Danfoss PVED-CLS Application guide
Application Guide
PVED-CLS
Closed loop joystick steering
www.danfoss.com
Application Guide
Closed Loop Joystick Steering
Revision history Table of revisions
Date Changed Rev
January 2019 Replaced all graphics 0103
December 2018 Corrected document title for consistency 0102
October 2018 First edition 0101
2 | © Danfoss | January 2019 AB288161772509en-000103
Application Guide
Closed Loop Joystick Steering
Contents
Introduction
Overview..............................................................................................................................................................................................4
Function..........................................................................................................................................................................................4
Prerequisites................................................................................................................................................................................. 4
Downloading the required software.........................................................................................................................................5
Preparing the PVED-CLS for configuration............................................................................................................................. 5
Configuring the closed loop joystick subsystem
Interface selection............................................................................................................................................................................6
Engage settings.................................................................................................................................................................................6
Changing parameter P3732.................................................................................................................................................... 6
Control algorithm and steering performance
Closed loop joystick algorithm....................................................................................................................................................7
Balancing joystick.............................................................................................................................................................................8
Vehicle speed dependent wheel angle limitation................................................................................................................9
Changing the parameters........................................................................................................................................................9
Joystick position to wheel angle set-point scaling............................................................................................................10
Vehicle speed dependent closed loop gain.........................................................................................................................11
Changing the parameters......................................................................................................................................................11
Closed loop controller, flow and spool set-points.............................................................................................................12
Closed loop joystick safety functions
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Danfoss | January 2019 AB288161772509en-000103 | 3
Application Guide
Closed Loop Joystick Steering
Introduction
Closed loop joystick overview
This application guide provides information on how to set up a closed loop joystick subsystem when
using a PVED-CLS steering actuator in a fluid power system. This information applies to all valve
subsystems. The information below details functionality, prerequisites and literature references necessary
to successfully and safely set up a closed loop joystick subsystem and tune the steering performance.
Literature references
•
PVED-CLS user manual (included in firmware release package /technical manuals folder)
•
Communication protocol (included in firmware release package /technical manuals folder)
•
PLUS+1® Service Tool user guide (found in firmware release package /Service tool folder)
•
PVED-CLS safety manual (must be requested from local eSteering Product Application Engineer or
sales representative)
Additional resources
•
PLUS+1® Service Tool
Closed loop joystick function
The closed loop joystick steering algorithm performs closed loop control of the wheel angle, for twowheel steered vehicles, or the articulation angle for articulated vehicles. A simple proportional controller
is used.
The joystick position corresponds to a wheel angle set-point. The closed loop controller works to
minimize the error, thereby the wheel angle will follow the joystick position.
For a closer look at the algorithm, see Control algorithm and steering performance.
Closed loop joystick prerequisites
To successfully setup a closed loop joystick subsystem, the following components must have been
installed.
•
Man-Machine-Interface subsystem
•
Vehicle speed sensor subsystem
•
Wheel angle sensor subsystem which has been calibrated
•
CAN based joystick
•
CG-150 CAN gateway
•
Spool calibration
1
The CAN based joystick must follow the protocol described in the section AUX sensor as a joystick in PVED-CLS Controller for
Electrohydraulic Steering Communication Protocol Version 3.44
1
4 | © Danfoss | January 2019 AB288161772509en-000103
Application Guide
Closed Loop Joystick Steering
Introduction
Downloading the required software
1. Download the desired or latest firmware release package on the PVED-CLS web page
2. Optional: Request and download the PLUS+1® Service Tool under Service Tool: Request heading.
Preparing the PVED-CLS for configuration
The following steps detail how to load service pages and diagnostic data files onto the PVED-CLS as well
as how to set your Parameter Sector Access Code.
1. Connect the CG-150 to the PC and the CAN bus.
2. Open the PVED-CLS service pages (.P1D file) found in the \Service tool folder found in the
release package.
The document PLUS+1 Service tool user guide.pdf describes how to load the service pages into the
PLUS+1® Service Tool and how to install Diagnostic data files. The Diagnostic data files folder in the
release package.
3. Download the PVED-CLS bootloader and application software into the PVED-CLS if the firmware
version installed on the PVED-CLS does not match the version being used.
4. On the info page, select your Parameter Sector Access Code Level using the drop-down list.
5. Press Edit PASC and enter the Parameter Sector Access Code.
6. Click OK.
The closed loop joystick subsystem is now ready to be configured in the PVED-CLS.
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Danfoss | January 2019 AB288161772509en-000103 | 5
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