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--- robots:hako:controlspec:welcome [2012/10/02 15:54]
karina [System concept]
+++ robots:hako:controlspec:welcome [2012/10/02 15:59]
karina [System concept]
@@ Line 13: / Line 13: @@
 |Sensor: Multi-position key switch.<html><br></html> 1 = Off<html><br></html> 2 = Remote<html><br></html> 3 = Automatic|Sensor output:<html><br></html>1 = ESX input D+, 0 Volt alternative open relay contact.<html><br></html>2-3: “Mode control relay”:<html><br></html> 2 = Relay contact, open<html><br></html> 3 = Relay contact, closed|
+By switching to mode Automatic the ESX outputs must be in the automatic driving start-up conditions, which are: The steering is set to centre (straight forward), Diesel pump is set to idle, CVT is set to neutral and relays for 3-point linkage, PTO and engine stop are un-powered.
+(By extension of the ESX functions it is expected that e.g. sensor signal inconsistencies will be used for failure checking to ensure a gracefull system degradation).
+**__1 Steering__**\\
+In the driving modes “Remote control” and “Automatic” a Danfoss PVG 32 proportional valve controls the hydraulic steering normally controlled by the steering wheel hydraulic steering unit. The controlled hydraulic flow will approximately depend linearly of the control voltage. The actuation of the PVG 32 is controlled by an analogue signal from the ESX.
+The steering angle is measured by potentiometers at both front wheels. The potentiometer signals are conditioned to suit the ESX input voltage range.
+Set point for average steering angle is determined by GT 2000.
+^Steering^ ^
+|Actuator: Danfoss PVG32, spool type AA (may-be other), electric proportional actuation type PVES.|Actuator input: ESX interface for Danfoss PVG32|
+|Sensor: 2 potentiometers (front wheel steering angles), with output voltage range conversion electronics.|Sensor output, conditioned: Analogue voltage, range 1 - 4 V (Alternative may be suggested by Mech@tronic IT)|
+Remarks:
+Hydrostatic steering layout: Estimated hydraulic flow 1.7 l/min by maximum power steering angular velocity, PVG32 spool suggested: Type AA ( 5 l/min, smallest available type. Standard PC spool). (Smallest available type with a linear flow variant is type B, 25 l/min).
+Danfoss suggests proportional electrical actuation type PVES. Mech@tronic IT specifies the valve actuation unit suiting the ESX.
+AgroTechnology makes the voltage range conversion electronics for the potentiometers.
+Hakotrac: Steering angle end to end, estimated 90°. Wheel base: 1597 mm.
+**__2 Diesel pump__**\\
+A Linak LA 12 electromechanical linear actuator controlled by a Soft Servo 20 controller will perform the control of the diesel pump. The ESX will output the position set point for the Soft Servo 20 as a pulse with modulated signal (PWM). A specially made PMW/analogue converter will convert this signal to the analogue input signal for the Soft Servo 20.
+Feed back of engine RPM to the ESX will be from an inductive sensor by the engine shaft.
+Engine RPM set point is determined by the GT 2000.
+^Engine RPM^ ^
+|Actuator: Linak LA 12 linear actuator; with position controller|Actuator input: PWM signal (250 Hz, 0-12V) from ESX to PWM/analogue converter.|
+|Sensor: Inductive sensor|Sensor output: Open collector signal (0-12 V square wave), 3 impulses per rev.|

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