PVED-CLS GPS flow limitation— tuning advice
1. Remove flow limitation (1000 for all 3 flow limits) and drive the machine first slowly and then at
increasing speeds.
2. On each trial, command full left or right.
Vehicle tipping hazard!
Operate carefully to avoid tipping the vehicle.
If the machine does not feel stable steering that quickly at that speed, use the flow limitation to begin
to decrease flow allowed at that speed.
3. Iterate until the auto-guidance can command full left or right at any speed and avoid tipping.
CAN logging can also be implemented to track vehicle speed and flow set-points from the Vehicle
Speed message and Status Message 4, which are described in the PVED-CLS Communication Protocol
document. Scatter plotting flow set-points vs. vehicle speed should yield a curve that shows the
demands from the auto-guidance controller and that can be mimicked with the GPS Flow Limitation
function.
PVED-CLS GPS— wheel angle limitation
GPS Wheel Angle Limitation decreases the allowed maximum wheel angle as the vehicle speed increases.
See Section 12.3 Vehicle Speed Dependent Wheel Angle Limitation in the User Manual for more info.
Parameter Conditions for value change
P3461 Set to desired angle limit [deg] at 0 km/h (see graph below). Should be the same as max wheel angles in Vehicle
Geometry.
P3463 Set to desired vehicle speed in km/h (x-axis) at desired wheel angle limit (P3465)
P3465 Set to desired wheel angle limit (y-axis) at desired vehicle speed in km/h (P3464)
P3467 Set to desired vehicle speed in km/h (x-axis) at desired wheel angle limit (P3469)
P3469 Set to desired wheel angle limit (y-axis) at desired vehicle speed in km/h (P3467)
Application Guide
PVED-CLS startup guide
Parameter setting
34 |
©
Danfoss | October 2018 AB285975085591en-000101
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