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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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 joystick1

•CG-150 CAN gateway

•Spool calibration

1The 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

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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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