down range It is defined as the ramp time from maximum flow to no flow This means that in practice the actual fast ramp down time is proportional to the fast ramp down range divided by 1000 Use this optimization criterion Ramp down as fast as possible for flow ranges where jerks are not significant Typical values are 1 50 ms The fast ramp down time shall always be less than the slow ramp down time Once the value is set it should not be adjusted anymore during further ramp parameter optimization YAbortDownRamp To come around the problem of slow steering response for large down ramp times especially if a sudden emergency change of direction is needed a slow down ramp can be aborted by requesting a flow in the opposite direction Once a slow down
147. n 1 38 Appendix Inde Name Description Data Range Defau Lo Not x Type It ck Res ed tore d 6402 StwDxFilterThreshold Threshold for the steering wheel dx filter 0 1 Disable filter 2 0 2 4095 6402 StwDxFilterStartTime Timeout value for the steering wheel dx filter U16 0 filter always enabled 0 1 activation 1 65515 Unit 1ms l l gt 65515 Disable filter 6402 StwDxActivationThreshold The SASA steering wheel position change threshold U16 0 4095 5 2 dx which shall be exceeded before auto steering can be engaged The relation between dx and steering wheel rpm is dx 1 is equivalent to 1 4 rpm 6402 StwActivationTimeout The amount of time where immediate engaging auto U32 0 2147483647 21474 3 steering is kept possible after dx getting lower than 83647 StwDxActivationThreshold Kept possible in this context means Without first requiring detection of SASA steering wheel position changes 6500 SD_ID Danfoss ID according to J1939 IS011783 U8 0 253 57 viv 0 6500 PVEDSerialNo PVED barcode number U32 0 4294967295 0 viv 1 6500 SalesOrderNo Danfoss Sales Order Number Identifies hardware Viv 2 configuration software version and parameter setup 6500 SWVersionNo Installed software version Read only Vv v 3 6500 ParamDefFile Identifies the parameter set file applied at production
148. n ensures bump less transition on control loop initialization It forces the user initially to operate the potentiometer knob into a position that matches zero deviation between set point and current steering actuator position or by sweeping through it While tracking the commanded port flow is limited at zero Yr YI Lx Xysat db Qm Xstl 10 ms Pot L meter Port flow Tracking Q Port flov like i limiter command device Yact _J Actuator No position P005 211E Select the Control Principle Cp selects the closed loop control using parameter index 4y02 equal to 255 Y selects the program and ranges from 0 and 4 The value for y must be consistently used throughout the entire configuration of a single program 100 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Closed Loop Create the Set Point Acquire the signals See Mapping a Steering Device on page 34 on how to map an analogue or CAN based high priority closed loop steering device and steering wheel angle sensor A function provides 5 parameters to transform angle information to a steering actuator position set point actuator end lock uc 5 Example 7 SE db 250 Lx 10 5 559 2s 2 Xysat 750 3 ose YR 750 mae E Q 5 YL 500 25 RE 500 I o a o a 22 y E Max input signal 250 db i for a
149. nce in all PVED CL operation modes 11025583 Rev CA 11 Jan 2010 25 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Installation Valve calibration objectives The PVED CL calibration shall satisfy multiple conflicting objectives Like for any proportional spool valve the purpose of the hydraulic dead band is to prevent unwanted oil output flow while the main spool is resting in neutral position In PVED CL steering wheel mode open loop application the dead band prevents noise electrical and mechanically from e g the steering wheel sensor SASA from leading to unwanted oil output flow or creating small steady state quivering wheel movements On the other hand a too large dead band may result in a noticeable steering wheel dead band which may not be desirable For closed loop applications such as auto steering the hydraulic dead band has an undesirable effect Small position control errors are corrected by proportional spool activations to output a correcting flow However if the spool movement is inside the hydraulic dead band then a steady state error is present which will cause the vehicle to drift from the desired course This is one of most likely reason for degraded auto steering performance and shall be avoided The performance objective in closed loop mode is to always output a flow when a steered wheel position error is present while ensuring that the valve operati
150. nd 33 3 T at 75 of max port flow capacity Select Ramps with Ramp Time Related to Vehicle Speed To optimize the anti jerk performance to different work cycles the vehicle speed can be used to derive ramp times by interpolation between ramp values for 0 km h 11025583 Rev CA 11 Jan 2010 93 Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Open Loop max time 1000 T Nn E 500 v E 400 5 2 a 300 Default Tive saturates x Verm 500 z Tro 200 et 200 amp r Trh 200 gt i E E 100 7 E mintime 1 a a a e a a aa a a a a ataa O 100 200 300 400 500 600 700 800 900 1000 Ve Vehicle speed 1 unit 0 1 km h maxtime 1000 T 500 g Default B Verm 500 E AN Tfo 350 2 300 Tfh 200 Tive saturates a z amp 200 Tfh 2 g gt 100 min time 1 j 0 100 200 300 400 500 600 700 800 900 1000 Ve Vehicle speed 1 unit 0 1 km h P005 218E Sr Selects the ramp type The ramp function can be disabled fixed or related to vehicle speed Set Sr to 21 to select vehicle speed dependant ramps Lr Sets the linearity of the ramp up curve The default value is a linear ramp Lf Sets the linearity of the slow ramp down curve The default value is a linear ramp Tro Sets the ramp up time to open the valve from zero to max port flow when the vehicle spe
151. ng devices when only the steering wheel device is in use for a longer period of time and the user wishes to eliminate the risk of unintentional device activation System Requirements The device enable disable control functionality is only functional if the following conditions are fulfilled e The system must be in operational state e The device that shall be enabled disabled is mapped e An OSP for hydraulic backup exists and the presence of the OSP is configured in the PVED Symbol Index Default Value range HighPrioritySteeringDevicelnterface 65102 0 0 NONE 1 AD1 2 AD2 4 CAN OSP present 65109 0 0 NONE 255 PRESENT If an OSP is not present the device enable disable control command is ignored The OSP shall be present because it is theoretically possible to electrically disable all steering devices if the primary steering wheel sensor is not mapped In this situation only the OSP pilot signals are driving the valve Caution The vehicle system integrator shall consider the following to ensure a safe and reliable device enable disable functionality e It is recommended to include the vehicle velocity information in the decision whether a device disable request shall be sent to the PVED or not e The location of the enable disable button shall be well considered to avoid unintentional enabling disabling of a steering device e Unintended enabling disabling should be further avoided by requiring
152. ng sensitivity is variable to vehicle speed The default value is set at the maximum speed of most applications Symbol Index Default Value range Sse 1y09 1 Must be set at 3 StsO ly10 400 20 to 1200 Sts1 ly11 400 Sts0 to 1200 Sts2 ly12 400 Sts1 to 1200 Sts3 ly13 400 Sts2 to 1200 Sts4 ly14 400 Sts3 to 1200 Sts5 1y15 400 Sts4 to 1200 11025583 Rev CA 11 Jan 2010 59 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Closed Loop Symbol Index Default Value range Vesm 1y16 500 1 to 1000 0 0 to 100 0 km h Please note the parameter dependency of Sts Steering sensitivity of 400 equals to 4 00 steering wheel turns to move the steering actuator from YL to YR left to right end lock position See chapters Mapping steering signals and J1939 Vehicle Speed to acquire vehicle speed Create the Set point The transfer function provides three parameters to relate a sum of scaled steering wheel angle increments to steering actuator set point position The scaled steering wheel position is a sum of steering wheel angle increments corrected by the current applied steering sensitivity and scaled according to the operating ranges of variable Yact Saturation os 2 2 E Bg mye es Example gt 2 o S U U v I g 2 Lx 10 oo os a D coc Uae 2 50 43E YL 500 33 5E 28 g
153. ng signal is monotonic and represents the angle of the physical device These devices are normally friction held to prevent unintentionally steering due to machine vibrations Use this mode for implementation of proprietary auto guidance applications i e auto guidance applications that do not conform to the ISO standardized auto guidance messages See Auto steering on page 105 11025583 Rev CA 11 Jan 2010 79 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Closed Loop L v i E a 2 v e a 2 T z 2 lt a 5 a gt 2 T z c o 2 a S 3 2e Program number Y Pa C E U uo a 3 i 7 7 Switches p H l s Open loop fixed sensitivity with fixed ramp Y 0 i i FixedSr 1 times Var Sr 2 Open loop fixed sensitivity with ramp times H related to vehicle speed H No Sr 0 H N Open loop fixed sensitivity with no H ramps applied Open loop sensitivity related to steering actuator H Related to position with fixed ramp times i osition of Fired se H aR Var Sr 2 Open loop sensitivity related to steering actuator H UO shor position with ramp times related to vehicle speed No Sr 0 i e j lt Open loop sensitivity related to steering actuator H position with no ramps applied H Related to vehicle speed ade o itivity related to vehicle speed wi
154. ngle correctly some vehicle geometry information is needed The parameter values are used by the control algorithm to calculating from Curvature into wheel set point and from wheel set point to Curvature for generating estimated curvature The parameters and shown in the parameter table below Other parameters mentioned in this chapter can be used with default values and should only be adjusted if the performance needs fine tuning Symbol Index Default Value range MaxWheelAngleLeft 65099 35 000 Maximum wheel angle to the left mdeg Measured on the wheel where the wheel angle sensor is mounted MaxWheelAngleRight 65100 35 000 Maximum wheel angle to the right mdeg Measured on the wheel where the wheel angle sensor is mounted VehicleLength 65112 4000 Wheelbase from front to rear axle in mm Articulated vehicle Distance from front axle to joint ValveType 65121 1 1 means EHPS or PVB 2 means EH SteeringType 65122 1 1 means front wheel steering 2 means rear wheel steering 3 means articulated steering VehicleLength2 65123 4000 Only used for articulated vehicles Only articulated Length from joint to rear axle 11025583 Rev CA 11 Jan 2010 105 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Auto steering Closing the Loop Trimming the System Sse Sts0 Sts1 Sts2 Sts3 Sts4 Sts5 Vesm 20 ms L Xo Set point Q Port flow
155. nintentionally operates the valve a backlash region Ri can be applied to prevent it The size of the backlash region is normally set equal to the angle related to elasticity However any set value greater than zero leads to slower steering responds Therefore to minimize these effects the steering wheel sensor shaft and underlying mechanics as shown below must be designed as stiff as possible Since this parameter only effects changes in the set point stability problems in closed loop are not related to the set value of this parameter The default value does not remove elasticity effects Sensor Steering wheel H Symbol Index Default Value range Ri 1y04 Oto5 0 to 200 the threshold 0 means 0 degrees backlash 200 means 17 degrees backlash Backlash applies in both steering directions therefore the total backlash region is twice Set point Transfer Function The transfer function provides two parameters to transform steering wheel positional information to port flow It main function is to create the flow request set point from the steering wheel sensor Example Lx 10 Qm 750 750 500 Qr requested port flow 1 unit 0 1 of Max port flow Max input signal for activating the steering device ccw 1000 750 500 Defaults Lx 0 Qm 1000 Saturation 1000 Eee Saturation Max input signal for activating the steering device Cw V scaled steerin
156. nput AD 2 500 v 5 6509 AD_2_Linear Defines whether AD2 scaling is based on 3 or 5 points BOO 5 point 0 255 v 6 L 3 point 255 6509 AnalogChannelCompensation Analogue input voltage compensation U16 No compensation 0 0 v 8 Enables radiometric measurement of voltages which F Compensation on AD1 A are proportional to the PVED CL 5V external reference 1 voltage such as simple resistive potentiometers Compensation on AD2 v A Warning 2 at ie sensors which outputs are already Compensation on 7 P i AD1 AD2 3 6509 MaxWheelAngleLeft Maximum wheel angle to the left mdeg Measured U32 0 50000 35000 9 on the wheel where the wheel angle sensor is mounted 6510 MaxWheelAngleRight Maximum wheel angle to the right mdeg Measured 0 on the wheel where the wheel angle sensor is mounted 6510 SteeringWheelSensorPresent Steering wheel sensor configuration SASA Sensor BOO Not present 0 Present 0 1 L 255 Index Name Description Data Range De Type fau It 65102 HighPrioritySteeringDevicelnterface High priority steering device configuration U8 No device connected 0 0 joystick potentiometer other Analogue device on AD1 1 Analogue device on AD2 2 CAN based device 4 65103 LowPrioritySteeringDevicelnterface Low priority steering device configuration No device connected 0 joystick potentiometer other Analogue device on AD1 1 Analogue device on AD2 2 CAN based device 4
157. o establish a reliable vehicle speed signal to the PVED CL The provider of the vehicle speed signal shall implement means to detect faults and let the vehicle speed sensor go silent if a fault is detected A silent vehicle speed sensor will be detected by the PVED CL and it will enter fault state or optionally reduced state Closed loop Operation The PVED CL may be used in closed loop applications such as auto guidance or row guidance The PVED CL has no means to validate the validity of an input steered wheel angle set point or steered wheel position as long as the set point conform to the timing and data range requirements Therefore A Warning It is the OEMs responsibility to establish a reliable steered wheel angle set point to the PVED CL Analogue Input Sensors Joystick or Wheel Angle Sensor The PVED CL has no means to validate the validity of an input if the voltage conforms to range requirements Any undetected faults may be resolved by changing to steering wheel steering A Warning It is the OEMs responsibility to establish reliable analogue signal connections to the PVED CL 11025583 Rev CA 11 Jan 2010 15 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Safety Considerations Risk assessment A Warning It is the OEMs responsibility to perform a hazard and risk analysis of the complete steering system and add the necessary risk reducing measures
158. of Tfo or Tfh time if vehicle speed dependency is applied Sr 2 Use trail and error Example A value equal to 500 means that the driver needs to steer out 500 1000 of maximum flow before the slow down ramp is aborted 500 again corresponds to a certain steering wheel RPM Typical values are 100 300 to have the abort down ramp possibility and to avoid unintentional abort of the down ramp due to steering wheel activation due to vibrations Setting the value to 1000 disables the abort down ramp functionality Symbol Index Default Value range Sr 1y17 0 Must be set at 1 Lr ly19 0 0 linear to 10 max progressive Lf 1y20 0 Oto 10 Tro 1y21 1 1 to 1000 ms Tfo 1y23 350 1 to 1000 ms YsetFr 1y32 1000 0 to 1000 1 unit 0 1 of max flow Tfr 1y33 100 1 to 1000 ms Tfr shall be smaller than Tfo and less than 150 ms YAbortDownRamp 1y34 0 0 to 500 1 unit 0 1 of max flow The default value will force an down ramp abort at a slight reverse port flow request Typically YAbortDownRamp needs be increased to avoid unintentional down ramp aborts as this will infer a jerk on the driver Tra 1y35 1 1 to 1000 ms Ramp down time for canceled down ramp The discontinuities in the progressive characteristic are located at 50 120 and 333 5 0 T at 25 12 0 T at 50 and 33 3 T at 75 of max port flow capacity Select Ramps with Ramp Times Related to Vehicle Speed Often slow ramps are not
159. ogging and MONItOFING ssescssseseccseeeeeees 39 Explanations uu 133 Mapping a Steering Device sscscisiscsesesssicorscosecsseossascansesnnssgeateocngzcnsenniestascsbuscesesnbasaassenssscansetestascugsoaseensgesvbscennsesensanietoccgnseeneseeste 34 Only one signal per analogue Channel can be ACQUIFEC esscsssscssssecssseeeesseessssssecssecessuseessseccssueeccsneeessseessnutecceneees 34 Analogue INTO T FACE ed csecsscsccivssassssestcdcesessscoaschscdssnnstccckastsdouiyennsccgedvacdsaiyuatdecagntsdsdentasscaassssdadsugustdoasaeadaapntasscaniiastoaniasocdceaiesttee 35 AD Signal Interface REQUireMeNts csssccsssssccseeccsseecssseccsssecssnsecesssecssnsecesusecsssecesssnecessscessnseeesascessuseeesssecssneeessaseceenseesse 35 Scaling Analogue Signals Linear Transfer Characteristic 3 POiNt ccscsscsssssssssssssssessssssssesssssssscssssssssesssssssssssssscssssssecsssssssssssssssssssssssssssssssessssses 35 Non Linear Transfer Characteristic 5 Point 36 Steering Wheel Sensor Noise Gate Steering by Steering Wheel Open Loop Steering Actuator Position Signal Analogue Input Drift Compensation we 37 Transmitting the Voltage Readings on CAN 38 Steering DEVICE TramsttiOrscc sccisscssccsscsssacessassetenssessiedsccosedscodsesousesseseduspoususcnsscensabsccouocennssesedadgesbncescouesedsusssnbdeadousadedesndesasiccousteded 39 Threshold Definitio sesiscsesssssesssssacicosesssacessavaceconassivasoss
160. ogging of the CAN bus traffic while the auto calibration runs The below chart below shows the auto calibration progress of an EH valve with a static main spool fitted to a 150 HP tractor Values from Suggested valve auto calibration command values on page 31 are used XspStartSearch 50 XspIncrementSize 5 YactDifffhreshold 20 and TimeOutPeriod 500 The auto calibration progress of an EH valve with a static main spool O GNTSTE nm e l M l A 5 c stion set A ee 3 bed 5Spoop postion set point Xsp h as 4 lt s n Jaen E Jrs 0 3 490 Ay 100 f TE PTE TE oper re pr er lee yi 150 470 Man tbe aa cc E 0 5 10 15 20 25 30 Time sec Explanation At 12 second the steering actuator begins to move Around 14 seconds the actuator speed has exceeded YactDiffThreshold where after the algorithm proceeds to the left direction At 26 5 seconds the actuator speed exceeds YactDiffThreshold and the algorithms stores the dead band parameters and terminates A Warning Check for misaligned maximum spool stroke set point parameter values Previous auto calibration attempts with faulty command values may have shifted the parameters Xspr_1000 and Xspl_1000 to inappropriate values which may result in asymmetric flow characteristics Ensure that Xspr_1000 and 11025583 Rev CA 11 Jan 2010 33 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Installat
161. on The black line in the figure below shows how port flow is reduced The steering actuator signal must be present in the PVED for this functionality to work This functionality can be applied only in open loop control mode but requires that a steered wheel feedback sensor is mapped and mounted on either the steered wheel or cylinder to indicate the motion range 76 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Open Loop In the figure below the red line shows how the actuator is slowed down near the end lock position and the black line shows how port flow is reduced The steering actuator signal must be present in the PVED for this functionality to work Right end lock 1000 Yr Software end lock position Y te 750 7 E N PN Steering actuator position command 500 E 2 a 250 7 T 9 i F time us D w Pe 4 2 250 Defaults S Yl 1000 8 500 Yr 1000 Off 50 750 Cf 350 1000 YI Software end lock position Left end lock P005 221E YR YLThe difference between the values of both parameter set the freedom of the steering actuator Normally YR is set equal at the right mechanical end lock YL is normally set equal to the left mechanical end lock For example setting YR at 500 and YL at 500 reduces the freedom of the actuator by 50 The default
162. on Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Closed Loop Symbol Index Default Value range 0 means 0 degrees backlash 200 means 17 degrees backlash Backlash applies in both steering directions therefore the total backlash region is twice the threshold Steering Sensitivity Sensitivity is set individually for each program and can be either fixed or variable Variability can depend on vehicle speed or change of current device program Using variable sensitivity can increase comfort and drivability significantly and depending on the vehicle type and use the appropriate way to achieve the change might be different The PVED CL allows several programs for each steering device which means that 5 to 10 different programs with different sensitivity settings can be made and applied via the MMI while driving Each program can then use either fixed or variable sensitivity hence we talk second order variability by using the PVED CL Max Sts 1200 Sies vesmi 300 Vehicle speed dependant linear program 1 Vehicle speed dependant non linear program 2 Fixed sensitivity program 0 380 4 Vehicle speed dependant non linear program 3 360 I l ij 340 I J I q ny ay 30S 3 ala al ai ai a MinSts 20 lt _ l fi fi 0 100 200 300 400 500 600 700 800 900 1000 Ve Vehicle speed 1 unit 0 1 km
163. on can be disabled fixed or related to vehicle speed Set Sr to 21 to select vehicle speed dependant ramps Lr Sets the linearity of the ramp up curve The default value is a linear ramp Lf Sets the linearity of the slow ramp down curve The default value is a linear ramp Tro Sets the ramp up time to open the valve from zero to max port flow when the vehicle speed is 0 kmph The time applies for both ports To gain the best performance the ramp up time shall be set larger than the inherent ramp up time of the main spool See Technical Data on page 24 Tfo Sets the ramp down time to close the valve from max to zero port flow when the vehicle speed is 0 kmph The time applies for both ports It has most effect when the ramp up time is set larger than the inherent ramp down time of the main spool See Technical Data on page 24 for these data 74 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Open Loop Trh Sets the ramp up time to open the valve from zero to max port flow when the vehicle speed is equal to Verm kmph The time applies for both ports To gain the best performance the ramp up time shall be set larger than the inherent ramp up time of the main spool See Technical Data on page 24 for these ramp times Tfh Sets the ramp down time to close the valve from max to zero port flow when the vehicle
164. on is not to crude leading to jerky vehicle course corrections Dead band crossing In open loop operation mode the spool operation in the hydraulic dead band can be configured by parameters The spool can either be controlled through the hydraulic dead band manually by following the input device set point This allows the user to control the level of pressure built up of the steered wheels This is controlled with the valve specific parameters as well as the steering device specific parameters See the input device specific chapters Alternatively the spool operation can be configured to jump between over the dead band This resembles servo valve operation and gives a fast steering response In PVED CL closed loop operation mode the spool will always jump over the hydraulic dead band Valve types overview The below table shows the hydraulic dead band characteristics and tolerances for the available steering valves Due to mechanical tolerances on the valve parts the exact hydraulic dead band position cannot be predicted for any single valve Similarly it may differ from valve to valve Steering valve tolerance characteristics Valve type Nominal dead band Dead band tolerance Maximum spool displacement mm Xsp mm Xsp mm Xsp EH dynamic spool 0 5 94 0 36 0 62 77 108 3 430 EH static spool 0 8 136 0 6 1 1 106 177 3 430 OSPEH 0 8 136 0 6 1 1 106 177 4 560 EHPS 1 3 204 1 05 1 55 170 238 7
165. ontrol sssssssssssssssresssssersee xi Dead band Hold and Proportional Control sscsssssccssssccsssseccsssccssseecssnecessneesssseeesssecsssuseccaseesssseeessnecessseessasseessscesseess 55 Responding to Flow Requests after TOlsOut sssscssssscssseccssssecssssecsecsssusecsssesessueeessuecessusecssueessneceesueccsneeessneesesaseesse 55 Magnetic Valve Control isisisi eais aiaiai ieo 55 Steering by Steering wheel Closed LOOP sssssssssssssssesssssseesssesscsuecssseecssuesssneessuseessuseessaseessuseccsuseessuseesenseessuseessaseessaees 56 Functionality Tr e sssssssssssssressssssersessssssseee 56 Select the Control Principle 57 Acquire the Signals 57 Apply Backlashissa anaana aA EA A NN E EEE 57 Steering SEMSILIVILY lt ssscessscussdsnccsusssasseensssncessnssesasozsnsecavensns duvedsasesneacedddanssscsnvendscasaseoandcansvcods asodendgsouesbanedbea band uasslbvestapscussnsos erena Ni 58 Select a Fixed Steering Sensitivity 58 Select a Sensitivity with Relation to Vehicle Speed 58 Create the Set Ppoint eecccsssscsssssccsssecssnseecsseeseseseeeseeees 60 Closing the LOOP csssscssszssssssescsasccensnesensssusonisaransesnautschasenceadstcconstesnsosensseneteussennbseesatesababesensnsecsesssgususvasendctoosbenduenseaseeesaisecsacnienasbees 61 FO CU FOMWAN sisnesssscsaisscccovessooetainassecovesssndtaaseasccovainsntsstuassecnssussatssuassccconeinsntssunnsesabneassntssonn gsennatesnsssoassevntngavenaconande
166. op Select the Control Principle Channel mapping switch switches gt No signal 0 CAN 255 default Control principle switch L E a S gt z E a Program number Y a ro 34 map _Y 0 Fixed Open loop fixed sensitivity with fixed ramp times Sr 1 Var __ Open loop fixed sensitivity with variable ramp Sr 2 times as function to vehicle speed ig Open loop fixed sensitivity with no ramps applied Open loop sensitivity related to steering actuator Fixed position with fixed ramp times Related to Sr 1 ote i i ti Open loop sensitivity as function to steering actuator position of Var BA 3 5 R P steering actuat Sr 2 7 Position with variable ramp times related to vehicle Sse 2 speed No lt Open loop sensitivity related to steering actuator Sr 0 position no ramps applied Related to Open loop eed Open loop sensitivity related to vehicle speed Cp 0 sez with fixed ramp times Open loop sensitivity related to vehicle speed with ramp times related to vehicle speed Open loop sensitivity related to vehicle speed no ramp times applied Fixed mege Closed loop Sse 1 Closed loop fixed sensitivity Cp 255 Related to er g vehicle speed Closed loop sensitivity related to vehicle speed Sse 3 Sensitivity means number of revolutions on steering wheel from lock to lock P005 202E The PVED CL provides open loop control for steering d
167. or flow requests between maximum flow 1000 and 800 1000 of maximum flow Tfr This time defines the applied ramp time in the fast ramp down range It is defined as the ramp time from maximum flow to no flow This means that in practice the actual fast ramp down time is proportional to the fast ramp down range divided by 1000 Use this optimization criterion Ramp down as fast as possible for flow ranges where jerks are not significant Typical values are 1 50 ms The fast ramp down time shall always be less than the slow ramp down time Once the value is set it should not be adjusted anymore during further ramp parameter optimization YAbortDownRamp To come around the problem of slow steering response for large down ramp times especially if a sudden emergency change of direction is needed a slow down ramp can be aborted by requesting a flow in the opposite direction Once a slow down ramp is aborted an abort down ramp time Tra is applied Obviously Tra shall be significantly smaller than the slow down ramp to get any effect 11025583 Rev CA 11 Jan 2010 49 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Open Loop Tra is the ramp down time applied when the slow down ramp is aborted This rampdown time shall typically be much lower than the slow ramp down time Tfo in order to gain any increased steering responsiveness Typical value is half the value
168. ormation about the actual valve capacity This information is needed by the software to achieve the desired sensitivity StrkVol holds information about the actual stroke volume cylinder size This information is needed by the software to achieve the desired sensitivity Sse selects between a fixed steering sensitivity variable to steering actuator position or vehicle speed Set Sse to 3 to select the sensitivity related to vehicle speed StsO sets the steering ratio when the vehicle is standing still StsO applies at all times when the vehicle signal unintentionally is not configured as PRESENT Ve remains 0 In case the vehicle speed signal is not diagnosed it is recommended to set Sts0 at a value where sufficient directional stability at maximum vehicle speed is present The default value is set to a value which yelds good controllability at high vehicle speeds Sts1 sets the steering ratio when the vehicle is driving at 6 25 of Vesm 11025583 Rev CA 11 Jan 2010 47 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Open Loop Sts2 sets the steering ratio when the vehicle is driving at 12 50 of Vesm Sts3 sets the steering ratio when the vehicle is driving at 25 00 of Vesm Sts4 sets the steering ratio when the vehicle is driving at 50 00 of Vesm Sts5 sets the steering ratio when the vehicle is driving at 100 00 of Vesm Vesm sets the region wher
169. ow capacity of the valve and will therefore not have any effect Symbol Index Default Value range Kp 308 50 0 to 200 0 00 to 2 00 of port flow capacity of the valve for 0 1 positional error Qm 3y27 1000 0 to 1000 0 0 to 100 0 port flow Eliminate Noise due to Frequent Pressure Build up Eliminating noise is accomplished by stopping the controller to respond to minor deviations between set point and current actuator position The spool inside the valve is set in neutral when the port flow command has been within a threshold value Qth for a given time Tclpout The spool is reactivated again when port flow command exceeds the threshold Tclpout Sets the time delay ms before the main spool is set in neutral Qth Sets the threshold value for port flow command when the controller is in steady state Symbol Index Default Value range Tclpout 317 3000 1 to 30000 ms Qth 318 50 0 to 100 0 0 to 10 0 of max port flow Magnetic Valves OFF Control Magnetic valves off delay time Disables the magnetic valve bridge after a time specified in ms when the flow request is 0 otherwise it remains enabled This parameter is used when electrical energy consumption by the magnetic valve bridge in the PVED must be reduced or to resolve a steering control conflict between the OSP and the PVED CL implementing EHPS type 1 systems only The default value disables this functionality i e the magnetic v
170. p The red line in the figure below shows how the actuator is slowed down near the end lock position The black line in the figure below shows how port flow is reduced The steering actuator signal must be present in the PVED for this functionality to work Right end lock 1000 Yr Software end lock position Y te 750 7 E N PN Steering actuator position command 500 E 2 a 250 7 T 9 i F time us D w Pe 4 2 250 Defaults S Yl 1000 8 500 Yr 1000 Off 50 750 Cf 350 1000 YI Software end lock position Left end lock P005 221E YR YL The difference between the values of both parameter set the freedom of the steering actuator Normally YR is set equal at the right mechanical end lock YL is normally set equal to the left mechanical end lock For example setting YR at 500 and YL at 500 reduces the freedom of the actuator by 50 The default values for YR and YL are set equal to position of the mechanically end locks Cf Sets the region where actuation speed is slowed down This region starts from the position defined by YR and YL Making this region to small reduces or can eliminate the effect of soft stop The default value for Cf ensures the valve is closed proportionally with actuator position Off This parameter sets the permitted actuation speed when hitting the end lock defined by YR or YL When the steering actuator passed YR or YL actuation speed will decay to zero
171. possible for flow ranges where jerks are not significant Typical values are 1 50 ms The fast ramp down time shall always be less than the slow ramp down time Once the value is set it should not be adjusted anymore during further ramp parameter optimization YAbortDownRamp To come around the problem of slow steering response for large down ramp times especially if a sudden emergency change of direction is needed a slow down ramp can be aborted by requesting a flow in the opposite direction Once a slow down ramp is aborted an abort down ramp time Tra is applied Obviously Tra shall be significantly smaller than the slow down ramp to get any effect Tra is the ramp down time applied when the slow down ramp is aborted This rampdown time shall typically be much lower than the slow ramp down time Tfo in order to gain any increased steering responsiveness Typical value is half the value of Tfo or Tfh time if vehicle speed dependency is applied Sr 2 Use trail and error Example A value equal to 500 means that the driver needs to steer out 500 1000 of maximum flow before the slow down ramp is aborted 500 again corresponds to a certain steering wheel RPM Typical values are 100 300 to have the abort down ramp possibility and to avoid unintentional abort of the down ramp due to steering wheel activation due to vibrations Setting the value to 1000 disables the abort down ramp functionality Symbol Index Default Value range Sr
172. ptimize on the fast ramp down operation Tfr should not exceed 150 ms and always be smaller than Tfo Adjust the ramp down time Tfo until at good anti jerk performance is achieved Increase the ramp up time Tro to further improve the anti jerk performance Tro is typically smaller than Tfo Fine tune the performance by experimenting with Tfr Tra and YsetFr Note that the largest jerks shall be tuned away with the ramp up time Tro and ramp down time Tfo Finally the YAbortThrehold and Tra may be adjusted Consider how many steering wheel RPM is needed to abort the down ramp Secondly adjust Tra to reduce the jerk when aborting the down ramp Obviously Tra needs to be less than the down ramp time Tfo to get a faster steering response Typical values for Tra is 50 100 ms The above typical parameter settings may vary from vehicle to vehicle To prevent the steering actuator to hit the mechanical end lock with great speed the PVED is able to slow down the actuator speed when approaching the end lock electronically This functionality can be applied only in open loop control mode but requires that Steered wheel feedback sensor is mapped and mounted on either the steered wheel or cylinder to indicate the motion range 96 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Open Loo
173. r SASA EHPS type 1 the PVED CL has no means to detect that the steering wheel is being activated A steering conflict between OSP steering and steering device steering is thus possible To resolve this conflict set Tolsout to a value typically 50 ms 200 ms to disable the magnetic valve bridge when no flow request is being commanded with the steering device 78 11025583 Rev CA 11 Jan 2010 Dope Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Closed Loop Steering by High Priority Steering Device Closed Loop Functionality Tree EHPS Type 2 Automatic Steering Diagram Joystick or mini wheel Steering angle sensor Steering cylinder Automatic steering Position sensor Vehicle speed P005 225E The tree below illustrates the functionality available in the PVED for steering by a potentiometer device or by joystick or by mini wheel with speed output The manufacturing default functionality is found by following the red line It can of course be modified by following the instructions in this chapter The switches in the tree are used to select the functionality required In case different functionalities are required the EHPS software provides 5 programs from which the driver can select when the system is fully operative For steering by a device without spring return the PVED provides closed loop position control The steeri
174. rameter Qm is set too low for the particular program 8 Then SASA sensor is not mapped as present only the OSP is driving the valve 9 The full range of a steering device relative to its calibration range is not being fully utilized 10 If velocity dependent steering sensitivity is applied the Sts settings may be incorrect or the vehicle speed sensor outputs wrong data Fault The hydraulic back up system is active The steering sensitivity is determined by the OSP J1939 Diagnostic Interface There are two ways of accessing fault codes in the PVED CL as outlined in a figure below e Via J1939 diagnostic interface SAE J1939 73 e Via J1939 proprietary protocol PDU1 format 11025583 Rev CA 11 Jan 2010 115 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Diagnostic amp Troubleshooting Accessing fault codes in the PVED CL J1939 CAN network J1939 proprietary J1939 73 diagnostic interface interface diagnostic RequestPG DM2 DM3 GetErrorEntry GetErrorEntryResponse DM1 active errors DM2 previously active errors J1939 diagnostic interface layer PVED CL error handler The PVED operation status is the status reflected in the OperationStatus message see PVED CL Communication Protocol Technical Information 11025584 which is transmitted cyclically on the CAN bus If the PVED operation status is not available check the LED diagnostic LED D
175. ramp is aborted an abort down ramp time Tra is applied Obviously Tra shall be significantly smaller than the slow down ramp to get any effect Tra is the ramp down time applied when the slow down ramp is aborted This rampdown time shall typically be much lower than the slow ramp down time Tfo in order to gain any increased steering responsiveness Typical value is half the value of Tfo or Tfh time if vehicle speed dependency is applied Sr 2 Use trail and error Example A value equal to 500 means that the driver needs to steer out 500 1000 of maximum flow before the slow down ramp is aborted 500 again corresponds to a certain steering wheel RPM Typical values are 100 300 to have the abort down ramp possibility and to avoid unintentional abort of the down ramp due to steering wheel activation due to vibrations Setting the value to 1000 disables the abort down ramp functionality 72 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Open Loop Symbol Index Default Value range Sr 3y17 0 Must be set at 1 Lr 3y19 0 0 linear to 10 max progressive Lf 3y20 0 Oto 10 Tro 3y21 1 1 to 1000 ms Tfo 3y23 350 1 to 1000 ms YsetFr 3y32 1000 0 to 1000 1 unit 0 1 of max flow Tfr 3y33 100 1 to 1000 ms Tfr shall be smaller than Tfo and less than 150 ms YAbortDownRamp 3y34 0 0 to 50
176. ration depends on visual confirmation of wheel movement Differing perception of wheel movement will affect the final steering performance Method 3 Valve auto calibration A third alternative is to utilize a build in valve auto calibration algorithm which can automate the valve calibration and produce deterministic results The algorithm utilizes the wheel angle sensor and can be regarded as an automated manual calibration procedure See section StartValveAutoCalibration in PVED CL Communication Protocol 11025584 on how to invoke the valve auto calibration During the calibration procedure the actuator position steered wheel angle Yact change is measured in a pre defined time interval dt to derive a steering velocity representation Exceeding a defined Yact dt is used as an output flow detected criterion The principle in valve auto calibration is to search for the main spool set point Xsp where output flow is detected and then derive the software open loop dead bands by applying a fixed rule This is done for both left and right direction Preconditions 1 The PVED to valve auto calibration is available only when PVED is in the calibration mode See section EnterCalibrationMode in PVED CL Communication Protocol 11025584 on how to set the PVED CL in calibration mode The valve auto calibration command shall be sent from the MMI controller A wheel angle sensor shall be installed mapped and calibrated A steering w
177. rom maximum flow towards medium flows do not cause as much jerk as ramping down from medium flows towards no flow close to the valve dead bands In order to expedite the ramping at large flows a flow range can be set up where the spool can move faster down to a flow range where the slow down ramp is active The overall goal with the parameter is too optimize steering response time without degrading the anti jerk performance Set up fast ramp down time Tfr before tuning this parameter Setting YsetFr to 1000 eliminates the effect of the fast ramp down Typical settings are 500 800 Use trial and error Example A value of 800 can be interpreted as allowing the spool to ramp down with a fast ramp for flow requests between maximum flow 1000 and 800 1000 of maximum flow Tfr This time defines the applied ramp time in the fast ramp down range It is defined as the ramp time from maximum flow to no flow This means that in practice the actual fast ramp down time is proportional to the fast ramp down range divided by 1000 Use this optimization criterion Ramp down as fast as possible for flow ranges where jerks are not significant Typical values are 1 50 ms The fast ramp down time shall always be less than the slow ramp down time Once the value is set it should not be adjusted anymore during further ramp parameter optimization YAbortDownRamp To come around the problem of slow steering response for large down ramp times especially if
178. rror between set point and current position The optimum value for Kp is found when a non lagging accurate non oscillating steering actuation without overshoot is achieved at extreme low and high oil viscosities as specified in chapter robustness to changes sin dead times and at low and near max steering pressure when driving at low high vehicle speed and reversed gear robustness to changes in damping amp dead times Moreover Kp is closely related to valve capacity stroke volume See section Steady State Error on page 61 for information on accuracy The default value fits to steering systems with a lock to lock time of 2 seconds at max port flow Qm Sets the maximum port flow It effects the speed of the steering actuator to move towards the set point position Negative values of Qm are interpreted as the positive equivalent The default value is set equal to the inherent max port flow capacity of the valve and will therefore not have any effect Symbol Index Default Value range Kp 408 50 0 to 200 0 00 to 2 00 of port flow capacity of the valve for 0 1 positional error Qm 4y27 1000 0 to 1000 0 0 to 100 0 port flow Eliminate Noise due to Frequent Pressure Build up Eliminating noise is accomplished by stopping the controller to respond to minor deviations between set point and current actuator position The spool inside the valve is set in neutral when the port flow command has been within a threshold
179. s context input signals are both CAN messages and analog samples from sensors However missing analog samples or invalid timing of analog samples can only be caused by an internal PVED CL fault nothing can be concluded about the analog sensors from this SPN Invalid timing means that the requirements to the period that data has to be received within has not been met This could again be caused by an incorrectly configured CAN sensor or a heavy CAN bus load restricting the CAN sensor messages to be transmitted at their expected time SPN PVED CL Possible root cause Error Code 611 10210 SASA steering wheel sensor message period exceeds 100 ms 10212 High Prio steering device CAN sensor message period exceeds 100 ms 10213 Low Prio steering device CAN sensor message period exceeds 100 ms 10214 Primary wheel angle CAN sensor message period exceeds 100 ms 10215 Redundant wheel angle CAN sensor message period exceeds 100 ms 10218 Analog input 1 sample period exceeds 5 ms Internal PVED CL fault 10219 Analog input 2 sample period exceeds 5 ms Internal PVED CL fault 10220 Analog spool position input sample period exceeds 5 ms Internal PVED CL fault 10221 SASA steering wheel sensor messages are missing 10223 High priority steering device CAN sensor messages are missing 10224 Low priority steering device CAN sensor messages are missing 10225 Primary wheel angle CAN sensor messages are missing 10226 Redundant wheel angle CAN sensor messages are
180. sacaconesnsassbonvecosooasseiessnnnstznnsussnscsugnseseohalessnnnsgbebnounsabsbagpdescordesar benaiebeandes 39 Define the Maximum Steering Motion Speed 2 BD Define the Steering Motion Threshold ssssssccsssecssssssecsssesssnsecsssessssssesssuscessseesssussessuceessuscessuecessuseessnseessueesesueessneeessueessusss 40 Retrieving Steering Device INformation ssssecscssssessscsssessecssseesssssssessecsssesssesssseesesssnecsesssseessecsssessessneesseessneesssenseesssessee 41 Steering Wheel Sensor Noise Gate ssssesscscssessssecssssescsssteeseesssesessssssessecsnsesesecsnseesseessesesecsnsessecessesesecsnsessenesseeesscenseseesenses 41 SE a EA A EE T AESAAT TA EENE 41 Steering by Steering Wheel Open LOOP sssscsssscsssessessecssstseccsessssseessssesesssecssncessssecsssseeccaseesssseesssseeccsseeesaeeessaneessnueess 42 AG QUIPe THE SIGMal Siescstsssissesscsnssacasssssazecssnvstecsugucessesenswascdbaqsccnvezestnsssgnusuensabasatasuussevennnansaeasqscesecguasutscusaseeneaiesbsassigasecnavucloussave Functionality Tree is cscsccsssccscssssassyscscodacscsdeaccasesccavgscobsucsbauscecasdebinessguassctaessuscavageguustatdbvatabecshestagdassscebzesenoussdslussatussedeansathncat easeoseases Open Loop Control Select the Control Principle Apply Backlash 0 j Set point Transfer FUNCtION 0 ecscsssscssssscccsseccsssecssssesccsseecessecesssecsenssecsssecessseessaseccssseessssesesuscesssseeccssecessscessasecesssecsensees
181. sconnected from the CAN bus 11025583 Rev CA 11 Jan 2010 119 Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Appendix System Parameters Inde Name Description Data Range Defau Lo Not x Type It ck Res ed tore d 702 Lspl Index for controlling linearity of left flow characteristic S16 10 10 0 703 Lspr Index for controlling linearity of right flow 10 10 0 characteristic 706 Vcap Valve capacity l min U16 5 120 25 707 StrkVol Stroke Volume cm3 100 8000 600 725 RiOSP Backlash of OSP 0 160 50 726 Sts_backup Steering sensitivity of back up system 300 700 500 729 Xspl_1000 Max spool position at left side of neutral S16 1000 300 EH OSPE 1000 V v 1000 400 EHPS 737 Xspl_O Spool position at left spool dead band 250 0 EH OSPE 185 V v 350 0 EHPS 738 Xspr_0 Spool position at right spool dead band 250 0 EH OSPE 185 Viiv 350 0 EHPS 747 Xspr_1000 Max Spool position at right side of neutral 300 1000 EH OSPE 25 viv 400 1000 EHPS 748 ClosedLoopXspOffset Auto calibration set point offset 0 300 25 viv 750 Ktol Tolerance parameter for plausibility check and U16 500 1000 800 steering actuator dynamics 758 XspCalibrationOffSet Auto calibration set point offset S16 0 300 25 viv 798 Ve_100_to_0 time Fastest time in ms to decel
182. sent 1 present at AD1 2 present at AD2 4 present at CAN Primary steered wheel or actuator signal 65104 0 0 not present 1 present at AD1 2 present at AD2 4 present at CAN High priority set point controller Priority 4 65105 0 0 not present 255 present on CAN Redundant steered wheel sensor signal Vehicle speed signal 65107 0 0 not present 255 present on the same interface type 65108 0 0 not present 255 present on CAN OSP signal 65109 0 0 not present 255 present hydraulically When mapping the vehicle speed sensor the CAN source address of the vehicle speed sensor shall be configured correspondingly in the VehicleSpeedSensorSourceAddress parameter See System Parameters on page 120 Only one signal per analogue channel can be acquired Mapping the OSP signal serves only the purpose to monitor the PVED for conflicting setpoints when steering by steering wheel using the EHPS valve with hydraulic back up Other parameter conflicts are mentioned appendix Program Parameters on page 124 A mapped device can be de activated by means of sending a DeviceDisableCommand as mentioned in chapters High Priority Steering Device Enable Disable Control on page 83 and Low Priority Steering Device Enable Disable Control on page 103 The High priority set point controller can similarly be de activated Please refer to PVED CL Communication Protocol 11025584
183. setnanstascdnaideieen 61 What makes the steering wheel Crift sssssssssseccssesccssecsssseessusecssssesesssecssacessusecessscessnseessusecssnsceesuseessueeessaseeesnseesse 63 Eliminate Noise due to Frequent Pressure BUilG Up ssssssssssssscsssssssecsssssssecsusesssccsssesssccsssessuscessssssscessssesuecesscesscessseesses 63 Magnetic Valve Control ssssssssssssssssssssssssssseccsnsssssneesssuseessssescsuseessnecessusecssnsecesusesesssecssssesesusecesuseeesusecssnseessnsesesnseessaseeesnseessneeessae 64 Steering by High Priority Steering Device Open Loop Steering by High Priority Steering Device Open LOOP ssssssssssssecssseesssssecssseeessneesssnseecsueesesuseersuscessneecesueessneeesnseesed Functionality Tree Select the Control Principle i Acquire the Signals sssscsssssscssssssssecssssssccssecssssscesssecssssseccssecessecssasescssseessaseeesasecssnueeccanecesascessasececaseessuecessaecssnseeseaeessaseesse Set point Transfer FUNCOM sssssisescosesascassseniscorsesesttacsezsasesesaqazossensasoecgnsseassaessetnestasnescdinnsuconsenstnsseqbusssanasssesasessindesneaasicosuqncensensvas Steering Sensitivity scacisiascancisnusdesatenssaaceduscuyeassestnsduvecsnvccusssadslotnstGnescoasedsussouiyanssesinsibyscebessaussdesdunnsa uundstasbibensadevasscanvtsbisdevuccueaneys S lect a Fixed Sensitivity aa a E R A A N E a Select a Sensitivity with Relation to the Actuator Position s Select a Sensitivity with Relation to
184. speed is equal to Verm kmph The time applies for both ports It has most effect when the ramp up time is set larger than the inherent ramp down time of the main spool See Technical Data on page 24 for these ramp times Verm Sets the region in kmph where ramp up Trh and ramp down Tfh time is variable to vehicle speed YsetFr Experience shows that ramping down from maximum flow towards medium flows do not cause as much jerk as ramping down from medium flows towards no flow close to the valve dead bands In order to expedite the ramping at large flows a flow range can be set up where the spool can move faster down to a flow range where the slow down ramp is active The overall goal with the parameter is too optimize steering response time without degrading the anti jerk performance Set up fast ramp down time Tfr before tuning this parameter Setting YsetFr to 1000 eliminates the effect of the fast ramp down Typical settings are 500 800 Use trial and error Example A value of 800 can be interpreted as allowing the spool to ramp down with a fast ramp for flow requests between maximum flow 1000 and 800 1000 of maximum flow Tfr This time defines the applied ramp time in the fast ramp down range It is defined as the ramp time from maximum flow to no flow This means that in practice the actual fast ramp down time is proportional to the fast ramp down range divided by 1000 Use this optimization criterion Ramp down as fast as
185. spool to be inside or near the valve dead band e Reach ability of the closed loop control by demanding the steering actuator to be within the control region of the closed loop controller if closed loop control is applied e Safe transition to a steering device and hence program by only allowing this change at vehicle speeds equal to or lower than the threshold value defined in Program Transition Control on page 20 provided that a vehicle speed signal is present When all above criteria are fulfilled the steering device is selected and the associated steering control principle is applied If no steering device fulfils the criteria the previous selected device remains On power up all devices are normally in their rest position which means that no device is selected The magnetic valve is disabled while no device is selected To determine if a steering device exceeds its defined threshold two parameters shall be defined for each applied steering device namely the maximum steering motion speed and the steering motion threshold The threshold is defined as a percentage of the maximum steering motion speed Define the Maximum Steering Motion Speed The fastest steering input is defined as the time in ms to change the input signal from its minimum to its maximum value or visa versa hence the value corresponding to 100 This means e g the minimum time required to make one full turn for the steering wheel one full movement left to right on the jo
186. ssscssssssssscsusssssecsssessusssssecsuscsssesessecsuesesucssssccssecsssecsuccssuccesecssscesnesseees 14 Safety COMSIGD T ATOMS nsssecsasccsiescssscaystenvecgnssscchnasecnayelesnsscavaseconsassetssdiqnanscesdusuatsseagonsencansseestaquceavendusnnscesusdeanssanleaasuenivecteayecioazssgantes 15 Onroad OPO atin snes ccassdstssicsesssctactistussabsnnsseanssbeanvayeccossasdsbuancuseescussstsusscdbaseccoussssteesGestdcenet cuenta ERE e 15 Vehicle Speed Sensor 15 Closed loop Operation sesecsssssccssecssseeccsseecccntecssseessenecssseeesneees 15 Analogue Input Sensors Joystick or Wheel Angle Sensor 15 RISK ASSOSSIMOM Hesiesccsecscazscsscchssseccasssstscvbcasesesevsestosayessustes isdancuduesouaidGoussecunsescaten iir E Eii E R n a 16 Configuration and Adjustment Technical Specification Configuration and Adjust EMi casssdessensssccssssszcasucssscsasetvestcassaacsosscassdsaseusdccchastvssssayeausecguba acoaseastccescteaadbcguiaciagsuanteiiven scacietssasing 17 Parameter Tuning Process Changing Default Parameters 17 SYSTEM Parameters sca csscscsicuesssasccavesnvesnnsestovscussavaiontiasosusedeacodsatouccuasecusecuudesussebubsensansdsanutaentetiseseniaessdevaneseatestascedechwadessinneduiee 17 Steering Device Parameters waissccsscccsiccssessnecgssaccassssesssnng oaioonas onsceunstaasonssgnsasccsszesouisiesossvsscanddeassnvasanas ceadccateseancttenscanszdossone gt 18 Progra PAAMMOLSMS csssssscscsssesssseonsensccssosnsccaccabetssenssanssensd
187. steer for small steering angles or vice versa The optimum value for this parameter is closely related to e The inherent linearity between steering actuator position and signal e The inherent linearity between device handle angle and signal e The inherent over or under steer tendency of the vehicle when steering into curves e The default value will not effect the resulting relation YR YL The difference between the values of both parameter set the freedom of the steering actuator Normally YR is set equal at the right mechanical end lock YL is normally set equal to the left mechanical end lock This results in steering to the right direction In case an opposite steering behavior is required YR must be set at the negative equivalent and YL must be set at the positive equivalent See example The default value for YR and YL is set equal to the mechanical locks of the steering actuator resulting in the vehicle to steer in the right direction Yxsat Sets a threshold for the output to be at its maximum or minimum when the input signal exceeds the threshold value Yxsat is normally set down when more sensitivity is required than inherently 11025583 Rev CA 11 Jan 2010 81 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering Device Closed Loop available with the steering device The default value will not effect the inherent sensitivity of the steerin
188. steering system has the advantages over pure hydraulic steering systems such as the ability to meet specific functionalities on request In order to give this functionality Danfoss has developed the PVED CL which is a valve actuator with integrated controller designed to fit onto various Danfoss valves such as 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 General Information EH steering valve e Max flow 40 l min e Max steering pressure 210 bar e Available as in line and OSPE version EHPS steering valve piloted with electric actuator PVE and or steering unit F301 257 e Flow capacity up to 100 l min e Max steering pressure up to 250 bar PVG 32 Proportional valve F301 302 e Flow capacity up to 120 l min e Max steering pressure 350 bar Please contact Danfoss for further information 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 General Information Steering Possibilities PVG 100 Proportional valve F301 307 e Flow capacity up to 180 l min e Max steering pressure 350 bar Please contact Danfoss for further information The advantage of having various valves that interfaces to the same valve actuator is a higher flexibility for our customers needing different valve sizes and wanting to use the same valve actuator
189. sure build ups or small wheel movements This high SASA sensitivity is desired for high controllability and good response to slow steering wheel movements whereas it is less desired when the steering wheel is not activated A compromise can be achieved by setting up the steering wheel sensor noise gate to filter out small steering wheel data changes after some specified time with no steering wheel activation StwDxFilterThreshold parameter defines the steering wheel angle over time threshold where a no steering wheel activation confidence timer is incremented Any steering wheel activation which results in a steering wheel angle dt higher than StwDxFilterThreshold will reset the timer StwDxFilterStartTime parameter defines the time in ms that the no steering wheel activation confidence timer shall reach before the noise gate will floor any steering wheel input to 0 As long as the confidence timer is below StwDxFilterStartTime all steering wheel inputs will pass the noise gate Device Index Default Value range StwDxFilterThreshold 64020 2 0 1 Disable filtering 2 4095 dPosition dt StwDxFilterStartTime 64021 0 0 filter always enabled 0 65515 Time in ms 65516 65535 Disables the timer Example Analyzing the SASA data while the steering wheel is not activated shows that the position change fluctuates 2 peak peak Converted to steering wheel rpm this corresponds to 2 ticks 1000 ms
190. susecssases 44 Steering SOMSIIVITY scascseesssnsscsoascussgonssconsesaseacayansvccgavecseatsdesiess usbinssdanasensedeadessinezbsesuetedouaybnscs oud a E aeii iiaa ia S aisit 45 Select a Fixed SeNSitivity eessssccssecsssessccssecssseessseccsseessssesesstecssnsssecssecssssecssasecesnseessssseesusecsssseescasecssaseessaseeesaseessaseessnseessaees 45 11025583 Rev CA 11 Jan 2010 Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Contents Select a Sensitivity with Relation to Actuator Position seesssssscsssseccsssssessecsssseccsusecesssccesssecesssecsssseeesnseessnseceenseessnees 46 Select a Sensitivity with Relation to Vehicle speed A7 Ramps ANti jerk cscccssscccsseccssssccsseesessecessseecesneeeeeneeess 48 Ramps With Fixed RAMP TiMes csseccssssecsseeccssssccsssseesstecssnsseecsseecsssecssnseecsuseesssseeesusecssuseeessueeesaseessuseeccuseessaseeesusecesneeessaneessaes 48 Examples ana AAR RE 49 Example nirera ER RER 50 Select Ramps with Ramp Times Related to Vehicle Speed Steering by Steering Wheel Closed Loop Example usc nannaa NARRE 52 EXAM Gs esis EEE A E EATE EEEE 52 Anti jerk Ramp Parameter Tuning GUide cesessssssscssseccssessssseecssssecssusecessseesssceessusecesnscessuseessnscessueessueeersnecsesusecesnsesssee 53 Soft Cushion End StOp ss sssssssssssssssrrsssssssrree Main Spool Dead band Control Function Dead band Jump C
191. t Value range AnalogChannelCompensation 65098 0 0 None 1 AD1 2 AD2 3 Both AD1 and AD2 Transmitting the Voltage Readings on CAN In order to calibrate the AD inputs from steering devices or steering actuator position signals the read AD value shall be echoed back to user via the CAN bus Sending a StartStopStatus status set 1 message will invoke the PVED CL to send out a status message with data AD1 AD2 AD3 Xsp AD1 and AD2 are the analogue PVED CL interface ports AD3 is the spool position reading Xsp is the spool set point calculated by the PVED CL 38 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering Device Transition Steering Device Transition Threshold Definition The PVED CL allows steering with electric signals from more than one steering device Every 50 ms the PVED sequentially monitors all mapped steering device signals according to their priority It selects one of steering devices based on e the amount of signal change detected in the steering signal per time unit and e the current in System State on page 20 When the steering signal change per time unit exceeds a user defined threshold it is considered as a request to steer the vehicle with that particular steering device The system state is used to ensure Smooth transition from one to another device by requiring the valve
192. ted Xcal_r 4 The open loop dead band parameter is calculated as Xspr_O Xcal_r XspCalibrationOffset w The Xspr_0 value is written to eeprom 5 The main spool set point where the valve outputs it nominal maximum flow Xspr_1000 see Valve transfer function is adjusted equally to the Xspr_0 change As an example if the detected Xspr_0 has shifted 10 Xsp steps towards neutral compared to the previous Xspr_0 then Xpsr_1000 is shifted 10 Xsp steps as well This maintains the transfer function slope The same procedure is applied to the left dead band When both open loop dead bands are calculated and written the changes are automatically committed to eeprom The progress through the valve auto calibration procedure can be monitored on the CAN bus Operating the steering wheel during valve auto calibration will immediately abort the valve auto calibration process The PVED CL will remain in calibration mode until power is cycled Suggested valve auto calibration command values The following table shows the suggested valve auto calibration command values for the different valve types Other settings may be more appropriate The optimum parameters for a particular vehicle must be found by experimentation and testing Suggested valve auto calibration command values Command parameter EH dynamic EH static OSPEH EHPS XspStartSearch 35 50 50 130 XspIncrementSize 5 5 5 5 10 YactDiffThreshold 20 20 20 20 30 TimeOutPeriod
193. teering Device Closed Loop L v A E a 2 v e a 2 T z 2 lt a 5 a gt 2 T z c o 2 a S 3 2e Program number Y Pa C E U uo a 3 i 7 7 Switches p H l s Open loop fixed sensitivity with fixed ramp Y 0 i i FixedSr 1 times Var Sr 2 Open loop fixed sensitivity with ramp times H related to vehicle speed H No Sr 0 H N Open loop fixed sensitivity with no H ramps applied Open loop sensitivity related to steering actuator H Related to position with fixed ramp times i osition of Fired se H aR Var Sr 2 Open loop sensitivity related to steering actuator H UO shor position with ramp times related to vehicle speed No Sr 0 i e j lt Open loop sensitivity related to steering actuator H position with no ramps applied H Related to vehicle speed ade o itivity related to vehicle speed with H pen loop sensitivity related to vehicle speed wi i Open loop _ lt fixed ramp times i Cp 0 Fixed Sr 1 H Var Sr 2 Open loop sensitivity related to vehicle speed with H aror lt ramp times related to vehicle speed l No Sr 0 No signal 0 H a Open loop sensitivity related to vehicle speed AD1 1 with no ramps applied AD2 2 Closed loop CAN 4 Cp 255 Closed loop Fixed sensitivity no ramps possible default Sensitivity means Port flow amplification P005 089E Tracking For safety reasons a tracking functio
194. teering Device Closed Loop Steering by High Priority Steering Device Closed Loop Functionality Tree EHPS Type 2 Automatic Steering Diagram Joystick or mini wheel Steering angle sensor Steering cylinder Automatic steering Position sensor Vehicle speed The tree below illustrates the functionality available in the PVED for steering by a potentiometer device or by joystick or by mini wheel with speed output The manufacturing default functionality is found by following the red line It can of course be modified by following the instructions in this chapter The switches in the tree are used to select the functionality required In case different functionalities are required the EHPS software provides 5 programs from which the driver can select when the system is fully operative For steering by a device without spring return the PVED provides closed loop position control The steering signal is monotonic and represents the angle of the physical device These devices are normally friction held to prevent unintentionally steering due to machine vibrations Use this mode for implementation of proprietary auto guidance applications i e auto guidance applications that do not conform to the ISO standardized auto guidance messages see Auto steering on page 105 11025583 Rev CA 11 Jan 2010 99 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority S
195. tems utilizing a PVED CL an EHPS valve an OSP a CAN or analogue steering device but no steering wheel angle sensor SASA EHPS type 1 the PVED CL has no means to detect that the steering wheel is being activated A steering conflict between OSP steering and steering device steering is thus possible To resolve this conflict set Tolsout to a value typically 50 ms 200 ms to disable the magnetic valve bridge when no flow request is being commanded with the steering device SASA disengage ability check Disengaging auto steering relies on the SASA sensor which transmits position changes when the steering wheel is activated as described in Steering Device Transition page 33 To address the risk that the SASA steering wheel sensor should fail to deliver position changes dx to the PVED CL even if the steering wheel is activated and thus not be able to disengage auto steering a SASA disengage ability check can be configured The check is outlined below and will prevent auto steering from being engaged if the SASA sensor is failing SASA dx gt StwDxActivationThreshold OR StwActivationTimeout disable value Power up Increment timer if SASA dx lt Auto steering StwDxActivationThreshold engage possible OTHERWISE Timer 0 Auto steering engage not possible Timer StwActivationTimeout AND timer disable value StwDx lt ActivationThreshold The SASA steering wheel position change threshold dx which shall be exceed
196. th H pen loop sensitivity related to vehicle speed wi i Open loop _ lt fixed ramp times i Cp 0 Fixed Sr 1 H Var Sr 2 Open loop sensitivity related to vehicle speed with H aror lt ramp times related to vehicle speed l No Sr 0 No signal 0 H a Open loop sensitivity related to vehicle speed AD1 1 with no ramps applied AD2 2 Closed loop CAN 4 Cp 255 Closed loop Fixed sensitivity no ramps possible default Sensitivity means Port flow amplification P005 089E Tracking For safety reasons a tracking function ensures bump less transition on control loop initialization It forces the user initially to operate the potentiometer knob into a position that matches zero deviation between set point and current steering actuator position or by sweeping through it While tracking the commanded port flow is limited at zero Yr YI Lx Xysat db Qm Xstl 10 ms Pot L meter Port flow Tracking gt Q Port flow like Setpoint limiter command device Yact J Actuator Ne position P005 211E Select the Control Principle Cp selects the closed loop control using parameter index 3y02 equal to 255 Y selects the program and ranges from 0 and 4 The value for y must be consistently used throughout the entire configuration of a single program 80 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by High Priority Steering De
197. th Relation to Vehicle SP e d ssscssssssccsssessssseccssecssssseccsuesesssecessuseccsneeessseessanecessuecessueessseessnssenses 90 Ramps Anti jerk cesscssscsssssccssteccsssecssseecesneeccsseesesneeeees 197 Ramps with Fixed Ramp Times 92 Example sssscccsssccsssecesseeseeeee 192 BAMPER AOE A AE N 92 Select Ramps with Ramp Time Related to Vehicle Sp Cd ssssssssssssssccsseesessseccsseseecnsecssuseessnsecesssecssaseessusecssnseessaneessaee 93 BAMPER ENEN EN 195 Example sssscccssssccsseccessteccsseeeesseeesenseeses Anti jerk Ramp Parameter Tuning Guide i Soft CUSHION ENA StOP sssssccssecsssessccssecsssscecssseccsssecssnsesecssecesnsceccssecessueessssecccsseessnuessssecsssuecessuscessucessuseccsneesesusessaneecesueeeeenees Spool Dead band Hold Control FUNCtION scsssssscssseecsseecccsecessseeesssecesssecessseeccsseesssseeccssecessueesssseecsaseessaueeccsseessneeessaneessaes Dead band Jump Control scssisccis sccstssscsustcassssecevcssensavecsuscesnsdeansasensassitasesscavescabaydelvconsdcsctasetsoavacdtoasessay T EARNE Dead band Hold and Proportional Controll sscsssssssssssessssseccssssccssseccsseccssuseccsusecssseesssuseccsnesesuseccanecessuseeesuteccaneesseass Responding to Flow Requests after Tolsout m Magnetic Valves OFF COMmtroll sccisseccassisvssscasnsaconcasicsncalgnsnscctavsvecsseagouaesoanieasbiny ceosecgcatscennssennneagsnadsdqninccendecotesduensndesebesstacsiyaien Resolving a Steering Control
198. the input signal of the steering device controller with highest priority is always selected Programs The PVED CL provides for each steering device multiple separated set of control parameters programs to leave the choice entirely up to the OEM s to 10 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 General Information Interface Overview Application Examples Select and program a control principle open or closed loop for each program for a particular steering device Select and program customized functionalities like variable steering ratio ramp time etc for a particular steering device The PVED CL provides the possibility for dynamic adjustment of the steering system by dynamically applying a new set of control parameters from a program while driving This allows the driver to optimize the steering system to the working situation like material handling precision steering fast driving and anti jerk control for articulated steered vehicles Up to 5 programs per steering device controller 10 for steering wheel sensor are available A man machine interface MMI with a display with control buttons provides means to request programs The MMI transmits the specific commands via CAN bus Wheel Loader The use of the PVED CL on wheel loaders typically in conjunction with EHPS gives a range of functional opportunities Anti jerks funct
199. tion Sensor The actuator sensor serves the purpose to allow external closed loop position control for example soft stop or variable steering sensitivity depending on cylinder position For added safety the PVED CL provides connectivity of a second sensor inputs at the same interface type When position sensors are mounted on the steering actuator the signal range must be at least 5 to 10 larger than maximum physical movement of the actuator The PVED CL incorporates a printed circuit board PCB LVDT sensor and a solenoid operated hydraulic H bridge The PCB provides connectivity to CAN and analogue signals by two 4 pin connectors each colored differently to distinguish CAN and power supply from cables with analog control signals The gray connector is dedicated for CAN and electric power supply and the black for connecting analogue devices to the PVED 1 Only for AMP See also laser engraved text on PVED CL to distinguish between CAN and Analog 11025583 Rev CA 11 Jan 2010 13 Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 General Information Functional Options Overview MMI Display Buttons e g to select program Display Info Status Diagnostic CAN Configuration amp Adjustment page 14 and PVED CL Communication Protocol 11025584 Vehicle speed signal J1939 CAN Mapping a Steering Device page 27 and PVED CL Communication Protocol 11025584 PVED CL Feedback S
200. to 1 Set YabortThreshold to 500 2 Set the ramp down time Tfo to a start value e g 500 Decrease YsetFr from 1000 towards a smaller number Observe which value of YsetFr where the level of jerks starts to get worse to find the flow request range where ramping has an effect Optionally increase Tfr to optimize on the fast ramp down operation Tfr should not exceed 150 ms and always be smaller than Tfo Adjust the ramp down time Tfo until at good anti jerk performance is achieved Increase the ramp up time Tro to further improve the anti jerk performance Tro is typically smaller than Tfo Fine tune the performance by experimenting with Tfr Tra and YsetFr Note that the largest jerks shall be tuned away with the ramp up time Tro and ramp down time Tfo Finally the YAbortThrehold and Tra may be adjusted Consider how many steering wheel RPM is needed to abort the down ramp Secondly adjust Tra to reduce the jerk when aborting the down ramp Obviously Tra needs to be less than the down ramp time Tfo to get a faster steering response Typical values for Tra is 50 100 ms The above typical parameter settings may vary from vehicle to vehicle To prevent the steering actuator to hit the mechanical end lock with great speed the PVED is able to slow down the actuator speed when approaching the end lock electronically The red line in the figure below shows how the actuator is slowed down near the end lock positi
201. to work while by passing the vehicle speed dependent function VSReducedModeAllowed This parameter indicates to the PVED CL error handler that any fault related to the CAN vehicle speed sensor shall bring the PVED CL into reduced state and change steering functionality as follows e Speed dependent steering sensitivity is by passed for all steering devices utilizing this functionality The PVED CL will assume maximum speed in the absence of a valid vehicle speed signal See Select a Sensitivity with Relation to Vehicle speed on page 90 e Speed dependent ramp is by passed for steering devices utilizing this functionality The PVED CL will assume maximum speed in the absence of a valid vehicle speed signal See Select Ramps with Ramp Times Related to Vehicle Speed on page 50 e Program transition will ignore vehicle speed condition rule See System State on page 20 Symbol Index Default Value range VSReducedModeAllowed 64012 0 0 FALSE 255 TRUE False infers that the PVED CL will enter fault state if a fault occurs The vehicle speed sensor faults that can trigger reduced state can be found in Available J1939 Diagnostic Trouble Codes page 135 Steered Wheel Angle Sensor Fails The steered wheel angle sensor signal may be used by more steering devices Any fault on the steered wheel angle sensor or signal will only affect the functionality that uses the steered wheel angle signal A steering device uti
202. ual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Diagnostic amp Troubleshooting 1 This has been separated from the next row SPN 615 as this is the only case when the DTC with SPN 615 can signal the Lamp status set to Amber 2 SPN 615 with the Lamp status set to Red indicates that other critical EHPS error has happened The user must retrieve an error code from the EHPS error buffer and use the table in section 2 to locate the source of a problem The PVED CL supports DM1 DM2 and DM3 according to SAE J1939 73 diagnostic protocol see PVED CL Communication Protocol Technical Information 11025584 A sub set of all possible PVED CL fault codes are represented as standardized J1939 73 Suspect Parameter Numbers SPN The sub set is limited to interface related faults which are typically causing most troubles AD1 and or AD2 Short circuit Each of the two analog input ports are monitored for short circuits to GND VCC or positive battery supply The Failure Mode Identifier FMI differentiates between the two type of short circuits An internal pull down resistor on both analog input ports will pull the input level to GND if an analog input port is left open No analog input diagnostic is active if the analog input is not mapped Missing CAN Sensor Set points SPN 611 indicates a fault due to invalid timing or missing input signals from the sensors most likely due to a failing CAN sensor or cable tree fault In thi
203. ulic Steering Version 1 38 Steering by Low Priority Steering Device Open Loop Set point Transfer Function SseSts0 Sts1 Sts2 Sts3 Sts4 Sts5 Vesm ee f L Ve Vehicle Sr Lr Tro Tfo Lf speed Steering Trh Tfh YsetFr Tfr Toms L Yact Actuator sensitivity TAboitDownRamp Cf Off Tra Verm Yr YI position Transfer Ramp 10 ms Xstl Joystick L Port flow signal function function Onai Qm Lx db Ve Yact Vehicle 100 ms Actuator 10 ms speed position P005 207E Acquire the Signals See Mapping a Steering Device on page 34 on how to map the steering wheel sensor and steering wheel angle sensor The transfer function provides 3 parameters to transfer joystick inputs signal to requested port flow CR port 1000 Saturation Example db 100 Lx 10 ZT 750 Qm 750 25 Sts 116 ro Oo x A S 32 500 Max input signal Bs eae vs Max input signal for activating the ot ai ie for activating the steering device y 250 a irae steering device into the left Z f pea os into the right directonor direction or CW CCW EET 1000 750 500 250 750 1000 Xstl input signal 1 unit 0 1 of Max activation Defaults db 50 Lx 0 Qm 1000 Sts 105 Saturation 1000 m CL port Y P005 210E Db Sets a dead band in the middle region of the steering input It prevents self steering caused by manufacturing deviations in the signal when the h
204. um hydraulic dead band plus a little margin to guarantee a flow e In this example a margin equal 25 is chosen which result in a ClosedLoopXspOffset equal to 108 25 70 63 e Xspl_1000 and Xspr_1000 are set to 430 to operate the EH valve in its full range Using conservative dead band values will create steering performance which will vary slightly from valve to valve E g for variable steering ratio applications the dead band and steering ratio will vary slightly Similarly in auto steering mode the flow for correcting the steered wheels may vary from smooth corrections to more jerky corrections Method 2 Manual software dead band calibration The principle in this method is to match the PVED CL software dead bands to the hydraulic dead band for the particular valve it is controlling This kind of calibration will reduce the impact of mechanical tolerances and thus reduce the valve to valve performance differences This method does not require any specific sensor but requires a service tool to be connected to the PVED CL The operator performing the calibration must be able to observe a movement of the steering actuator or steered wheels during the procedure and read out main spool set points 28 11025583 Rev CA 11 Jan 2010 Devt Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Installation For production calibration and field service purposes the PVED_CL allows dir
205. uoscasosnecssessdsasconsanededacdas adensvscaseonbanceuasnnstussdastsdepasenseduedu cestasescoedes 18 Indexing PArAMStSK se ccsassessssscssceensossseccnacectadecestacenasconasedstassegnissestnosuanascnzsesosataduassbagosasedgnistschasessbnesdasueaseuasecannsgestzaseqnasscenosts 19 Reading and Writing Pararmeters scsssscsssssscsssecssssssccssecscsseesssssccssseesssussessseccsssecessueeessseesssuseccsseesensceessuecessueeccsueesenseesesuentee 20 Programi Transition COMEMOL cssecssessscscticcpivnsscoasetecssssyesncccesusscccsyunnndcegeasst cosyeatcsesgteabecanveracansedsodsabeunsscosnsn i i aari ie 20 SVSTQNN StL POA EAEE EEE A A A A A E E EE 20 Select Program Program Transition ssssssssesscscsssessscsssesescssseesssesseseseesnseesseessesesecsnsessssessesesecessessssesneeesersnsesessesneseseeessesses 20 Program Transition Acknowledge 21 How does the PVED work snad Electronic Control Unit 21 Solenoid Valve Brig GQ ssccsscccvsssssvescsessscoscssecsesssocosseseuudsacasuescaseuedussasiatuiseunsssaszeacovsssicestsaslosscevassennusssetssevasasonsedssidcduesesguetennsti sits 21 Control Principles an R e i i a i iaia 22 Inductive Transducer LVDT Linear Variable Differential Transformer c cscscsssssssessessessessessssesssssssessesssseeess 22 Integrated Pulse Width MOCUulation sscsssscssssscsssseccssseecsseecssnsecsssssccsssecsssseessasecssasecssnsecessscessasscecuecsenecessaseesenseessasses 22 LEE DD EE E A PEE
206. ut X 1y03 3y03 4y03 5y03 0 1000 1000 Ri Steering wheel backlash 1y04 3y04 4y04 5y04 0 200 0 db Dead band 1y05 3y05 Ay05 5y05 0 250 5 0 0 0 Lx Linearity index 1y06 3y06 4y06 5y06 10 10 0 YR Right position limit 1y07 3y07 Ay07 5y07 0 1000 1000 124 11025583 Rev CA 11 Jan 2010 Desist Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Appendix Name Data Description of parameter Steering Steering device External Range Default type wheel a set point High Low controller Priority Priority YL Left position limit 1y08 3y08 4y08 5y08 1000 0 1000 StsO Steering sensitivity at 0 of Vesm 1y10 3y10 4y10 5y10 20 1200 400 105 105 1000 Sts1 Steering sensitivity at 6 of Vesm 1y11 3y11 4y11 5y11 External set point 49 90 90 1000 generator Sts2 Steering sensitivity at 12 of Vesm 1y12 3y12 4y12 5y12 0 1000 400 75 75 1000 Sts3 Steering sensitivity at 25 of Vesm 1y13 3y13 4y13 5y13 400 60 60 1000 Sts4 Steering sensitivity at 50 of Vesm 1y14 3y14 4y14 5y14 400 45 45 1000 Sts5 Steering sensitivity at 100 of Vesm 1y15 3y15 4y15 5y15 400 30 30 1000 Lr Ramp up linearity index 1y19 3y19 4y19 5y19 0 10 0 Lf Ramp down linearity Index 1y20 3y20 Ay20 5y20 Tro Ramp up time
207. ut the actual stroke volume cylinder size This information is needed by the software to achieve the desired sensitivity Sse selects between a fixed steering sensitivity variable to steering actuator position or vehicle speed Set Sse to 1 to select the fixed sensitivity 11025583 Rev CA 11 Jan 2010 45 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Open Loop Sts0 defines the fixed steering ratio This value shall be set large enough to provide sufficient directional stability at all vehicle speeds The default value is set to a commonly applied steering ratio Symbol Index Default Value range Vcap 706 25 5 to 120 l min StrkVol 707 600 100 to 8000 cm3 Sse 1y09 1 Must be set at 1 StsO 1y10 400 20 to 1200 A steering ratio of 400 equals to 4 00 steering wheel turns to move the steering actuator from YL to YR left to right end lock position Select a Sensitivity with Relation to Actuator Position A variable steering sensitivity related to actuator position is normally chosen for increased controllability for straightforward driving for e g material handling applications The correlation between steering wheel movements and the cylinder position is normally closely related to the mechanical geometry between steering actuator and steered wheels of the individual vehicle max Sts 1200 lt 420
208. value Qth for a given time Tclpout The spool is reactivated again when port flow command exceeds the threshold Tclpout Sets the time delay ms before the main spool is set in neutral Qth Sets the threshold value for port flow command when the controller is in steady state Symbol Index Default Value range Tclpout 417 3000 1 to 30000 ms Qth 418 50 0 to 100 0 0 to 10 0 of max port flow Magnetic Valves OFF Control Magnetic valves off delay time Disables the magnetic valve bridge after a time specified in ms when the flow request is 0 otherwise it remains enabled This parameter is used when electrical energy consumption by the magnetic valve bridge in the PVED must be reduced or to resolve a steering control conflict between the OSP and the PVED CL implementing EHPS type 1 systems only The default value disables this functionality i e the magnetic valve bridge is enabled at all times The magnetic valve bridge is enabled when the PVED CL receives a non zero flow request 102 11025583 Rev CA 11 Jan 2010 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Closed Loop Symbol Index Default Value range Magnetic Valves Off Delay Time 416 30 000 1 to 30 000 ms Resolving a Steering Control Conflict On systems utilizing a PVED CL an EHPS valve an OSP a CAN or analogue
209. values for YR and YL are set equal to position of the mechanically end locks Cf Sets the region where actuation speed is slowed down This region starts from the position defined by YR and YL Making this region to small reduces or can eliminate the effect of soft stop The default value for Cf ensures the valve is closed proportionally with actuator position Off This parameter sets the permitted actuation speed when hitting the end lock defined by YR or YL When the steering actuator passed YR or YL actuation speed will decay to zero The default sets a speed that allows building up pressure when the actuator is located at YR or YL Symbol Index Default Value range YR 3y07 1000 1000 1000 Values smaller than 0 will be set equal to the positive equivalent YL 3y08 1000 1000 1000 Values greater than 0 will be set equal to the negative equivalent Off 3y28 50 0 to 1000 0 0 100 0 of max port flow Cf 3y29 333 1 to 1000 See chapter Mapping steering signals Steering actuator Sensor feedback from vehicle wheels and Steering actuator position to acquire steering actuator position Tolsout Maximum time where the main spool is allowed to be operated proportionally within the valve dead bands The main spool control range for this function can be seen in the Dead band crossing on page 26 This function is useful to eliminate frequent spool relocating events from its neutral to its dead band posit
210. vated again when port flow command exceeds the threshold The default values mean that if a flow request from the controller is less than 5 of max port flow has occurred for 3 seconds the spool returns to neutral 11025583 Rev CA 11 Jan 2010 63 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Steering Wheel Closed Loop Tclpout Sets the time delay before the main spool is set in neutral Qth Sets the threshold value for port flow command when the controller is in steady state Symbol Index Default Value range Tclpout 117 3000 1 to 30 000 ms Qth 118 50 0 to 100 0 0 to 10 0 of max port flow Magnetic Valve Control Magnetic valves off delay time Disables the magnetic valve bridge after a time specified in ms when the flow request is 0 otherwise it remains enabled This parameter is used when electrical energy consumption by the solenoid bridge in the PVED must be reduced or to remove a steering control conflict between the OSP and the PVED This applies to the EHPS valve where a conflict may happen if the PVED is configured to be controlled with either CAN or analogue steering devices but not with the steering wheel angle signal In this configuration the PVED has no information about the steering wheel operation cannot resolve the conflict The default value disables this functionality i e the magnetic valve bridge is enabled
211. ve speeds max Sts 120 120 Ve 100 80 Vesm 500 60 Sts4 45 Sts ye saturates Steering sensitivity Sts 40 min Sts 20 100 200 300 400 500 600 700 800 900 1000 Ve Vehicle speed 1 unit 0 1 km h P005 088E Sse Selects between a fixed steering sensitivity variable to steering actuator position or vehicle speed Set Sse to 3 to select the sensitivity related to vehicle speed StsO Sets the linear gradient between steering angle and requested port flow when the vehicle is standing still When the vehicle signal unintentionally not is mapped StsO is applied constantly since variable Ve remains 0 In case the vehicle signal not is diagnosed it is recommended to set Sts0 at a value where sufficient directional stability at maximum vehicle speed is present Sts1 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving at 6 25 of the speed defined by parameter Vesm Sts2 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving at 12 50 of the speed defined by parameter Vesm Sts3 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving at 25 00 of the speed defined by parameter Vesm Sts4 Sets the linear gradient between steering angle and requested port flow when the vehicle is driving at 50 00 of the speed defined by parameter Vesm Sts5 Sets the linear gradient between steer
212. ve to the mechanical dead band location in the spool opening characteristic Read more information in Valve Interface on page 25 2 The actual neutral position and calibrated neutral position steering devices such as joysticks etc do not match and causes a small output flow when the device is activated 3 PVED CL neutral spool position calibration is incorrect and needs re adjusting mechanical valve defect 4 Auto steering is not disabled when a higher priority device is selected Check if higher priority devices are mapped 5 Steering device dead band is too small noise may activate the device and cause the spool to jump between left and right valve dead band Actuation with low gain Operational 1 The amplification parameters Sts are set at a too low value for steering devices and too high for the steering wheel sensor Read more information on Select a fixed sensitivity 2 The gain linearity index Lx is set at a high value 3 Parameter Vcap is set greater than the true flow capacity of the valve 4 Steering wheel angle sensor is installed upside down causing a conflict with the OSP pilot signals 5 The soft stop functionality limits the flow because the steered wheel angle sensor input is not correctly calibrated mirrored or constant 6 Soft stop The steered wheels are being driven beyond the logical end stop values maximum output flow in determined by the Off parameter 7 The maximum flow pa
213. vice Closed Loop Create the Set Point Acquire the Signals See Mapping a Steering Device on page 34 on how to map an analogue or CAN based high priority closed loop steering device and steering wheel angle sensor A function provides 5 parameters to transform angle information to a steering actuator position set point actuator end lock uc 5 Example 7 SE db 250 Lx 10 5 559 2s 2 Xysat 750 3 ose YR 750 mae E Q 5 YL 500 25 RE 500 I o a o a 22 y E Max input signal 250 db i for activating the Max input signal for activating the steering device into the left 1000 750 500 250 steering idevice into the right direction N U 750 1000 direction g Xstl Input signal 1 unit 0 1 of max activation Defaults db 0 Lx 0 Xysat 1000 YR 1000 7504 YL 1000 e g 500 F c a steering actuator at the left end lock position Left steering saturation 1000 P005 212E db Sets a dead band about the middle region of the signal The parameters prevent self steering caused by manufacturing deviations in the signal when the handle is in the middle or released position However db is normally set to zero for pot meter like steering devices The default value is set to serve pot meter like steering devices Lx Set the curve linearity The parameter is set down when the cylinder position is too far over
214. vice Open Loop EHPS Type 2 System Diagram Joystick or mini wheel Steering angle sensor Steering cylinder Automatic steering Position sensor Vehicle speed Functionality Tree The tree below illustrates the availability of the PVED for steering by joystick mini wheel with speed output or by potentiometer like steering devices The manufacturing default functionality is found by following the red line Following the instructions in this chapter can of course modify the default The switches in the tree are used to select the functionality required In case different functionalities are required the EHPS software provides 5 programs from which the driver can select when the system is fully operative 11025583 Rev CA 11 Jan 2010 85 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering by Low Priority Steering Device Open Loop Select the Control Principle L v xo a 2 v To a 2 x a U S e 7 S amp 2 g 9 2 A Program number Y 2 5 C F Al v oe a ro 3 ny Switches i i Open loop fixed sensitivity with fixed ramp Y 0 i j i FixedSr 1 times H Var Sr 2 Open loop fixed sensitivity with ramp times H H 74 related to vehicle speed H f No Sr 0 H f N Open loop fixed sensitivity with no H ramps applied H Open loop sensitivity related to steering actuator
215. where ramp up Trh and ramp down Tfh time is variable to vehicle speed YsetFr Experience shows that ramping down from maximum flow towards medium flows do not cause as much jerk as ramping down from medium flows towards no flow close to the valve dead bands In order to expedite the ramping at large flows a flow range can be set up where the spool can move faster down to a flow range where the slow down ramp is active The overall goal with the parameter is too optimize steering response time without degrading the anti jerk performance Set up fast ramp down time Tfr before tuning this parameter Setting YsetFr to 1000 eliminates the effect of the fast ramp down Typical settings are 500 800 Use trial and error Example A value of 800 can be interpreted as allowing the spool to ramp down with a fast ramp for flow requests between maximum flow 1000 and 800 1000 of maximum flow Tfr This time defines the applied ramp time in the fast ramp down range It is defined as the ramp time from maximum flow to no flow This means that in practice the actual fast ramp down time is proportional to the fast ramp down range divided by 1000 Use this optimization criterion Ramp down as fast as possible for flow ranges where jerks are not significant Typical values are 1 50 ms The fast ramp down time shall always be less than the slow ramp down time Once the value is set it should not be adjusted anymore during further ramp parameter
216. x progressive Qm 3y27 1000 0 to 1000 100 flow at CR or CL port Steering Sensitivity Select a Fixed Sensitivity Sensitivity is set individually for each program and can be either fixed or variable Variability can depend on vehicle speed steered wheel position or change of current device program Using variable sensitivity can increase comfort and drivability significantly and depending on the vehicle type and use the appropriate way to achieve the change might be different The PVED CL allows several programs for each steering device which means that 5 to 10 different programs with different sensitivity settings can be made and applied via the MMI while driving Each program can then use either fixed or variable sensitivity hence we talk second order variability by using the PVED CL Max Sts 1200 E Vesm 500 Vehicle speed dependant linear program 1 420 Vehicle speed dependant non linear program 2 Fixed sensitivity program 0 380 4 Vehicle speed dependant non linear program 3 360 340 la in gig 3 3 aaa a ai a Min Sts 20 lt _ i 0 100 200 300 400 500 600 700 800 900 1000 Vehicle speed Ve Vehicle speed 1 unit 0 1 km h A fixed steering sensitivity is chosen when no cylinder position or vehicle speed signal is available on the vehicle Sse Selects between a fixed steering sensitivity variable to steering actuator position or vehicle spe
217. ystick etc CAN AD Volt 40954 90 45 t2 time Example How the maximum signal change is carried out Device Index Default Value range Steering by steering wheel 111 500 500 750 120 to 80 rpm Steering by High priority steering device 311 200 150 450 11025583 Rev CA 11 Jan 2010 39 Denpi Operation Manual PVED CL Controller for Electro Hydraulic Steering Version 1 38 Steering Device Transition Example How the maximum signal change is carried out continued Device Index Default Value range Steering by Low priority steering device 411 200 150 450 Steering by High priority external set point controller 511 200 10 2000 Changes to parameters of non present steering devices have no effect Define the Steering Motion Threshold The steering motion threshold represents a percentage of the maximum steering motion which is defined for each steering device This means for the PVED CL to detect a steering request on anew steering device the input on this device shall happen faster than the defined threshold speed The default values are a compromise between a quick respond to steering inputs and avoiding unintentional transitions due to noise that might be present in the steering signal Device Index Default Value range Steering by steering wheel 119 50 0 200 0 00 to 20 0 of max activation speed

PVED-CL Controller for Electro-hydraulic Steering

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