AEMZP0BA - EPS-AC0 - User Manual
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correspondence between the steering motor speed and the angle error between
the actual commanded position and the latest steady state position of the
steered wheel: when this angle error is wider than the angle specified with this
setting, there will be no clamp on the steering motor speed (full speed steering
motor is SET SAT FREQ plus OVERSAT FREQ); when this angle error is
smaller than 40% of the angle specified with this setting, the maximum
Numbness will be applied. This parameter sets the angle, between the
commanded position and the latest steady state position, at which the steering
motor speed gets its maximum value (SET SAT FREQ plus OVERSAT FREQ).
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LEVEL 0:
No Numbness if the angle between tiller and latest steady
state is higher than 5°.
-
LEVEL 1:
No Numbness if the angle between tiller and latest steady
state is higher than 11°.
-
LEVEL 2:
No Numbness if the angle between tiller and latest steady
state is higher than 17°.
-
LEVEL 9:
No Numbness if the angle between tiller and latest steady
state is higher than 60°.
Each step has a weight of 6 degrees.
9) DYNAM NUMB SPEED
Level 0 to 9. This parameter handles the Dynamic Numbness vs. the Steering
Error for RTC and AUTC functions. This functions applies a linear
correspondence between the steering motor speed and the angle error between
the actual commanded position and the latest steady state position of the
steered wheel. This parameter sets the percentage of the full steering motor
speed is applied when in the full Dynamic Numbness. The full steering motor
speed is the sum of the SET SAT FREQ and OVERSAT FREQ settings. When
the angle between the actual commanded position and the latest steady state
position is less than 40% of the DINAM NUMB ANG setting, the Full Dynamic
Numbness vs. the Steering Error is applied and the steering speed is clamped
to the DYNAM NUMB SPEED percentage below.
-
LEVEL 0:
At full Dynamic Numbness, the steering motor frequency is
clamped to 40% (maximum Numbness).
-
LEVEL 1:
At full Dynamic Numbness, the steering motor frequency is
clamped to 46%.
-
LEVEL 2:
At full Dynamic Numbness, the steering motor frequency is
clamped to 53%.
-
LEVEL 9:
At full Dynamic Numbness, the steering motor frequency is
clamped to 100% (no Numbness).
Each step more has a weight of 6.6 %.
10) COMPENSATION
Level 0 to 2. This parameter applies a compensation for the drops in the motor
connections to have a real Emf/f control law.
-
LEVEL 0:
No compensation.
-
LEVEL 1:
Compensate the drop on power mosfets and cables.
-
LEVEL 2:
Compensate the drop on power mosfet, cables and motor
resistance.
COMPENSATION to LEVEL 2 is strongly suggested (the correct setting of the
motor resistance is required when COMPENSATION is set to LEVEL 2-see
13.1).
Summary of Contents for EPS-AC0
Page 23: ...AEMZP0BA EPS AC0 User Manual Page 23 95 6 2 EPS AC0 Stepper Motor diagram Figure 6 2...
Page 24: ...Page 24 95 AEMZP0BA EPS AC0 User Manual 6 3 EPS AC0 Twin pot diagram Figure 6 3...
Page 55: ...AEMZP0BA EPS AC0 User Manual Page 55 95 12 3 2 RTC with Encoder and Feedback pot Figure 12 3...