Danfoss pved-cl, Operation Manual, Page: 80 / 116

Select a Sensitivity with Relation to the Actuator Position
A steering sensitivity related to actuator position is normally chosen for increased directional stability for
straightforward driving (for e.g. material handling). The values and correlation is normally closely related
to the mechanical geometry between steering actuator and steered wheels of the individual vehicle.
The correlation is defined by two parameters. The steering sensitivity between two table coordinates is
found by linear interpolation. The relation is equal for negative positions.
P005 098E
Sts
(Yact)
saturates
100 200 300 400 500
0
40
60
80
100
120
St
eer
ing sensitivit
y S
ts
(Y
ac
t)
Yact - Steering actuator position: 1 unit = 0.1% of max position
700 800 900 600 1000
End lo
ck p
osition
min Sts = 20
max Sts = 1200
Straight forward
driving position
Sse selects between a fixed steering sensitivity, variable to steering actuator position or vehicle speed.
Set Sse to 2 to select the sensitivity related to steering actuator position
Sts0 sets the linear gradient between steering angle and requested port flow for steering
straightforward. When the steering actuator signal unintentionally is not mapped, Sts0 will be constantly
used since variable Yact remains 0.
Sts1 sets the linear gradient between steering angle and requested port flow for steering at the
minimum turning radius.
Symbol Index Default Value range
Sse 4y09 1 Must be set at 2
Sts0 4y10 105 20 to 1200 (Amplification of 0.2 to 12.00)
Sts1 4y11 90 20 to 1200
See chapter Mapping steering signals, Steering actuator Sensor (feedback from vehicle wheels) and Steering actuator position to acquire “steering
actuator position”.
Select a Sensitivity with Relation to Vehicle speed
Variable steering sensitivity related to vehicle speed is normally used to optimize directional stability
automatically and beyond the notice of the driver. The values and correlation is normally close related to
the present vehicle dynamics of the individual vehicle model. The Sts value is used to amplify the input
signal as described in
Set-point Transfer Function on page 78.
The correlation is defined by seven parameters. All Sts-parameters may be set equal to each other or set
monotonically falling for increasing vehicle speeds. The steering sensitivity between two table
coordinates is found by linear interpolation. The relation is equal for negative speeds.
Operation Manual
PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
Steering by Low Priority Steering Device – Open Loop
80 | © Danfoss | May 2016 11025583 | AQ00000216en-US0302