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AF9ZP0BA - EPS-ACW REACH TRUCK - User Manual
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LEVEL 0:
lowest lag contribution (high cut off frequency low pass
filter).
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LEVEL 9:
highest lag contribution (low cut off frequency low pass
filter).
8) LEAD FB REGULAT
Level 0 to 9. It is used to set the derivative (lead) contribution to a PID
algorithm for closed loop control (i.e. angle limitation and recovery at rest).
The derivative contribution is applied to the FEEDBACK ENC value only.
High LEAD FB REGULAT value brakes the steering motor in advance
respect to the commanded position so avoiding the overshooting of the
commanded position. On the other side generates damping and dither, close
to the commanded position. Obviously lag and lead regulations influence the
stability of the closed loop and so different setting must be empirically tried to
avoid oscillations.
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LEVEL 0:
lowest lead contribution (overshooting is favourite).
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LEVEL 9:
highest lead contribution (damping is favourite).
9) AUXILIARY
TIME
This parameter defines the time, after the steer handle is released and the
travel demand deactivated, for which the stand still torque is applied.
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LEVEL 0:
No stand still torque.
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LEVEL 1:
Brief application of the stand still torque.
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LEVEL 9:
Long application of the stand still torque.
Intermediate levels are for proportionally increasing auxiliary time. The stand
still torque reduces with a ramp from the initial stand still torque current down
to zero with a delay specified with this setting
10) SPEED LIM VS TRC
Percentage 10% to 100%. This setting performs the Dynamic Numbness
compensation: it consists of a reduction in the steer sensitivity when the truck
is driving at high speed. To get this goal, it is necessary to attenuate the
scaling factor between the speed of the steering wheel and the speed of the
steering motor. SPEED LIM VS TRC does that but only when the steering
wheel is fast turning. This attenuation must be proportional to the drive speed.
At full drive speed the attenuation of the scaling factor is maximum.
SPEED LIM VS TRC to 100% means no attenuation of the scaling factor with
the truck speed (no limitation on the steering motor speed).
SPEED LIM VS TRC to 20% means the scaling factor is attenuated to 0.2 at
full truck speed.
SPEED LIM VS TRC to 10% means the scaling factor is attenuated to 0.1 at
full truck speed (steer less sensitive).
Obviously, to perform the Dynamic Numbness compensation, it is necessary
to know the drive speed and so the epsacW must be CAN Bus connected.
11) SENSITIVI VS TRC
Percentage 10% to 100%. This setting performs the Dynamic Numbness
compensation: it consists of a reduction in the steer sensitivity when the truck
is driving at high speed. To get this goal, it is necessary to attenuate the
scaling factor between the speed of the steering wheel and the speed of the
steering motor. SENSITIVI VS TRC does that but only when the steering
wheel is slow turning. This attenuation must be proportional to the drive
