Danfoss System Hitch Control Application guide

System Description
System
Hitch Control
www.danfoss.com
System Description
Hitch Control
Revision history Table of revisions
Date Changed Rev
March 2020 Updated 'Angle sensor for displacement control' description. 0203
July 2017 Updated recommended suppliers summary 0202
August 2015 Converted to Danfoss layout BA
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System Description
Hitch Control

Contents

Overview
System details
Control options
Hardware components
Application software
Features and benefits
About this document......................................................................................................................................................................4
Referenced product specific documents.................................................................................................................................4
Microcontroller............................................................................................................................................................................ 4
Valves...............................................................................................................................................................................................4
Software..........................................................................................................................................................................................4
System start-up procedures....................................................................................................................................................4
Latest version of technical literature....................................................................................................................................4
PLUS+1® electronic controls responsibility.............................................................................................................................4
Hitch positioning control concepts........................................................................................................................................... 4
Closed loop work control modes................................................................................................................................................6
Combination of position, force and slip control..............................................................................................................6
Adaptive force control...............................................................................................................................................................6
Fast down control.......................................................................................................................................................................6
In-cab control from HMI............................................................................................................................................................6
Remote operation.......................................................................................................................................................................7
Closed loop transport modes.......................................................................................................................................................7
Rear hitch active damping.......................................................................................................................................................7
Front hitch active damping.....................................................................................................................................................7
Overview..............................................................................................................................................................................................8
PVBZ double-acting actuator control....................................................................................................................................... 8
PVBZ-HS single-acting actuator control...................................................................................................................................8
PVBZ-HD single and double-acting actuator control..........................................................................................................9
Hitch valves...................................................................................................................................................................................... 10
Sensors...............................................................................................................................................................................................10
Draft sensors for force control............................................................................................................................................. 10
Angle sensor for displacement control............................................................................................................................ 10
Ground speed radar.................................................................................................................................................................10
Microcontrollers............................................................................................................................................................................. 10
PLUS+1® controller power supply specification............................................................................................................10
MC024-01A controller for 10 Vdc draft sensors.............................................................................................................10
HWD for PLUS+1® controllers...............................................................................................................................................11
Application block software description.................................................................................................................................12
PLUS+1® GUIDE...............................................................................................................................................................................12
PLUS+1® Service Tool....................................................................................................................................................................12
PLUS+1® Service Tool functions...........................................................................................................................................12
Keyed PLUS+1® application block software and application hardware............................................................... 12
Customer access to the Hitch application block................................................................................................................ 12
Application file contents........................................................................................................................................................12
Application file download and installation in GUIDE..................................................................................................12
Standard features...........................................................................................................................................................................13
Optional features........................................................................................................................................................................... 13
Benefits.............................................................................................................................................................................................. 13
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System Description
Hitch Control

Overview

About this document

This document provides general information about the PLUS+1® Hitch Control System application block. In addition, it is a reference tool for vehicle OEM design, engineering, and service personnel.
This document is one of several sources of technical information for the hitch control system. Other sources of technical information include individual product data sheets and application block manuals, PLUS+1® GUIDE User Manual, and PLUS+1® Service Tool User Manual.

Referenced product specific documents

Documentation for support, development, design, and implementation of the solution.

Microcontroller

PLUS+1® Controller Family Technical Information, 520L0719
PLUS+1® MC024-01A Controller Data Sheet, 11030820

Valves

PVG Proportional Valves Brochure, 520L0690
PVG 32 Proportional Valves Technical Information, 520L0344
Basic Module Type PVBZ Valve (hitch double-acting) Data Sheet, 520L0681
Basic Module Type PVBZ-HS Valve (hitch single-acting) Data Sheet, 520L0956
Basic Module Type PVBZ-HD Valve (hitch double-acting) Data Sheet, 11035599

Software

PLUS+1® GUIDE Data Sheet, 520L0708
PLUS+1® GUIDE User Manual, 10100824
PLUS+1® Service Tool User Manual, 520L0899
Hitch Control Application Block User Manual, 11033753

System start-up procedures

Recommended System Start-up Procedures Technical Information, 11010667

Latest version of technical literature

Comprehensive technical literature is online at www.danfoss.com

PLUS+1® electronic controls responsibility

The manufacturer of a machine or vehicle using PLUS+1® electronic controls is responsible for correctly applying and programming GUIDE-programmable PLUS+1® products. Danfoss strongly recommends that the OEM perform a system-level Failure Mode Effects Analysis (FMEA).
You can find additional information about OEM responsibilities in the:
PLUS+1® Controller Family Technical Information, 520L0719
Recommended System Start-up Procedures Technical Information, 11010667

Hitch positioning control concepts

The purpose of the hitch control system is to allow the operator to position the hitch linkage either in a work or transport position. Set points for transport and work are adjustable parameters. A closed loop position control compares the set-point to the actual input from the position sensor. If there is a difference, it controls the valve to lower or raise the linkage.
The goal of an automated hitch control system is to:
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Lower
Lift
Force
Transport mode with active damping
Work mode: Lift/ lower around lower reference setting
Angle sensor placement
Draft sensor placement
System Description
Hitch Control
Overview
Facilitate fast and easy attachment of implements to the tractor
Optimize the tractor implement output during field operation as measured in acres/hour or fuel
consumption/acres relative to manually controlled systems Provide a safer and more comfortable transport of the implement between field operations
Typical rear hitch
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Active damping
Speed scaling ramp deadband
Valve
Danfoss
OEM supplied
OEM supplied
Danfoss Hitch Application Block
Feedback sensors
Set-point creation and position control
Force control
Slip control
Reference setpoint
Raising and lowering speed
Human Machine Interface (HMI)
3514
System Description
Hitch Control

System details

Closed loop work control modes

When the operator chooses work control mode, the position control adjusts the linkage to the depth reference set point.

Combination of position, force and slip control

In work position it is not always possible for the tractor to do the job with the specified set point. Therefore different sensors in the system collect information about the pull force and the wheel slip.
The system compares these inputs with an operator defined preset maximum value. If the current pull force or wheel slip are higher than the preset maximum value, it calculates a delta and adds to the set point for the work position.
When the set point is increased, the pull force/wheel slip decreases, and causes recalculation of the delta. In this way, the system continually modulates the linkage position according to the sensor inputs.
Combined position, force and slip control

Adaptive force control

It is sometimes difficult for the operator to find the correct parameter settings for force control in some work situations. Selecting adaptive force control allows the system to automatically adjust to changing field conditions.

Fast down control

This mode gets the implement more quickly to the correct working depth.
Single acting: This mode bypasses the closed loop control and sends the valve to maximum lowering.
Maximum lowering is still subject to scale function according to implement weight, to avoid hazardous lowering speeds.
Double acting: This mode maintains the closed loop control. The only difference to work mode is that
the digital output to switch between single and double acting, is set for double acting operation.

In-cab control from HMI

You can expand the Human Machine Interface (HMI) with up/down buttons or a joystick for manual operation. In manual operation the operator gives direct input to the valve. This is very useful for
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attaching and detaching implements.
System Description
Hitch Control
System details

Closed loop transport modes

Analog joystick: Control of the valve is proportional from zero to the specified maximum value.
Digital buttons: If the application uses on/off buttons, pressing the appropriate button sets the valve
to the specified maximum value.

Remote operation

It is possible to operate the hitch valve with buttons outside the cab. This operation overrides any other mode, and leaves the system in safe state after operation. When back in the cab, the operator must choose desired mode.
In transport mode, the position control adjusts the linkage to the upper limit set point.

Rear hitch active damping

When traveling with a heavy implement lifted, the tractor can start to oscillate around the rear axle. The result is that the front wheels no longer have a steady contact with the road. Active damping can modulate the linkage position to offset these oscillations. Normally, the draft sensors sense these oscillations and provide the input signal to the control.

Front hitch active damping

Active damping can benefit a front hitch as well as the rear hitch. You can add pressure sensors to the system to provide the necessary signals to the hitch control application block.
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Sensors: Pressure sensors Angle sensor Wheel speed Ground speed radar
Hitch valve section PVBZ
Human Machine Interface (HMI) (analog/CAN)
PLUS+1® Controller
Sensors: Draft sensors Angle sensor Wheel speed Ground speed radar
Hitch valve section PVBZ-HS
Human Machine Interface (HMI) (analog/CAN)
PLUS+1® Controller
System Description
Hitch Control

Control options

Overview

Control for single and double acting hitch control systems are combined in one software application block. This allows users to select the appropriate valve for the system. Options include single acting, double acting, and switchable (between single and double acting).

PVBZ double-acting actuator control

The PVBZ meets basic market requirements for front hitches and auxiliary valves, that raise and lower implements hydraulically. This includes the float feature.
Typical double-acting system used for front hitch

PVBZ-HS single-acting actuator control

The PVBZ-HS meets market requirements for single-acting rear hitches, that raise implements hydraulically and lower them by gravity.
Typical single-acting system used for rear hitch
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Sensors: Draft sensors Angle sensor Wheel speed Ground speed radar
Hitch valve section PVBZ-HD
Human Machine Interface (HMI) (analog/CAN)
PLUS+1® Controller
System Description
Hitch Control
Control options

PVBZ-HD single and double-acting actuator control

The PVBZ-HD is a more advanced alternative to the PVBZ or PVBZ-HS. This valve can operate either as double-acting or single-acting.
The PVBZ-HD has the ability to raise, lower, press down, or float. In double-acting mode, the PVBZ-HD increases comfort and safety when attaching and detaching heavy implements because of its ability to raise and lower at the same speed. For field operation you may select either single or double-acting mode.
Advanced switching between double or single-acting
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System Description
Hitch Control

Hardware components

Hitch valves

Sensors

The valve options for the Danfoss hitch control system include PVBZ double-acting, PVBZ-HS single­acting, and the PVBZ-HD single and double-acting valves. These proven PVG 32 valves feature pressure compensation, low leakage ports (P/O-check), and optional PVLP shock/anticavitation valves. These features are contained in PLUS+1® Compliant valve sections that incorporate ISO bus compatible PVED electrical actuation, making them easy to integrate into the vehicle hydraulic system.
Following is a summary of typical sensors and recommended suppliers:

Draft sensors for force control

Vendor: Vishay Sensor excitation voltage requirements must be compatible with the selected PLUS+1® microcontroller
power supply rating.

Angle sensor for displacement control

Vendor: Danfoss Danfoss DST X510 and DST X520 series uses contactless Hall technology with measurement ranges up to
360°. All sensors are designed for off-highway applications and resistant to shock and vibrations and with high
electromagnetic compatibility, and come with both Ratiometric, CANopen and SAE J1939 output. Single and redundant sensor types are available and are produced according to PL d (EN ISO
13849-1:2015), making the complete portfolio suitable for safety-critical applications

Microcontrollers

Ground speed radar

Vendor: Dickey-john The Dickey-john RVSIII series Radar Velocity Sensors utilize Doppler radar technology to output a signal
that is proportional to ground speed.
A wide range of keyed PLUS+1® microcontrollers are available, including 24 pin, 50 pin, and 88 pin models.

PLUS+1® controller power supply specification

Normal sensor power supply output specification for Danfoss microcontrollers is 5 Vdc. Output current rating ranges from 200 mA to 500 mA depending on the microcontroller model you select for your application. Please refer to individual microcontroller data sheets for additional details.

MC024-01A controller for 10 Vdc draft sensors

The MC024-01A is an element of the PLUS+1® family of mobile machine management products. It is a keyed general-purpose controller equally suited for use in a distributed machine control system, or as a stand-alone controller.
This controller has a 10 Vdc, 0.5 A sensor supply output for use with existing hitch sensors on the market requiring a 10 Vdc power supply.
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System Description
Hitch Control
Hardware components

HWD for PLUS+1® controllers

Danfoss provides hardware description files (*.HWD file) for PLUS+1® microcontrollers. Each .HWD file includes the operating system software for a particular microcontroller. Select a microcontroller with input/output and power supply specifications that is suitable for your application.
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System Description
Hitch Control

Application software

Application block software description

The hitch control application block is a graphical representation of software algorithms that provide the foundation for automated hitch control. Specific tailoring of the block is accomplished using Danfoss PLUS+1® GUIDE tool set. GUIDE allows developers to build application software for use with Danfoss PLUS +1® controllers. The PLUS+1® Service Tool is used to download the compiled application to the target microcontroller.

PLUS+1® GUIDE

Customers use the hitch control application block as the starting point for a complete hitch system application that includes input mapping, calibration, fault handling, output mapping, and connection for HMI devices and microcontroller outputs.
The application block is released as a .SCS file, which means it can be dragged onto the GUIDE programming workspace to be included as the application block for a complete, user-developed hitch system application.

PLUS+1® Service Tool

The PLUS+1® Service Tool is included with the PLUS+1® GUIDE user license.

PLUS+1® Service Tool functions

Downloads software to keyed PLUS+1® hardware
Transfers data from the microcontroller to a PC
Provides interface for developing service screens for machine diagnostics, setup, and tuning

Keyed PLUS+1® application block software and application hardware

If the application hardware key matches the application software key 10106603 the service tool permits the download to the target application hardware.

Customer access to the Hitch application block

The Hitch Control Application File, 70024823.ZIP

Application file contents

Software and documents enclosed in the application file include:
Hitch Control Application Block, 10108138 (*.SCS)
Hitch Control Application Block User Manual, 11033753 (*. PDF)
Hitch Control System Description, 11036124 (*.PDF)

Application file download and installation in GUIDE

After downloading the application file to your hard drive, you can install the application block code in the My Blocks tab of the GUIDE component selector menu, for easy access during application development.
Software user manual and other technical information documents from the application file may be stored in any convenient folder on your hard drive.
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System Description
Hitch Control

Features and benefits

Standard features

Optional features

Single-acting and double-acting proportional valves as well as advanced multi-function valve that
can switch between single and double-acting Available PLUS+1® microcontroller with a 10 Vdc sensor supply voltage suitable for general market
draft sensors Wide range of standard PLUS+1® microcontrollers with 5 Vdc sensor power supply
Available I/O extension modules for the microcontroller to accommodate a larger number of analog
signals from the HMI, if needed A generic, user-programmable application block software for controlling the hitch position
Other hitch control components, such as HMI controls and sensors, are typically OEM-specific, and are not part of the Danfoss standard hitch control portfolio at this time. However, Danfoss can work with customers to develop custom OEM-specific interface solutions.
In addition, Danfoss can assist with development of complete software solutions, tailored to specific requirements of the OEM interface and HMI specifications, based on the application block that is described in this document.

Benefits

Application block software is GUIDE programmable by end user: A complete software solution can be
created by extending the application block provided by Danfoss Faster and easier prototyping, set-up and tuning
Simple logics—better user understanding
Single or double acting system in one software application
Double acting operation features enables higher safety and comfort
Precise control and repeatability
Simplified control of displacement force and slip factors
Safer attachment and removal of implements
Stable, closed-loop control in all operating modes
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Danfoss Power Solutions GmbH & Co. OHG
Krokamp 35 D-24539 Neumünster, Germany Phone: +49 4321 871 0
Danfoss Power Solutions ApS
Nordborgvej 81 DK-6430 Nordborg, Denmark Phone: +45 7488 2222
Danfoss Power Solutions (US) Company
2800 East 13th Street Ames, IA 50010, USA Phone: +1 515 239 6000
Danfoss Power Solutions Trading (Shanghai) Co., Ltd.
Building #22, No. 1000 Jin Hai Rd Jin Qiao, Pudong New District Shanghai, China 201206 Phone: +86 21 2080 6201
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Danfoss Power Solutions is a global manufacturer and supplier of high-quality hydraulic and electric components. We specialize in providing state-of-the-art technology and solutions that excel in the harsh operating conditions of the mobile off-highway market as well as the marine sector. Building on our extensive applications expertise, we work closely with you to ensure exceptional performance for a broad range of applications. We help you and other customers around the world speed up system development, reduce costs and bring vehicles and vessels to market faster.
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Danfoss | March 2020 11036124 | AB152886482484en-000203
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