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© Danfoss | August 2018
AQ00000211 |
69
ENGINEERING TOMORROW
The vector will keep the last seven acceptable attempts, using FIFO-principle. With default values for P3810 and P3811,
5 out of the last 7 attempts need to contain the same value. When this is true, the dead-band calibration of the spool, to
the given side, has been completed.
P3812:
This indicates the addi/- turn range, which will be added to the value in P3804. The additional turn range movement
is required to obtain a stable spool position and also stable wheel movement of the vehicle. The wheels will move in
between this +/- turn range, but time will only be measured in between the +/- turn range specified by P3804, as illustrated
below (P3812 is given in [dDeg], hence 1 = 0,1°).
To speed up the calibration, wheel angle speed will be increased in the green zones, after red zone has ended.
The speed will also be increased after the calibration in one direction has been successfully completed:
+/- (P3804) dDeg
+/- (P3812)
dDeg
Time of the wheels movement left
to right/right to left is measured
between deci-angle ”P3804" and
needs to be in between the time
frame from ”P3808" to ”P3806" to
be considered as an acceptable
attempt
The speed of the wheels
movement depends on the set
point. Higher set point = faster
wheels movement
Figure 26
P3814:
To determine the spool dead-band as precise as possible, the auto-calibration function is split into 3 stages. Stage 1 is the
initial turning, stage 2 is a coarse-tuning and stage 3 is fine-tuning.
During the initial turning,
stage 1
, the spool set-point is either set to the value specified by P3802 [10um] or the value
specified by the ‘Initial spool set point’ in the CAN message ‘Spool calibration start request’.
Stage 2
is entered if two attempts has been completed in stage 1, without being inside the time frame specified by
parameters P3808 and P3806. During
stage 2
, the spool set-point will be reduced by the value specified by parameter
P3814 [%] if the two last attempts were faster than specified by P3808. If the two last attempts were slower then
specified by P3806, the spool set-point will increased by the value of P3814 [%]. In case that one of the last two
attempts was faster than specified by P3808 and the other slower than specified by P3806, the new spool set-point will
be the average spool set-points used during the last two attempts.
Stage 3
is entered once at least one attempt has been found inside the time frame specified by P3808 and P3806, no
matter if the attempt was made in
stage 1
or
2
. During
stage 3
, the spool set-point will be reduced by 1 [10um], if the
last attempt was faster than specified by P3808 and the spool set-point will be increased by 1 [10um], if the last attempt
was slower than specified by P3806. This is repeated until a successful spool dead-band calibration has been achieved.
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