Danfoss PVED-CLS, User Manual

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© Danfoss | August 2018 AQ00000211 |
123
ENGINEERING TOMORROW
12.4 VEHICLE SPEED DEPENDENT WHEEL ANGLE LIMITATION
As a risk mitigation method, when using an auto-guidance function, the PVED-CLS’s auto-guidance control algorithm
can limit the maximum allowed angle, that the wheels can be moved to, in proportion to the vehicle speed (i.e. the faster
the vehicle goes, the narrower the maximum allowed angle, that the wheel can be moved to, will be).
The range is from 0 to 100 km/h for P3463 and P3467 and from 0 to 89 [°] for P3461, P3465 and P3469.
Important
This function applies to both GPS and GPS2.
These parameters represent the three points on the curve below (Point G, H and I). The auto-guidance algorithm will make
linear interpolation in between each of the three points. It is allowed to move the three points in any direction, limited by
the following rules:
•
Point G is always specified at Vehicle speed limiting wheel angle = 0 km/h
•
Point I “Max wheel angle” is valid for Point I “Vehicle speed limiting wheel angle” and vehicle speeds above
Point I “Vehicle speed limiting wheel angle”
•
Point G “Max w
heel angle” ≥ Point H “Max wheel angle” ≥ Point I “Max wheel angle”
•
Point I “Vehicle speed limiting wheel angle” > Point H “Vehicle speed limiting wheel angle” > Point G “Vehicle
speed limiting wheel angle”
Figure 66
Warning
Failure to comply with the above rules may render this function inoperable or lead to undesirable steering
behavior!
Point G
Point H
Point I
0
5
10
15
20
25
30
35
0 5 10 15 20 25 30 35 40 45 50
M
ax
w
heel
a
ng
le
[d
eg
rees
]
Vehicle speed [km/h ]
GPS - Vehicle speed dependent wheel
angle limitation