AFMNA0AA – EPS-BLI HYG – User Manual
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25) LAG FB REGULAT.
LEVEL 0 through 9. Default value is LEVEL 6.
This parameter defines the integral (lag) contribution to the PID algorithm of the
closed-loop control. 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. If the derivative (lead) contribution generates dither, it is
possible to reduce it by increasing LAG FB REGULAT. Lag and lead regulations
influence the stability of the closed loop and so different settings must be
empirically tried as to avoid oscillations and instability.
-
LEVEL 0:
Lowest lag contribution (high cut-off frequency).
-
LEVEL 9:
Highest lag contribution (low cut-off frequency).
26) LEAD FB REGULAT
LEVEL 0 through 9. Default value is LEVEL 0.
This parameter defines the derivative (lead) contribution to the PID algorithm of the
closed-loop control. The derivative contribution is applied to the FEEDBACK ENC
value only. High LEAD FB REGULAT values brake the steering motor in advance
with respect to the commanded position, thus avoiding the overshooting of the
commanded position. On the other side, damping and dither close to the
commanded position are introduced. Lag and lead regulations influence the
stability of the closed loop and so different settings must be empirically tried as to
avoid oscillations and instability.
-
LEVEL 0:
Lowest lead contribution (overshooting is favorite).
-
LEVEL 9:
Highest lead contribution (damping is favorite).
27) AUXILIARY TIME
LEVEL 0 through 9. Default value is LEVEL 2.
This parameter defines the time, after the steer handle has been released and the
traction stopped, during which a holding torque is applied and the steered wheel
locked in the commanded position.
-
LEVEL 0:
Steered wheel locked for 200 ms before relaxing.
-
LEVEL 1:
Steered wheel locked for 400 ms before relaxing.
-
LEVEL 2:
Steered wheel locked for 600 ms before relaxing.
- LEVEL
n
:
Steered wheel locked for
(n + 1) * 200 ms
before relaxing.
-
LEVEL 8:
Steered wheel locked for 1800 ms before relaxing.
-
LEVEL 9:
Steered wheel locked for 2000 ms before relaxing.
When the holding time expires, the steered wheel starts to relax. The time needed
for the complete relax still depend on this parameter as the following list:
-
LEVEL 0:
Steered wheel relaxes 45 degrees in 8 s.
-
LEVEL 1:
Steered wheel relaxes 45 degrees in 16 s.
-
LEVEL 2:
Steered wheel relaxes 45 degrees in 24 s.
- LEVEL
n
:
Steered wheel relaxes 45 degrees in
(n + 1) * 8 s
.
-
LEVEL 8:
Steered wheel relaxes 45 degrees in 72 s.
-
LEVEL 9:
Steered wheel relaxes 45 degrees in 80 s.
For example, on LEVEL 2 relaxing 15 degrees takes 8 s.
