Closed loop joystick tuning advice
1. Remove wheel angle limitation (raise all 3 wheel angle limits to maximum angle of vehicle), then steer
full left or right with the joystick and keep the wheel angle in place.
2. Slowly increase the speed of the machine while driving in a circle until the machine starts to feel tipsy
or unsafe.
Vehicle tipping hazard!
Operate carefully to avoid tipping the vehicle.
3. Use the wheel angle limitation to decrease the allowed wheel angle at that speed.
4. Iterate until the operator can move the joystick full left or right at any speed and avoid tipping.
CAN logging can also be used to monitor vehicle speed and wheel angle set-points from the Vehicle
speed message and Status Message 5, which are described in the PVED-CLS Communication Protocol
document. Scatter plotting wheel angle set-points vs. vehicle speed should yield a curve that can be
mimicked with the AUX Wheel Angle Limitation function.
PVED-CLS AUX— closed loop gain
AUX Closed Loop Gain sets the gain used by the Closed Loop Joystick algorithm to a static value or to
vary based on vehicle speed. See section 11.11 Closed Loop Joystick – Vehicle Speed Dependent Closed
Loop Control in the User Manual for more information.
Parameter Conditions for value change
P3725 Set to desired closed loop gain [%] at 0 km/h
P3726 Set to desired closed loop gain (y-axis) at desired vehicle speed in hm/h (P3728)
P3727 Set to desired closed loop gain (y-axis) at desired vehicle speed in hm/h (P3729)
P3728 Set to desired vehicle speed in km/h (x-axis) at desired closed loop gain (P3726)
P3729 Set to desired vehicle speed in km/h (x-axis) at desired closed loop gain (P3727)
Tuning advice: keep gains constant and as high as possible without causing overshoot or instability.
Application Guide
PVED-CLS startup guide
Parameter setting
©
Danfoss | October 2018 AB285975085591en-000101 | 31
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