3.8 | Tuning Automatic Implement Control
The Tuningpurpose pageof tuning is usedto achieve stable, accurate Automatic Control that follows the design surface smoothly without excessive lag or oscillation. The Tuning page provides the controls and feedback required to optimise howcontrol aggressivelyperformance. To find the implementtuning respondspage tofrom controlthe errorApply whileView, press More > COMMAND Settings > Tuning.
Tracking and Acquisition Behaviour
Once Automatic Control is engaged.engaged, the COMMAND ECU adjusts its control strategy according to the current error between the implement and the design surface.
Level COMMAND provides a single tuning parameter calleddefault Tracking SensitivityThreshold and Acquire Threshold defaults are appropriate for most applications and should generally not be changed and modification is not recommended.
Three operating regions are used:
Tracking Region (e.g. < 10cm Error)
The Tracking Region is the area immediately surrounding the design surface.
When the current error is within the configured Tracking Threshold, COMMAND continuously adjusts hydraulic output using its tracking control algorithm to accurately maintain the implement on grade. By default, the tracking threshold is 10cm for height functions, and 10 degrees for x-slope functions.
Hydraulic output varies continuously between the calibrated minimum and maximum valve thresholds according to the current control error. This region provides the highest grading accuracy and is where the implement should spend most of its operating time.
Acquisition Region (e.g. > 10cm but < 1m Error)
The Acquisition Region exists between the Tracking Threshold and Acquire Threshold.
When
Increasingthe implement is outside the Tracking Region but still within the Acquire Threshold, Tracking SensitivityCOMMAND increasesassumes controlthe aggressivenesspriority andis causesreturning the implement to reactthe moredesign surface as quickly toas error.
DecreasingDuring acquisition, the ECU commands the hydraulic output at the calibrated TrackingMaximum SensitivityThreshold reduces control aggressiveness and causesuntil the implement tore-enters reactthe moreTracking graduallyRegion.
Once inside the Tracking Region, control automatically transitions back to error.normal tracking.
Out of Range (e.g. > 1m Error)
If the current error exceeds the configured Acquire Threshold, the implement is considered too far from the design surface for Automatic Control to operate safely or effectively.
In this condition, COMMAND does not command hydraulic movement. The objectiveoperator isshould manually reposition the implement closer to achieve stable control while maintaining accurate tracking of the targetdesign surface.surface before Automatic Control resumes operation.
Before Tuning
Before beginning tuning, verify the following diagnostic indicators show normal operation:
- ECU Status
- Input Status
- Valve Status
- Automatic Control Diagnostics
Any active faults or invalid status conditions should be corrected before tuning begins.
Tuning Procedure
Level COMMAND currently provides a single tuning parameter called Tracking Sensitivity. The objective is to achieve stable control while maintaining accurate tracking of the target surface.
- Load a suitable project or design surface.
- Engage Automatic Control.
- Perform one or several passes under normal operating conditions.
- Observe implement behaviour and control performance.
- Adjust Tracking Sensitivity as required.
- Repeat until the implement follows the target smoothly without excessive lag or oscillation.
Increasing Tracking Sensitivity increases control aggressiveness and causes the implement to react more quickly to error.
Decreasing Tracking Sensitivity reduces control aggressiveness and causes the implement to react more gradually to error.
Understanding Tuning Feedback
Several indicators are available to assist with tuning.
Current Error
Current Error displays the difference between the actual implement position and the target position. Large or persistent error indicates the implement is struggling to follow the target surface accurately.
Commanded Output %
Commanded % displays the control effort being requested by Automatic Control. This value can help identify whether the controller is responding aggressively enough to changing conditions.
Dynamic Performance Factor (DPF)
Dynamic Performance Factor (DPF) is a rolling performance metric used to indicate how closely the implement is following the target surface.
A DPF value of 0 represents perfect control performance. Lower DPF values indicate better control performance.
As tracking error, overshoot, oscillation and other control deviations increase, the DPF value will also increase. DPF is calculated using approximately five seconds of Automatic Control performance data and is only updated while Automatic Control is engaged.
Typical Adjustments
Min % calibration values are particularly important for correct system performance - ensure that Min % thresholds have been correctly calibrated prior to tuning. Incorrect Min % can have similar effects in reducing control performance but these cannot be corrected simply by increasing or reducing tracking sensitivity.
Tracking Sensitivity Too Low
- Implement responds slowly
- Current Error remains visible for extended periods
- Blade struggles to reach target grade
- DPF remains elevated due to persistent tracking error
Increase Tracking Sensitivity.
Tracking Sensitivity Too High
- Implement reacts aggressively
- Blade overshoots the target surface
- Oscillation develops
- DPF increases due to instability and overcorrection
Reduce Tracking Sensitivity.
Refer to the Tracking Sensitivity examples below for visual examples of under-tuned and over-tuned control behaviour.
