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Danfoss PLUS 1® GUIDE User guide

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CONNECTOR MATES
WITH DEUTCH
CONNECTOR #DTM-06-125A
PIN #1
INDICATED
1
12
6
7
47.1 mm
[1.85]
51.6 mm
[2.03]
LED INDICATOR
LIGHTS
CONNECTOR MATES
WITH DEUTCH
CONNECTOR #DTM-06-125A
1
12
6
7
97.0 mm
[3.82]
142.0 mm
[5.59]
144.5 mm
5.69
158.2 mm
6.23
2x 25.2 mm
[1.0]
2x
∅
7.0
[.28]
MOUNTING
DIRECTION
#2
PLUS+1
™
GUIDE
Software
Tracker Plug-in
GUIDE Programming
User Manual
VALVE
Tracker
Tracker
Tracker Plug-in GUIDE Programming
User Manual
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About this Manual
Organization
and Headings
To help you quickly find information in this manual, the material is divided into sections,
topics, subtopics, and details, with descriptive headings set in red type. Section titles
appear at the top of every page in large red type. Topic headings appear in the left-hand
column in bold red type. Subtopic headings appear above the body text in bold red
type and detail headings in italic red type.
References (example: See Topic xyz, page XX) are also formatted in red italic type. In
Portable Document Format (PDF) files, these references are hyperlinks that jump to the
corresponding document pages.
Tables, Illustrations, and
Complementary
Information
Tables, illustrations, and graphics in this manual are identified by titles set in blue italic
type above each item. Complementary information such as notes, captions, and drawing
annotations are also set in blue type.
Special Text Formatting Controls and indicators are set in bold black type.
Black italic type is used in the text to emphasize important information, or to set off words
and terms that are used in an unconventional manner or alternative context.
Table of Contents
A Table of Contents (TOC) appears on the next page. In the PDF version of this document,
the TOC entries are hyperlinked.
Revision history
Revision Date Comment
Rev AA January 2009 For software release 1.xx.
©2009 Sauer-Danfoss. All rights reserved.
Sauer-Danfoss accepts no responsibility for possible errors in catalogs, brochures and other printed material.
Sauer-Danfoss reserves the right to alter its products without prior notice. This also applies to products already
ordered provided that such alterations can be made without affecting agreed specifications.
All trademarks in this material are properties of their respective owners.
PLUS+1, GUIDE, and Sauer-Danfoss are trademarks of the Sauer-Danfoss Group. The PLUS+1 GUIDE, PLUS+1
Compliant, and Sauer-Danfoss logotypes are trademarks of the Sauer-Danfoss Group.
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Contents
Introduction ...................................................................................................................................................... 4
Page Symbols ........................................................................................................................................... 5
Tracker Plug-in Page....................................................................................................................................... 6
Input and Output Signals ..................................................................................................................... 7
Tracker_Params Page............................................................................................................................. 9
Appendix..........................................................................................................................................................12
Tracker Plug-in Calculations ..............................................................................................................12
About the Closed-Loop Control Parameters................................................................................12
About the Closed-Loop/Open Loop Transition Parameters...................................................13
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Introduction
This manual documents the Tracker plug-in.
The Tracker plug-in applies closed-loop control to correct tracking errors caused by
uneven track loading, hydraulic leakage, and imperfect calibration.
Use the Tracker plug-in in applications where control of straight tracking or turning radius
under varying loads is more important than control of vehicle speed.
The Tracker plug-in is a variant of the Dual Path Speed Control type of plug-ins. The
Tracker plug-in installs in a DualPathSpdCtrl socket page.
T In applications that use the Tracker plug-in and receive CAN motor speed messages, set
the application’s ExecTimeOut to match the repetition rate of the CAN motor speed
message.
(In applications that receive CAN motor speed messages, the motor speed update time
is limited to the repetition rate of the CAN motor speed message.)
A slow repetition of CAN motor speed messages can reduce the responsiveness of the
Tracker plug-in.
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Introduction
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Page Symbols
Slash—Page can be entered
No slash—Page locked; cannot be entered
Plug—Plug-in page
Key—Page keyed to application hardware
Page symbols indicate page properties:
• Slash—The page is unlocked. The page can be entered and its contents viewed and
changed.
• No slash—The page is locked and cannot be entered.
• Plug—The page contains a plug-in. A plug-in is software that extends the
functionality of an application.
• Key—An application that contains this page can only download to similarly keyed
application hardware.
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Tracker Plug-in Page
Path: Tracker
T = Set plug-in defaults
1
2
3
The Tracker plug-in applies closed-loop control to correct tracking errors caused by
uneven track loading, hydraulic leakage, and imperfect calibration.
Tracker Plug-in
Callout Item Description
1 Tracker_Params
page
Contains non volatile memory (EE) components whose signals define the operation of the Tracker plug-in.
2 MinSpd
page
Calculates the speed sensor frequency at which the Tracker plug-in begins closed-loop error correction.
3 Tracker
page
Contains logic that applies closed-loop correction to tracking errors caused by uneven track loading, hydraulic
leakage, and imperfect calibration.
Tracker Plug-in GUIDE Programming
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Input and Output Signals
Plug-in Input Signals
Bus/Signal Type Range Description
Signals bus —— —— Inputs the following signals to the plug-in.
B_SetDefaults
signal
BOOL —— T = Set all plug-in defaults.
Power_Pct2
signal
U16 0–10000 Output from an Antistall plug-in; indicates how heavily the engine is loaded.
10000 (unloaded engine) = 100.00%
L_Speed
signal
S16 -32768–32767 Left motor speed, typically from a speed sensor.
R_Speed
signal
S16 -32768–32767 Right motor speed, typically from a speed sensor.
CmdIn bus —— —— Inputs the following signals to the plug-in.
L_Cmd_Pct2
signal
S16 ±10000 Open-loop speed command for the left track.
10000 = 100.00%
R_Cmd_Pct2
signal
S16 ±10000 Open-loop speed command for the right track.
10000 = 100.00%
Limit_Pct2
signal
S16 0–10000 Maximum magnitude of the closed-loop speed commands.
This value applies to applications that use two-speed motors.
10000 = 100.00%
Plug-in Output Signals
Bus/Signal Type Range Description
Diag bus —— —— Outputs the following status and parameter signals from the plug-in.
Status
signal
U16 —— Bitwise report on the status of the plug-in.
0x0000 = OK.
0x0001 = Maximum output.
0x8008 = Invalid setup.
Diag/Params bus —— —— Outputs the following parameter signals from the Tracker_Params page.
CmdFltrTm_ms
signal
U16 0–65535 The T1 value of Set Point filter inside the Tracker page.
IGain
signal
U16 0–32767 The integral gain for the KIDT1 control inside the Tracker plug-in.
Max
signal
S16 0–10000 The maximum percentage increase or decrease that can be applied to scaled speed commands
to correct a tracking error.
10000 = 100.00%
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Plug-in Output Signals
Bus/Signal Type Range Description
MaxSteer_Pct2
signal
U16 500–10000 The percentage difference between the left and right scaled speed commands beyond which
no error correction takes place.
10000= 100.00%
MinSpd
signal
U16 0–32767 The speed sensor frequency below which the Tracker plug-in does not correct tracking errors.
PGain
signal
U16 0–32767 The proportional gain for the KIDT1 control inside the Tracker plug-in.
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Tracker_Params Page
Path: Tracker ! Tracker_Params
3
4
5
6
7
8
1
2
T = Apply IN values
The Tracker_Params page contains non-volatile memory (EE) components whose signals
configure the Tracker plug-in.
Tracker_Params Page
Callout Item Description
1 EE_Tracker_Enable
EE value
Outputs the Enable signal.
T = Enable the Tracker plug-in. The plug-in will use closed-loop control to correct tracking errors.
F = Disable the Tracker plug-in. The plug-in will not correct tracking errors.
2 EE_Tracker_IGain
EE value
Outputs the IGain signal.
This signal sets the integral gain for the KIDT1 control inside the Tracker plug-in.
Integral gain is the rate at which error is accumulated to produce the integral term of the
correction.
A larger value results in more aggressive control.
Range: 0–32767
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Tracker_Params Page
Callout Item Description
3 EE_Tracker_PGain
EE value
Outputs the PGain signal.
This signal sets the proportional gain for the KIDT1 control inside the Tracker plug-in.
Proportional gain sets the scaling factor that gets multiplied by the instantaneous error to produce
the proportional term of the correction.
A larger value results in more aggressive control.
Range: 0–32767
4 EE_Tracker_MaxSteer_Pct2
EE value
Outputs the MaxSteer_Pct2 signal.
This signal sets the percentage difference between the left and right scaled speed commands
beyond which no error correction takes place. The signal sets how sharp a turn receives closed-
loop control.
– When the difference between speed commands is small (going straight or in a shallow turn)
and an error occurs, the Tracker plug-in acts aggressively to correct the error.
– As the difference between speed commands nears the MaxSteer_Pct2 value (in a sharp turn)
and an error occurs, the Tracker plug-in acts less aggressively to correct the error.
– When the difference between speed commands exceeds the SteerFull_Pct2 signal and an error
occurs, the Tracker plug-in does not correct the error.
Range: 500–8000 (10000 = 100.00%)
5 EE_Tracker_Max
EE value
Outputs the Max signal.
This signal caps the amount of correction that the Tracker plug-in can add to or subtract from the
track speed commands. Correction is set as a percentage of the larger of the two track speed
commands.
For example, if the:
– EE_Tracker_Max parameter = 1000 (10.00%).
– Right track speed command = 4000 (40.00%)
– Left track speed command = 3000 (30.00%).
Then the Tracker plug-in cannot change track speed commands by more than (4.00%).
4000 x 1000
= 400
10000
With these
Max and track speed command values, the Tracker plug-in cannot:
– Lower the right track speed command below 3600 (36.00%).
– Increase the left track speed command above 3400 (34.00%).
Range: 1–10000 (10000 = 100.00%)
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Tracker_Params Page
Callout Item Description
6 EE_Tracker_MinSpd
EE value
Outputs the
MinSpd signal.
This signal sets the speed sensor frequency from the slower motor below which the
Tracker plug-
in stops correcting tracking errors for an unloaded engine. It applies when the
Power_Pct2 signal
= 10000 (100.00%), meaning that the
Antistall plug-in is applying no antistall.
Error correction stops within a range set by the
MinSpd and LoadedMinSpd values. Where error
correction stops is proportional to the
Power_Pct2 signal.
– As the Power_Pct2 signal decreases (more antistall), the Tracker plug-in shifts the error
correction stopping point closer to the
LoadedMinSpd value.
– As the Power_Pct2 signal increases (less antistall), the Tracker plug-in shifts the error
correction stopping point closer to the
MinSpd value.
Set the
MinSpd value lower than the LoadedMinSpd value.
Range: 0–32767
7 EE_Tracker_LoadedMinSpd
EE value
Outputs the LoadedMinSpd signal.
This signal sets the speed sensor frequency output from the slower motor below which the
Tracker plug-in stops correcting tracking errors for a fully loaded engine. It applies when the
Power_Pct2 signal = 0 (0%), meaning that the Antistall plug-in is applying maximum antistall.
(Typically,
Antistall plug in settings prevent the Power_Pct2 signal from ever reaching zero.)
Error correction stops within a range set by the
MinSpd and LoadedMinSpd values. Where error
correction stops is proportional to the
Power_Pct2 signal.
– As the Power_Pct2 signal decreases (more antistall), the Tracker plug-in shifts the error
correction stopping point closer to the
LoadedMinSpd value.
– As the Power_Pct2 signal increases (less antistall), the Tracker plug-in shifts the error
correction stopping point closer to the
MinSpd value.
Set the
LoadedMinSpd value higher than the MinSpd value.
Range: 0–32767
8 EE_Tracker_CmdFltrTm
EE value
Outputs the
CmdFltrTm signal.
This signal sets the T1 value of an
Exp_Filter function block that is locked inside the Tracker page.
This filter smoothes changes the setpoint signal so that quick changes in steering do not cause
overshoot. Actual motor speeds lag behind speed commands. The
CmdFltrTm signal tries to get
the setpoint lag to match the motor speed lag.
The greater the
EE_Tracker_CmdFltrTm value, the greater the smoothing.
For more information about this filter, see the
PLUS+1 GUIDE Basic Function Blocks Library User
Manual
(Sauer-Danfoss part 10103409).
Set this parameter to the lowest value that satisfactorily reduces steering overshoot.
Range: 0–65535
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Appendix
This section contains supplemental information that can be useful when setting
parameter values for the Tracker plug-in.
Tracker Plug-in Calculations
The Tracker plug-in outputs left and right track speed commands based on open-loop
speed commands. The plug-in receives feedback based on actual motor speeds. The plug-
in develops an error signal based on the difference between the desired and the actual
track speeds. It feeds this error signal into a (PI = Proportional Integral) controller and then
rescales this controller’s output into corrective command units. The plug-in adds the
correction to the slower track and subtracts them from the faster track.
About the Closed-Loop Control Parameters
The following parameters affect the performance of the Tracker plug-in when in closed-
loop control.
EE_Tracker_IGain (Integral Gain) parameter—Sets the rate at which error is accumulated
to produce the integral term of the correction.
EE_Tracker_PGain (Proportional Gain) parameter—Defines the scaling factor that gets
multiplied by the instantaneous error to produce the proportional term of the correction.
Larger integral and proportional gain values result in more aggressive control.
EE_Tracker_Max (Maximum Correction) parameter—Caps the amount of correction that
the Tracker plug-in can add to or subtract from the track speed commands. Correction is
set as a percentage of the larger of the two track speed commands.
For example, if the:
• EE_Tracker_Max parameter = 1000 (10.00%).
• Right track speed command = 4000 (40.00%)
• Left track speed command = 3000 (30.00%).
Then the Tracker plug-in cannot change track speed commands by more than (4.00%).
4000 x 1000
= 400
10000
With these EE_Tracker_Max and track speed command values, the Tracker plug-in
cannot:
• Lower the right track speed command below 3600 (36.00%).
• Increase the left track speed command above 4400 (44.00%).
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EE_Tracker_CmdFltrTm (Command Filter Time) parameter—Smoothes changes in
command speeds so they do not produce overshoots in motor speeds.
Motor speed changes always lag behind command changes. Changing steering quickly
causes the calculated setpoint and feedback to differ until the motors reach their
commanded speeds. Correction of the error can result in an overshoot in motor speeds.
The Tracker plug-in filters the calculated setpoint to deal with the overshoot. Filtering the
setpoint causes it to lag behind the commands in way similar to the motor speeds. The
filtered setpoint more closely matches the feedback calculated from the motor speeds.
Set the EE_Tracker_CmdFltrTm parameter to the lowest value that satisfactorily reduces
steering overshoot.
About the Closed-Loop/Open Loop Transition Parameters
There are conditions in which closed-loop tracking control is impossible, undesirable, or
unnecessary.
The Tracker plug-in resets the integrator value to zero when either track speed
commands are zero. The Tracker plug-in always resumes closed-loop control with no
retained errors.
The following parameters determine when the Tracker plug-in moves between open-
loop and closed-loop operation.
EE_Tracker_MaxSteer_Pct2 (Maximum Steer) parameter—Sets how sharp a turn receives
closed-loop control.
The relative difference between track speed commands sets the turn radius:
• Zero difference between track commands = straight ahead.
• 100% difference between track commands = pivot steer.
• Greater than 100% difference = counter-rotate, with motors turning in opposite
directions.
The EE_Tracker_MaxSteer_Pct2 parameter sets the highest relative difference at which
the Tracker plug-in is active, effectively setting the smallest turn radius that receives
closed-loop control.
The Tracker plug-in’s output tends to climb in tight turns. The faster side of a dual-path
vehicle pulls along the slower side, even if that side is commanded to be stopped. While
the Tracker plug-in does not reverse the signs of track speed commands, it will
continuously raise the track speed commands for the faster side. This results in a poor
response when leaving a tight turn. For this reason the Tracker plug-in is not allowed to
handle pivot turns or near pivot-turns, with the MaxSteer_Pct2 limited to a maximum
value of 8000 (80.00%).
Set the MaxSteer_Pct2 value based on OEM specifications and the type of steering input
used.
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• For steering devices that make holding constant radius turns possible for long periods
without operator actions (such as friction-held steering wheels), set the
MaxSteer_Pct2 to a high value. A high value enables closed-loop control over a large
range of turning radii.
• For spring-centered steering devices that require frequent operator actions, set the
MaxSteer_Pct2 to a small value, from 500–1500 (5.00–15.00%). This limits the closed-
loop control to a narrow range around straight tracking, with the operator providing
inputs for sharper radii.
EE_Tracker_MinSpd (Minimum Motor Speed) parameter—Sets the speed sensor
frequency at which the Tracker plug-in stops correcting track speed errors for an
unloaded engine. It applies when the Power_Pct2 signal = 10000 (100.00%), meaning that
the Antistall plug-in is applying no antistall.
The EE_Tracker_MinSpd value is needed because the Tracker plug-in requires a
minimum speed sensor frequency to accurately apply closed-loop control.
EE_Tracker_LoadedMinSpd (Loaded Minimum Motor Speed) parameter—Sets the speed
sensor frequency below which the Tracker plug-in stops correcting tracking errors for a
fully loaded engine. It applies when the Power_Pct2 signal = 0, meaning that the
Antistall plug-in is applying maximum antistall. (Typically, Antistall plug in settings
prevent the Power_Pct2 signal from ever reaching zero.)
The EE_Tracker_LoadedMinSpd value is needed because the high pressures produced
by a combination of low speed and high loads raise the minimum speed at which the
Tracker plug-in can accurately correct tracking errors.
Error correction stops within a range set by the MinSpd and LoadedMinSpd values.
Where error correction stops in this range is proportional to the Power_Pct2 signal.
Because closed-loop control is more effective under moderate loads than under extreme
loads, always set the LoadedMinSpd value higher than the MinSpd value.
Do not use hydraulic pressure limiters with this software because they counteract the
control logic of the Tracker plug-in and the Antistall plug-in.
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