Danfoss pved-cl User manual

Operation Manual
PVED-CL Controller
Electro-Hydraulic Steering Version 1.38
powersolutions.danfoss.com

Revision history Table of revisions
Date Changed Rev
May 2016 Fixed references to document numbers 0302
11 Jan 2010 Major changes. For PVED-CL software release 1.38 CA
05 May 2007 Major changes. For PVED-CL software release 1.28 BA
01 Nov 2006 First edition. For PVED-CL software release 1.26 AA
Operation Manual
PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
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General Information Definitions and Abbreviations.....................................................................................................................................................8
Reference Documents.................................................................................................................................................................... 8
Introduction to Electrohydraulic Steering...............................................................................................................................8
EH steering valve.........................................................................................................................................................................8
EHPS steering valve piloted with electric actuator PVE and/or steering unit.......................................................9
PVG 32 Proportional valve.......................................................................................................................................................9
PVG 100 Proportional valve.....................................................................................................................................................9
PVED-CL........................................................................................................................................................................................10
Steering Possibilities.....................................................................................................................................................................10
Input Devices/Controllers......................................................................................................................................................10
Programs......................................................................................................................................................................................10
Interface Overview.........................................................................................................................................................................10
Application Examples...................................................................................................................................................................10
Wheel Loader............................................................................................................................................................................. 10
Tractor...........................................................................................................................................................................................11
CAN Interface...................................................................................................................................................................................12
Bus Architecture Considerations.........................................................................................................................................12
Power-up..................................................................................................................................................................................... 12
CAN-bus Sensor Power-up Synchronization..................................................................................................................12
CAN-bus Protocol.....................................................................................................................................................................12
PVED-CL Input Interface ........................................................................................................................................................12
Output Interface .......................................................................................................................................................................12
Battery...........................................................................................................................................................................................12
Actuator Position Sensor....................................................................................................................................................... 13
Functional Options Overview....................................................................................................................................................13
Safety Considerations Safety Considerations...................................................................................................................................................................14
On-road Operation...................................................................................................................................................................14
Vehicle Speed Sensor..............................................................................................................................................................14
Closed-loop Operation...........................................................................................................................................................14
Analogue Input Sensors (Joystick or Wheel Angle Sensor).......................................................................................14
Risk assessment.........................................................................................................................................................................15
Configuration and Adjustment
Configuration and Adjustment.................................................................................................................................................16
Parameter Tuning Process.....................................................................................................................................................16
Changing Default Parameters...................................................................................................................................................16
System Parameters...................................................................................................................................................................16
Steering Device Parameters..................................................................................................................................................16
Program Parameters................................................................................................................................................................17
Indexing Parameter................................................................................................................................................................. 17
Reading and Writing Parameters............................................................................................................................................. 18
Program Transition Control........................................................................................................................................................19
System State...............................................................................................................................................................................19
Select Program/Program Transition........................................................................................................................................19
Program Transition Acknowledge...........................................................................................................................................19
How does the PVED work?..........................................................................................................................................................19
Electronic Control Unit........................................................................................................................................................... 20
Solenoid Valve Bridge.............................................................................................................................................................20
Control Principle....................................................................................................................................................................... 20
Inductive Transducer, LVDT (Linear Variable Differential Transformer)............................................................... 21
Integrated Pulse Width Modulation.................................................................................................................................. 21
LED.................................................................................................................................................................................................21
Technical Specification Technical Data.................................................................................................................................................................................22
Installation Installation........................................................................................................................................................................................23
Operation Manual
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Connector Interface.................................................................................................................................................................23
Valve Interface.................................................................................................................................................................................23
Valve calibration objectives..................................................................................................................................................23
Dead-band crossing.................................................................................................................................................................24
Valve types overview...............................................................................................................................................................24
Valve transfer function............................................................................................................................................................24
Valve interface parameters................................................................................................................................................... 25
Valve calibration methods..........................................................................................................................................................26
Method 1: Conservative software dead-band values..................................................................................................26
Example: Determine the general software dead-bands for a series of PVED-CL / EH valve with a
dynamic spool:...................................................................................................................................................................26
Method 2: Manual software dead-band calibration.................................................................................................... 26
Method 3: Valve auto-calibration....................................................................................................................................... 27
Preconditions:............................................................................................................................................................................27
Valve auto-calibration command parameters............................................................................................................... 27
Valve auto-calibration procedure.......................................................................................................................................28
Suggested valve auto-calibration command values................................................................................................... 29
Valve auto-calibration quick-guide.........................................................................................................................................29
Valve auto-calibration procedure.......................................................................................................................................29
Parameter tuning order..........................................................................................................................................................29
Verification of auto-calibration result stability...............................................................................................................30
Verification of the open-loop performance....................................................................................................................30
Verification of the closed-loop performance..................................................................................................................30
Logging and monitoring........................................................................................................................................................30
Explanation: ...............................................................................................................................................................................31
Mapping a Steering Device........................................................................................................................................................31
Only one signal per analogue channel can be acquired............................................................................................32
Analogue Interface........................................................................................................................................................................32
AD Signal Interface Requirements..................................................................................................................................... 33
Scaling Analogue Signals.......................................................................................................................................................33
Linear Transfer Characteristic (3-Point)............................................................................................................................ 33
Non-Linear Transfer Characteristic (5-Point).................................................................................................................. 34
Scenario.................................................................................................................................................................................. 34
Steering Actuator Position Signal.......................................................................................................................................34
Analogue Input Drift Compensation.................................................................................................................................35
Transmitting the Voltage Readings on CAN...................................................................................................................35
Steering Device Transition Steering Device Transition..........................................................................................................................................................36
Threshold Definition.....................................................................................................................................................................36
Define the Maximum Steering Motion Speed.....................................................................................................................36
Define the Steering Motion Threshold...................................................................................................................................37
Steering Wheel Sensor Noise Gate
Retrieving Steering Device Information................................................................................................................................ 38
Steering Wheel Sensor Noise Gate..........................................................................................................................................38
Example:.......................................................................................................................................................................................38
Steering by Steering Wheel – Open Loop
Steering by Steering Wheel – Open Loop.............................................................................................................................39
Acquire the Signals.................................................................................................................................................................. 39
Functionality Tree..........................................................................................................................................................................39
Open Loop Control........................................................................................................................................................................39
Select the Control Principle........................................................................................................................................................40
Apply Backlash...........................................................................................................................................................................40
Set-point Transfer Function....................................................................................................................................................... 40
Steering Sensitivity........................................................................................................................................................................41
Select a Fixed Sensitivity............................................................................................................................................................. 42
Select a Sensitivity with Relation to Actuator Position ....................................................................................................42
Select a Sensitivity with Relation to Vehicle speed............................................................................................................43
Ramps (Anti-jerk)............................................................................................................................................................................44
Operation Manual
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Ramps with Fixed Ramp Times................................................................................................................................................. 44
Example: ......................................................................................................................................................................................45
Example: ......................................................................................................................................................................................46
Select Ramps with Ramp Times Related to Vehicle Speed.............................................................................................46
Example: ......................................................................................................................................................................................48
Example: ......................................................................................................................................................................................48
Anti-jerk Ramp Parameter Tuning Guide.........................................................................................................................49
Soft (Cushion) End-stop...............................................................................................................................................................49
Main Spool Dead-band Control Function.............................................................................................................................50
Dead-band Jump Control......................................................................................................................................................50
Dead-band Hold and Proportional Control.................................................................................................................... 50
Responding to Flow Requests after Tolsout...................................................................................................................50
Magnetic Valve Control............................................................................................................................................................... 50
Steering by Steering Wheel – Closed Loop
Steering by Steering wheel – Closed Loop...........................................................................................................................52
Functionality Tree..........................................................................................................................................................................52
Select the Control Principle........................................................................................................................................................53
Acquire the Signals.................................................................................................................................................................. 53
Apply Backlash...........................................................................................................................................................................53
Steering Sensitivity........................................................................................................................................................................53
Select a Fixed Steering Sensitivity........................................................................................................................................... 54
Select a Sensitivity with Relation to Vehicle Speed...........................................................................................................54
Create the Set-point......................................................................................................................................................................55
Closing the Loop............................................................................................................................................................................ 56
Feed-forward..............................................................................................................................................................................56
Steady State Error.....................................................................................................................................................................56
To achieve steady state accuracy:.......................................................................................................................................56
Proportional Band.................................................................................................................................................................... 56
Steering Wheel Knob Position Control.................................................................................................................................. 57
What makes the steering wheel drift?.............................................................................................................................. 58
Eliminate Noise due to Frequent Pressure Build-up......................................................................................................... 58
Magnetic Valve Control............................................................................................................................................................... 58
Steering by High Priority Steering Device – Open Loop
Steering by High Priority Steering Device – Open Loop..................................................................................................60
Functionality Tree..........................................................................................................................................................................60
Select the Control Principle........................................................................................................................................................60
Acquire the Signals.................................................................................................................................................................. 61
Set-point Transfer Function....................................................................................................................................................... 61
Steering Sensitivity........................................................................................................................................................................62
Select a Fixed Sensitivity............................................................................................................................................................. 62
Select a Sensitivity with Relation to the Actuator Position.............................................................................................63
Select a Sensitivity with Relation to Vehicle Speed...........................................................................................................63
Ramps (Anti-Jerk)...........................................................................................................................................................................64
Select Ramps with Fixed Ramp Times....................................................................................................................................65
Example: ......................................................................................................................................................................................65
Example: ......................................................................................................................................................................................66
Select Ramps with Ramp Time Related to Vehicle Speed...............................................................................................66
Example: ......................................................................................................................................................................................68
Example: ......................................................................................................................................................................................68
Anti-jerk Ramp Parameter Tuning Guide..............................................................................................................................69
Soft (Cushion) End-stop...............................................................................................................................................................69
Spool Dead-band Hold Control Function ............................................................................................................................ 70
Dead-band Jump Control......................................................................................................................................................70
Dead-band Hold and Proportional Control.................................................................................................................... 71
Responding to Flow Requests after Tolsout...................................................................................................................71
Magnetic Valves OFF Control.................................................................................................................................................... 71
Resolving a Steering Control Conflict............................................................................................................................... 71
Steering by High Priority Steering Device – Closed Loop
Operation Manual
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Steering by High Priority Steering Device – Closed Loop ..............................................................................................72
Functionality Tree..........................................................................................................................................................................72
Tracking........................................................................................................................................................................................72
Select the Control Principle........................................................................................................................................................73
Acquire the Signals.................................................................................................................................................................. 73
Create the Set Point...................................................................................................................................................................... 73
Closing the Loop............................................................................................................................................................................ 74
Eliminate Noise due to Frequent Pressure Build-up......................................................................................................... 74
Magnetic Valves OFF Control ................................................................................................................................................... 74
Resolving a Steering Control Conflict............................................................................................................................... 75
High Priority Steering Device Enable/Disable Control.....................................................................................................75
System Requirements.............................................................................................................................................................75
Device Diagnostic Operation............................................................................................................................................... 76
Enable or Disable Joystick Steering Device.....................................................................................................................76
Boot-up State of Steering Device........................................................................................................................................76
Getting the Actual Enable/disable Status of the Device............................................................................................ 76
Steering by Low Priority Steering Device – Open Loop
Steering by Low Priority Steering Device – Open Loop...................................................................................................77
Functionality Tree..........................................................................................................................................................................77
Select the Control Principle........................................................................................................................................................77
Acquire the Signals.................................................................................................................................................................. 78
Set-point Transfer Function....................................................................................................................................................... 78
Steering Sensitivity........................................................................................................................................................................79
Select a Fixed Sensitivity............................................................................................................................................................. 79
Select a Sensitivity with Relation to the Actuator Position.............................................................................................80
Select a Sensitivity with Relation to Vehicle speed............................................................................................................80
Ramps (Anti-jerk)............................................................................................................................................................................81
Ramps with Fixed Ramp Times................................................................................................................................................. 82
Example: ......................................................................................................................................................................................82
Example: ......................................................................................................................................................................................83
Select Ramps with Ramp Time Related to Vehicle Speed...............................................................................................83
Example: ......................................................................................................................................................................................85
Example: ......................................................................................................................................................................................85
Anti-jerk Ramp Parameter Tuning Guide..............................................................................................................................86
Soft (Cushion) End-stop...............................................................................................................................................................86
Spool Dead-band Hold Control Function............................................................................................................................. 87
Dead-band Jump Control......................................................................................................................................................87
Dead-band Hold and Proportional Control.................................................................................................................... 87
Responding to Flow Requests after Tolsout...................................................................................................................87
Magnetic Valves OFF Control.................................................................................................................................................... 88
Resolving a Steering Control Conflict............................................................................................................................... 88
Steering by Low Priority Steering Device – Closed Loop
Steering by High Priority Steering Device – Closed Loop ..............................................................................................89
Functionality Tree..........................................................................................................................................................................89
Tracking........................................................................................................................................................................................89
Select the Control Principle........................................................................................................................................................90
Acquire the signals...................................................................................................................................................................90
Create the Set Point...................................................................................................................................................................... 90
Closing the Loop............................................................................................................................................................................ 91
Eliminate Noise due to Frequent Pressure Build-up......................................................................................................... 91
Magnetic Valves OFF Control.................................................................................................................................................... 92
Resolving a Steering Control Conflict............................................................................................................................... 92
Low Priority Steering Device Enable/Disable Control...................................................................................................... 92
System Requirements.............................................................................................................................................................92
Device Diagnostic Operation............................................................................................................................................... 92
Enable or Disable Joystick Steering Device.....................................................................................................................93
Boot-up State of Steering Device........................................................................................................................................93
Getting the Actual Enable/disable Status of the Device............................................................................................ 93
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Auto-steering Auto-steering...................................................................................................................................................................................94
Guidance Commands...................................................................................................................................................................94
Calculating the Wheel Angle..................................................................................................................................................... 94
Closing the Loop............................................................................................................................................................................ 94
Trimming the System................................................................................................................................................................... 95
Noise due to Frequent Pressure Build-up............................................................................................................................. 95
Select a Fixed Sensitivity............................................................................................................................................................. 96
Vehicle Speed Dependent Sensitivity.................................................................................................................................... 96
Magnetic Valves OFF Control.................................................................................................................................................... 97
Resolving a Steering Control Conflict............................................................................................................................... 97
SASA disengage ability check....................................................................................................................................................97
Reduced State Reduced State................................................................................................................................................................................. 99
Reduced Steering Functionality............................................................................................................................................... 99
High Priority Steering Device Fault....................................................................................................................................99
Low Priority Steering Device Fault..................................................................................................................................... 99
Vehicle Speed Sensor Fault................................................................................................................................................ 100
Steered Wheel Angle Sensor Fails....................................................................................................................................100
Diagnostic & Troubleshooting
Diagnostic...................................................................................................................................................................................... 101
Example on Resolving a Fault ...........................................................................................................................................101
Solution......................................................................................................................................................................................101
Troubleshooting.......................................................................................................................................................................... 101
Typical Fault Sources..................................................................................................................................................................101
J1939 Diagnostic Interface.......................................................................................................................................................102
AD1 and/or AD2 Short-circuit............................................................................................................................................104
Missing CAN Sensor Set-points.........................................................................................................................................104
Redundant Wheel Angle Sensor Values Deviate too much or CAN Sensor Set-point Data out of
Range..................................................................................................................................................................................105
Steering Wheel Speed Plausibility Check Failure....................................................................................................... 105
Vehicle Speed CAN Sensor Data Plausibility Check Failure.................................................................................... 105
Power Supply Voltage..........................................................................................................................................................106
Sensor Supply Voltage......................................................................................................................................................... 106
Loss of Main Spool Control or Spool Position Plausibility Check Failure...........................................................106
Internal PVED-CL Error..........................................................................................................................................................106
LED Diagnostic............................................................................................................................................................................. 106
Appendix System Parameters..................................................................................................................................................................... 107
Program Parameters...................................................................................................................................................................112
Steering Device Parameters.................................................................................................................................................... 114
Operation Manual
PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
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Definitions and Abbreviations
Definitions and Abbreviations
Term Description
DTC Diagnostic Trouble Code
ECU Electronic Control Unit
EHPS Electro-Hydraulic Power Steering
MMI Man-Machine Interface
XID Extended Message Identifier
PVED-CL Proportional Valve Digital – Closed Loop – here the valve controller
SPN Suspect Parameter Number
Reference Documents
Refering to Literature:
Reference
PVED-CL Communication Protocol version 1.38, 11079551
Introduction to Electrohydraulic Steering
As operator comfort receives higher and higher focus along with higher demands for automation, new
technologies are necessary to take on this challenge. The new technologies are using electro-hydraulics,
combining hydraulic power with electronics and computer power.
Electro-hydraulic steering system has the advantages over pure hydraulic steering systems such as the
ability to meet specific functionalities on request.
In order to give this functionality Danfoss has developed the PVED-CL which is a valve actuator with
integrated controller, designed to fit onto various Danfoss valves such as:
EH steering valve
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PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
General Information
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•Max flow: 40 l/min
•Max steering pressure: 210 bar
•Available as in-line and OSPE version
EHPS steering valve piloted with electric actuator PVE and/or steering unit
•Flow capacity up to 100 l/min
•Max steering pressure up to 250 bar
PVG 32 Proportional valve
•Flow capacity up to 120 l/min
•Max steering pressure: 350 bar
(Please contact Danfoss for further information.)
PVG 100 Proportional valve
•Flow capacity up to 180 l/min
•Max steering pressure: 350 bar
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(Please contact Danfoss for further information.)
The advantage of having various valves that interfaces to the same valve actuator is a higher flexibility for
our customers needing different valve sizes and wanting to use the same valve actuator.
PVED-CL
The PVED-CL is a steering controller in the Danfoss valve actuator family. The steering controller is
designed to meet the functional requirements for steering - electro-hydraulically - any of-road vehicle by
following types of steering methods:
•Steering with operator input via steering devices such as joystick, steering wheel sensor, mini-wheel
etc.
•Automated steering with input from GPS, laser or row guidance controllers
The compact design of the PVED-CL reduce space, wiring, installation time, and provides the most
optimal location of any controller executing software to steer any vehicle. Especially when more than
with a one steering device is available in a vehicle or when closed-loop control is used, the advantage of
the controller being integrated in the valve becomes clear.
Steering Possibilities
Input Devices/Controllers
The PVED-CL allows up to four steering devices/controllers to be active in one system. For example:
Steering wheel and joystick steering in one system can both be connected to the PVED-CL.
The input steering device selection principle works as follows:
•In case the operator wants to switch to a lower priority steering device / controller, the steering valve
must be in neutral (no steering) before it can switch to the requested steering device.
•In case the operator wants to switch to a higher priority steering device/controller the switch will
happen instantaneously. This means that when several steering devices are operated, the input signal
of the steering device/controller with highest priority is always selected.
Programs
The PVED-CL provides, for each steering device, multiple separated set of control parameters (programs)
to leave the choice entirely up to the OEM’s to:
•Select and program a control principle (open- or closed-loop) for each program for a particular
steering device
•Select and program customized functionalities like variable steering ratio, ramp time, etc. for a
particular steering device.
Interface Overview
The PVED-CL provides the possibility for dynamic adjustment of the steering system by dynamically
applying a new set of control parameters from a program while driving. This allows the driver to optimize
the steering system to the working situation like; material handling, precision steering, fast driving and
anti jerk control for articulated steered vehicles. Up to 5 programs per steering device/controller (10 for
steering wheel sensor) are available. A man-machine interface (MMI) with a display with control buttons
provides means to request programs. The MMI transmits the specific commands via CAN bus.
Application Examples
Wheel Loader
The use of the PVED-CL on wheel loaders typically in conjunction with EHPS gives a range of functional
opportunities:
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General Information
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•Anti-jerks functionality
•Soft-stop at cylinder-end positions
•Variable steering ratio – fixed mode
‒Lower steering ratio during a load-cycle
‒High steering ratio during a transport cycle
•Variable steering ratio – speed dependant
‒The higher driving speed - the higher the steering ratio
•Joystick steering
•Graceful degradation (operation in reduced mode)
‒Allow faults to partly shut-down of steering functionality to maximize system performance for the
rest of the mission
Other articulated vehicles can have similar advantages.
Tractor
•Auto-guidance with GPS, laser or row guidance controllers
•Variable steering ratio - actuator dependant
‒Lower steering ratio during load cycle
•Variable steering ratio speed dependant
‒The higher driving speed the higher ratio
•Plug and perform GPS control
Storing the machine parameters in the PVED-CL allows a GPS controller to be moved between various
machines without re-adjusting the machine parameters.
Automated steering is the next step in automating the field work on farms. The automated steering
gives the following advantages
•Longer operation time
•Ensures that the machine works optimally (minimal waste).
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PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
General Information
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CAN Interface
Bus Architecture Considerations
It is recommended to install the steering system on a separate bus as it is important to have enough CAN
bus bandwidth for all the input devices/controllers and the PVED-CL to work in an optimal way.
Power-up
Within 1500 ms after powering up, the PVED-CL is fully operational and transmits an Address claim
message on CAN-bus. Power-up is normally synchronized with engine start and allows to be executed
regardless any sensor input values. After power up the PVED-CL validates periodically the presence of all
CAN and analogue control signals with the ones mapped. In case a signal is not available or is invalid, the
PVED-CL enters fault-mode or optionally a reduced state, where operation is continued with reduced
steering functionality. After successful power-up, the main spool inside the valve is first operated when a
steering device is operated.
CAN-bus Sensor Power-up Synchronization
The PVED-CL can be configured to wait up to 10000 ms for a CAN message. This is to accommodate for
slow-starting CAN devices which are transmitting data to the PVED-CL.
Please see device dependent parameters HPStwPowerUpTimeout, HPStdPowerUpTimeout,
LPStdPowerUpTimeout, WAPowerUpTimeout and VSPowerUpTimeout in System Parameters on page
107.
CAN-bus Protocol
The PVED-CL conforms to CAN-bus standard J1939. Relevant J1939 compliance issues are explained in
PVED-CL Communication Protocol, 11079551.
For details on parameter changes, refer to Changing Default Parameters on page 16.
PVED-CL Input Interface
The PVED-CL provides:
•Two 0-to-5 V DC analogue inputs
•One CAN J1939 2.0b compatible bus
The CAN interface combines compact design, reliability and flexibility to offer the steering functionality
required. Additionally the CAN interface is used for configuration and diagnostic purposes.
For correct signal acquisition, read the requirements described in Analogue Interface, page 28 and PVED-
CL Communication Protocol, 11079551.
Output Interface
The PVED:
•Controls the physical movement of the main spool inside the valve
•Controls the color of the LED
•Transmits process data on CAN to help service personnel during installation and to verify the
Computational processed PVED-CL.
Battery
Likewise hydraulic power, sufficient electric power supply to the PVED-CL is crucial to operate the spool
inside the valve and to transport the control signals. Without it, the vehicle cannot be steered by the
PVED-CL. In order to cope with voltage fluctuations during cold engine start or disturbances by the
alternator, the PVED-CL incorporates a regulator to stabilize the voltage level used by the electronics and
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PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
General Information
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sensors connected to the analogue inputs. The regulator makes the same PVED-CL compatible to both 12
and 24 Volt batteries. For more information, see Technical Data on page 22.
Actuator Position Sensor
The actuator sensor serves the purpose to allow external closed loop position control, for example soft
stop or variable steering sensitivity depending on cylinder position.
For added safety the PVED-CL provides connectivity of a second sensor inputs at the same interface type.
When position sensors are mounted on the steering actuator, the signal range must be at least 5 to 10%
larger than maximum physical movement of the actuator.
The PVED-CL incorporates a printed circuit board (PCB), LVDT sensor and a solenoid operated hydraulic
H-bridge. The PCB provides connectivity to CAN and analogue signals by two 4-pin connectors each
colored differently1to distinguish CAN and power supply from cables with analog control signals. The
gray connector is dedicated for CAN and electric power supply and the black for connecting analogue
devices to the PVED.
Functional Options Overview
Low Priority
steering device
Analogue or CAN
Mapping a Steering
Device
High Priority
steering device
Analogue or CAN
Mapping a Steering
Device
Steering wheel sensor
(SASA) CAN
Mapping a Steering
Device
Anti-Drift
(knob position control)
Vehicle Speed
Dependent Sensitivity
Actuator Dependent
Sensitivity
Soft End Stop
Anti Jerk
Fixed Ramps
Anti Jerk
Speed Dependent Times
Vehicle Speed
Dependent Sensitivity
Actuator Dependent
Sensitivity
Soft End Stop
Anti Jerk
Fixed Ramps
Vehicle Speed
Dependent Sensitivity
Actuator Dependent
Sensitivity
Soft End Stop
Anti Jerk
Fixed Ramps
Vehicle Speed
Dependent Sensitivity
Anti Jerk
Speed Dependent Times
Anti Jerk
Speed Dependent Times
Control principle:
Closed loop Control principle: Open loop Control principle: Closed loop Control principle: Open loop Control principle: Closed loop Control principle: Open loop Control principle: Closed loop
MMI
Display, Buttons e.g. to select program,
Display Info, Status, Diagnostic CAN
Configuration & Adjustment
and PVED-CL Communication Protocol
PVED CL
Feedback Sensor
Analogue or CAN
Mapping a Steering
Device
Vehicle speed signal (J1939 CAN)
Mapping a Steering Device
and PVED-CL Communication
Protocol
Redundant Feedback
Analogue or CAN
High Priority set-point
controller (GPS)
ISO11798 CAN
Mapping a Steering
Device
1Only for AMP. See also laser engraved text on PVED-CL to distinguish between CAN and Analog.
Operation Manual
PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
General Information
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Safety Considerations
The steering architecture shall be designed with care. Controlling an EHPS or EH valve with a PVED-CL is
designed for off-road use only. More single channels of control may be identified in the architecture,
meaning that a single failure may have an impact on the steering behavior which cannot be resolved by
the architecture itself.
In these situations the driver or external equipment must intervene to bring the steering system to a safe
state.
The PVED-CL has on-board fault monitoring on the sensor interface as well as other critical parts of the
system. Please refer to Diagnostic & Troubleshooting on page 101 for an overview of the PVED-CL fault
monitoring.
On-road Operation
W
Warning
The PVED-CL shall be de-energized while driving on-road. It is the OEMs responsibility to establish the
necessary means to inform and de-energize the PVED-CL from the cabin when driving on public roads.
Vehicle Speed Sensor
The vehicle speed sensor may be used to modulate the steering valves output as a function of vehicle
speed. However, the PVED-CL has no means to validate the validity of the vehicle speed signal as long as
the messages arrive correctly and the data field is within the valid range. Therefore:
W
Warning
It is the OEMs responsibility to establish a reliable vehicle speed signal to the PVED-CL.
The provider of the vehicle speed signal shall implement means to detect faults and let the vehicle speed
sensor go silent if a fault is detected. A silent vehicle speed sensor will be detected by the PVED-CL and it
will enter fault state or optionally reduced state.
Closed-loop Operation
The PVED-CL may be used in closed-loop applications such as auto-guidance or row guidance. The PVED-
CL has no means to validate the validity of an input steered wheel angle set-point or steered wheel
position as long as the set-point conform to the timing and data range requirements. Therefore:
W
Warning
It is the OEMs responsibility to establish a reliable steered wheel angle set-point to the PVED-CL.
Analogue Input Sensors (Joystick or Wheel Angle Sensor)
The PVED-CL has no means to validate the validity of an input if the voltage conforms to range
requirements.
Any undetected faults may be resolved by changing to steering wheel steering.
W
Warning
It is the OEMs responsibility to establish reliable analogue signal connections to the PVED-CL.
Operation Manual
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Safety Considerations
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Risk assessment
W
Warning
It is the OEMs responsibility to perform a hazard and risk analysis of the complete steering system and
add the necessary risk-reducing measures.
Operation Manual
PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
Safety Considerations
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Configuration and Adjustment
The PVED-CL contains parameters to tailor the valve and PVED-CL to the vehicle and to provide the
required functionality. The OEM must be in possession of an interface device that is capable of reading
and transmitting messages on the CAN bus. It is recommended to implement the PVED-CL
communication protocol in a service tool or MMI.
Parameter Tuning Process
A typical parameter tuning process is:
CUSTOMER SAUER-DANFOSS
Order prototype
Basic info on:
- Valve type & size
- Steering devices
- Sensors
- Vehicle data
- Desired functionality Tune parameters,
Manufacturing &
Ship prototype
Prototyping, testing
& parameter fine
tuning
Send order &
tuned parameter
set
Running
production with
customized
parameters
Danfoss Technical Sales is able to ship steering valve prototypes that are vehicle install-ready and where
the relevant parameters have already been tuned towards their optimum values. The OEM customer
needs to do the fine-tuning.
Changing Default Parameters
The PVED-CL is manufactured with a parameter set that provides basic functionality for the steering
devices that are used. In most cases the default values need to be changed to adapt the valve to the
system.
Configuration of the PVED-CL is required to customize the EHPS/EH system to a particular vehicle.
Parameters are used to e.g. map steering devices and sensors, compensate for non-linearity in steering
signals and to control the functionality features in the PVED-CL.
There exists three different kinds of parameter types:
System Parameters
System parameters are parameters which describe:
•PVED-CL interface & environment configuration (sensors, valves)
•Start-up default behavior (sensor interface)
•Addresses on J1939 CAN bus (customization of CAN IDs)
•System identification information (valve type, software version, sales order number, PVED-CL serial
number)
It is vital in order to achieve correct PVED-CL functionality, that the system parameters are set correctly.
Some system parameters are used by the software to calculate the correct hydraulic gain, determining
left and right direction etc. An overview of all system parameters can be found in appendix System
Parameters on page 107.
Steering Device Parameters
Steering device parameters are parameters which define functionality related to a particular steering
device. These parameters will be common to a particular device at all times during operation and for all
steering device programs. The parameters define functionality as:
•Detection criteria for steering device activation
Operation Manual
PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
Configuration and Adjustment
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•Steering device closed-loop proportional gain
•Spool control in the valve dead-band region
•Program transition criteria for a steering device
•Magnetic bridge enable/disable control for a steering device
An overview of all steering device parameters can be found in appendix Steering Device Parameters on
page 114.
Program Parameters
A number of user programs are available to each steering device. This enables programming flexible
functionality for each steering device such as:
•Possibility to adapt the steering system to the working situation.
•Personalized steering behavior (novice or expert level)
•Customized/variable steering ratio/gain settings
•Invert flow direction for e.g. backward steering
A number of programs are allocated to each steering device as shown in the table below. Each program
has a unique number which is used for requesting a new program from the MMI.
Number of programs per steering device
Steering device Number of programs Program number
Steering wheel sensor (SASA) 10 0-9
High priority steering device 5 20-24
Low priority steering device 5 25-29
High priority set-point controller 5 30-34
Example on program layout for high priority steering device
Set -point
to
Flow command
Ramp Limitation Cushion stop
flow command
to
spool position
Program page
Program=20
Program=21
Program=22
Program=23
Program=24
Active program for high
priority steering device
Program selection
Program sub-sets
At power-up, the lowest program number for each device is applied i.e. program 0 for steering wheel
sensor, program 20 for high priority steering device etc.
The program for a steering device becomes active as soon as the steering device is activated i.e. meets
the set-up criteria for when the PVED-CL shall regard a steering device as ‘being used for steering’.
An overview of all program parameters can be found in appendix Program Parameters on page 112.
Indexing Parameter
Each parameter has a unique index. Only one parameter can be accessed at a time. The system parameter
and steering device parameter indices are explicit and can be found in Appendix on page 107.
Operation Manual
PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
Configuration and Adjustment
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The program parameters are organized in a matrix. Each program parameter index for given program
and for a given steering device can be derived as follows:
Parameter index = [Steering Device number][Program index][Program parameter sub-index]
Number of programs per steering device
Steering device Steering Device Number Program Index
Steering wheel sensor (SASA) 1 0-9
High priority steering device 3 0-4
Low priority steering device 4 0-4
High priority set-point controller 5 0-4
The program parameter sub-index is the two last digits in program parameters in appendix Program
Parameters on page 112.
What is the program parameter index for ‘Steering sensitivity selector, Sse’ for the steering wheel
program 4?
Sse
Steering wheel device is defined as device number 1. The index for program number 4 is derived by
substituting x with 4 i.e. the index is 1409.
Sse for high priority steering device program 1 is 3109 etc.
Default program index for steering devices is 0.
Reading and Writing Parameters
Configuring the PVED-CL by means of setting parameters and reading parameters is done via a J1939
CAN bus, using proprietary PGN 61184. The configuration command set is described in PVED-CL
Communication Protocol, 11079551.
Operation Manual
PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
Configuration and Adjustment
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The following steps are needed to change a parameter:
Variable Description
Power up PVED-CL The PVED-CL shall be in operational, reduced or calibration mode (observe current mode in OperationStatus message)
to accept parameter changes.
Configure On reception of one or more SetParameter messages, the contents are decoded and temporarily stored in RAM. The
PVED-CL will send SetParameterResponse to verify the reception of each command. Switching off the electric power to
the PVED before committing the data will erase all parameter changes.
Attempts to write or read non-existing parameters have no effect.
Commit to EEPROM On reception of a single CommitData message, all RAM parameters are stored in EEPROM. During this operation, all
parameters are range checked. The commit procedure (copying data from RAM to EEPROM) will take 4 seconds to
complete. Committed parameters will first have any effect after the next boot up. If power is disconnected before all
parameters are stored in EEPROM, the PVED will power-up with the previous set of valid parameters. Observe
CommitDataResponse for information on commit process and success rate.
Program Transition Control
The PVED-CL can change steering program and thus steering behavior maximum 50 ms after reception of
a Select Program command. However, before a new program is applied, the PVED-CL validates the
system state for safe program transition.
System State
The system state is defined by:
Variable Description
Vehicle speed The vehicle shall drive slower or equal to a threshold value. The PVED-CL provides max
vehicle speed thresholds for each steering device.
The default values are chosen for robustness reasons to create a region rather than a
point.
Device Index Default Value range
Steering by steering wheel 127 50 0-1000
(0.0-1000 km/h)
Steering by high priority steering device 327 50 0-1000
Steering by low priority steering device 427 50 0-1000
Steering by GPS, Laser or row guidance controllers 527 50 0-1000
The setting the treshold higher than the max. vehicle speed disable this condition.
Steering actuator
speed
The spool inside the valve must be in or near its neutral position.
Steering actuator
position parameter.
Select Program/Program Transition
The program is applied when all conditions are met, otherwise it is rejected and the current program is
kept.
A program transition request is accomplished by transmitting a SelectProgram command (see
SelectProgram in PVED-CL Communication Protocol, 11079551).
Program Transition Acknowledge
Upon the reception of a SelectProgram command and if the system state allows it, the program
transition is executed and a SelectProgram response is transmitted (see SelectProgramResponse in
PVED-CL Communication Protocol, 11079551).
The currently active program is continuously transmitted in the PVED-CL operation status message (see
OperationStatus in PVED-CL Communication Protocol, 11079551).
How does the PVED work?
The PVED incorporates a printed circuit board (PCB), LVDT sensor and a solenoid operated hydraulic H-
bridge. The PCB provides connectivity to CAN and analogue signals by two 4-pin connectors each
Operation Manual
PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
Configuration and Adjustment
©Danfoss | May 2016 11025583 | AQ00000216en-US0302 | 19

colored differently to distinguish CAN and power supply from cables with analog control signals. When
using AMP the gray connector is dedicated for CAN and electric power supply and the black for
connecting analogue devices to the PVED. Deutsch connectors are not-keyed, but PVED-CL is laser-
marked with description.
AMP connectors
CR CL
P TT
LVDT
Neutral spring
T
P (12bar+T)
Contour of
PVG 32 casting
AMP-connector
(Gray)
AMP-connector
(Black)
2
D
A
5Vt
u
o
1
D
A
D
N
G
A
CNH
_
a
b
-
Vt
A
CNL
_
D
N
G
P005 092E
Electronic ControllerUnit
The 4-pin AMP (Junior PowerTimer) has been designed especially for the
automotive industries where high reliability and safety is required.
The features of the AMP connectors are:
Separate insulation of each lead ensures minimum risk of short cutting••
Safe JPT locking••
Safe locking of housing••
Mechanical coding of housing••
IP 66••
••
which prevents mistakes during installation
Easy disassembly••
Electronic Control Unit
The Electronic Control Unit (ECU) performs the following tasks:
•CAN messages. The PVED hardware is compatible to CAN 2.0B
•Converting two analogue input voltages between 0 and 5V to digital signals (10 bit)
•Executing the steering software & monitoring for discrepancies with fixed time intervals
•Output the main spool position setpoint
•Controlling the LED color
Solenoid Valve Bridge
The PVED-CL features an integrated feedback transducer that measures spool movement in relation to
the input signal from the main micro controller, and by means of a solenoid valve bridge, controls the
direction, velocity, and position of the main spool of the valve. The integrated electronics compensate for
flow forces on the spool, internal leakage, changes in oil viscosity, pilot pressure, etc. This results in lower
hysteresis and better resolution.
Control Principle
In principle the input signal (set-point signal) determines the level of pilot pressure, which moves the
main spool. The position of the main spool is sensed in the LVDT transducer, which generates an electric
feedback signal registered by the electronics. The variation between the set-point signal and feedback
signal activates the solenoid valves. The solenoid valves are actuated so that hydraulic pressure drives the
main spool into the correct position.
Operation Manual
PVED-CL Controller for Electro-Hydraulic Steering, Version 1.38
Configuration and Adjustment
20 | ©Danfoss | May 2016 11025583 | AQ00000216en-US0302