AF9ZP0BA - EPS-ACW REACH TRUCK - User Manual
Page - 45/90
1) SPEED
LIMIT
Level 0 to 9. It determines the scaling factor between the speed of the
steering wheel and the speed of the steering motor but only when the
steering wheel is fast turning. By increasing the SPEED LIMIT value, the
steering motor speed increases too. In practice, it sets the maximum motor
speed when the steering wheel is fast turning.
2) SENSITIVITY
Level 0 to 9. It determines the scaling factor between the speed of the
steering wheel and the speed of the steering motor but only when the
steering wheel is slow turning. By increasing the SENSITIVITY value, the
steering motor speed increases too. In practice, it changes the sensitivity of
the steering wheel when it is slow turning.
3) 1ST ANGLE GAIN
This parameter sets the max angle in the direction with positive STEER
ANGLE. It is effective only in case the steered wheel angle is limited (see
option 90DEG LIM).
4) 2ND ANGLE GAIN
This parameter sets the max angle in the direction with negative STEER
ANGLE. It is effective only in case the steered wheel angle is limited (see
option 90DEG LIM).
5) KP
Level 0 to 9. It is used to set the proportional contribution to a PID algorithm
for the closed loop control. When in open loop mode (stepper motor) this
parameter is used only for the closed loop secondary functions (i.e. angle
limitation and recovery at rest). These functions are performed at very slow
motor speed in order they are not safety relevant functions. The proportional
contribution is applied to the difference between the commanded position
and the real position (steered wheel angle). The accuracy of the pursuing
between commanded and real position increases if KP increases.
6) POS
ACCURACY
Level 0 to 9. It is used to set the proportional contribution to a PID algorithm
for the closed loop control. When in open loop mode (stepper motor) this
parameter is used only for the closed loop secondary functions (i.e. angle
limitation and recovery at rest). These functions are performed at very slow
motor speed in order they are not safety relevant functions. The proportional
contribution is applied to the difference between the commanded position
and the real position (steered wheel angle). The accuracy of the pursuing
between commanded and real position increases if POS. ACCURACY
increases. KP and POS. ACCURACY are a coarse and a fine contribution to
the same setting.
7) LAG FB REGULAT
Level 0 to 9. It is used to set the integral (lag) contribution to a PID algorithm
for the closed loop control (i.e. angle limitation and recovery at rest). The
integral contribution is applied to the FEEDBACK ENC value only. It works
like a low pass filter to get smooth the pursuing next to the commanded
position. The derivative (lead) contribution generates dither that is possible to
reduce by increasing this adjustment. Obviously lag and lead regulations
influence the stability of the closed loop and so different setting must be
empirically tried to avoid oscillations.
