3.8 | Tuning Automatic Implement Control

The purpose of tuning is to 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 control performance. To find the tuning page from the Apply View, press More > COMMAND Settings > Tuning.

Tracking and Acquisition Behaviour

Once Automatic Control is engaged, the COMMAND ECU adjusts its control strategy according to the current error between the implement and the design surface.

The default Tracking Threshold and Acquire Threshold defaultsvalues are appropriatesuitable for mostalmost all applications and should generally not benormally changedrequire andadjustment. modificationModification of these parameters is generally not recommended.

Three operating regions are used:

Tracking Region (e.g. < 10cm Error)

The Tracking Region is the area immediately surrounding the design surface. This region provides the highest grading accuracy and is where the implement should spend most of its operating time.

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.

 

HydraulicWithin the Tracking Region, hydraulic output variesis continuously adjusted 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 the implement is outside the Tracking Region but stillremains within the Acquire Threshold,Threshold, COMMAND  assumes the priority isprioritises returning the implement to the designTracking surfaceRegion as quickly as possible.

During acquisition, the ECU commands the hydraulic output at the calibrated MaximumMax Threshold%  until the implement re-enters the Tracking Region.

 

Once inside the Tracking Region, control automatically transitions back to normal tracking.

Out of Range (e.g. > 1m Error)

If the current error exceeds the configured Acquire ThresholdThreshold,, 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. This prevents large or unexpected hydraulic movements when the implement is significantly displaced from the design surface. The operator should manually reposition the implement closer to the design surface before Automatic Control resumes operation.

 

Before Tuning

Before beginning tuning, verify the following diagnostic indicators showreport normal operation:operating status:

• COMMAND ECU Status
• Input Status
• Valve Status
• Automatic Control Diagnostics

Any active faults or invalid status conditions should be corrected before tuning begins.

Tuning Procedure

Tuning should always be performed under normal working conditions using the same machine speed, hydraulic flow settings and operating practices that will be used during production work.

During normal grading, the implement should enter the Acquisition Region only briefly before returning to the Tracking Region, where it should remain for most of the grading operation. If the implement spends excessive time acquiring, overshoots repeatedly or oscillates around the target surface, further tuning may be required.

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. 

1. Load a suitable project or design surface.
2. Engage Automatic Control.
3. Perform one or several passes under normal operating conditions.
4. Observe implement behaviour and control performance.
5. Adjust Tracking Sensitivity as required.
6. Repeat until the implement follows the target smoothly without excessive lag or oscillation.

Increasing

Adjustment Typical Effect Increase Tracking Sensitivity increasesFaster controlresponse, aggressivenessmore aggressive control, increased risk of overshoot or oscillation. Decrease Tracking Sensitivity Slower response, smoother control, increased risk of lag and causespersistent the implement to react more quickly totracking 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.

TypicalPoor AdjustmentsControl Performance Symptoms

Correct valve calibration—particularly the Min % thresholds—is essential before tuning begins. Incorrect Min % calibration valuescan areproduce particularlysymptoms important for correct system performance - ensure that Min % thresholds have been correctly calibrated priorsimilar to tuning. Incorrectincorrect MinTracking %Sensitivity can have similar effects in reducing control performance but theseand cannot be corrected simplythrough bytuning increasing or reducing tracking sensitivity.alone.

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.