Modular system mode controller and related method

Abstract

A control system (100) for a machine (105 / 110), the control system comprising one or more component controllers (235) for one or more components (240) of the machine (105 / 110). The control system (100) also includes a supervisory controller (200) connected to the one or more component controllers (235) and having at least one supervisory processor (210) configured to perform operations including: receiving a supervisory system input from an operator of the machine (105 / 110), the supervision system input includes at least one of a machine component status input, a key switch input (215), a direction input (220), or an operator presence input (225); requesting and receiving a status of the one or more components (240) from each of the one or more component controllers (235); and upon receiving an indication that a state of a component of the one or more components (240) is malfunctioning, disabling the malfunctioning component, and disabling any other component (240) of the one or more components (240) that requires the malfunctioning component to operate.

Description

Technical Field

[0001] The present disclosure relates generally to modular system mode controllers and related methods, and more particularly, to modular system mode controllers for operating various machines having different components. Background Art

[0002] Different types of machines, such as wheel loaders, motor graders, such as tractors and other construction equipment, require different types and different combinations of components to perform various operations, and therefore, controllers capable of operating these different types and different combinations of components are required. When a single controller is used in a particular machine, the instructions or software to be executed by the controller require a relatively long time to complete an operation (such as a startup sequence or a shutdown sequence) because the controller must communicate with each individual component of the individual components of the machine. It also takes a relatively long time to detect the failure of one or more of these components because the controller needs to communicate with the component regarding the status and operability of each component. It also takes relatively more time to debug instructions or software and troubleshoot problems (such as one or more faults). In addition, the controller and instructions or software for the controller may only be able to be used for the particular machine and for machines and components from a particular supplier, and are not suitable for or cannot be used for other types of machines or components.

[0003] CN202995430U discusses a system for synchronously and accurately controlling multiple independent type motion controllers. The independent type motion controller has a synchronous input / output interface, wherein every two independent type motion controllers in the multiple independent type motion controllers are connected to form a synchronous loop through the input / output interface, and one of the multiple independent type motion controllers in the synchronous loop is designated as a main control device, and the other independent type motion controllers in the multiple independent type motion controllers are designated as auxiliary devices. When initialization is completed, the independent type motion controller designated as the main control device performs time sampling on all independent type motion controllers in the synchronous loop, and calculates the synchronization operation time of all independent type motion controllers in the next cycle.

[0004] Although the system discussed in CN202995430U provides a master control device, the control of the independent type motion controller may not take into account the different types and different combinations of components to be used in the system. In addition, the designation of the master control device occurs after the initialization process, and therefore, for example, the master control device may not operate to control the independent type motion controller during the startup sequence. The system described as being used for multiple motion type controllers may be limited to use in machines having components of that type and may not be suitable for different types of machines each having various types of components. The system also does not take into account disabling and enabling components based on whether a particular component fails.

[0005] The modular system mode controller of the present disclosure may solve one or more of the above problems and / or other problems in the art. However, the scope of the present disclosure is defined by the appended claims, rather than by the ability to solve any specific problem. Summary of the invention

[0006] In one aspect, a control system for a machine may include: one or more component controllers for one or more components of the machine, each of the one or more component controllers having a component memory storing component instructions and at least one component processor configured to execute the component instructions; and a supervisory controller connected to the one or more component controllers and having a supervisory memory and at least one supervisory processor, the supervisory memory storing supervisory instructions. The at least one supervisory processor is configured to execute the supervisory instructions to perform operations including: receiving supervisory system inputs from an operator of the machine, the supervisory system inputs including at least one of a machine component status input, a key switch input, a direction input, or an operator presence input; requesting and receiving the status of the one or more components from each of the one or more component controllers; and upon receiving an indication that the status of a component in the one or more components is faulty, disabling the faulty component and disabling any other components in the one or more components that require the faulty component to operate.

[0007] According to another aspect of the present disclosure, a control system for a machine may include: one or more component controllers, the one or more component controllers being used for one or more components of the machine, each of the one or more component controllers having a component memory storing component instructions and at least one component processor configured to execute the component instructions; and a supervisory controller, the supervisory controller being connected to the one or more component controllers and having a supervisory memory and at least one supervisory processor, the supervisory memory storing supervisory instructions. The at least one supervisory processor is configured to execute the supervisory instructions to perform an operation, the operation including: receiving a supervisory system input from an operator of the machine, the supervisory system input including at least one of a machine component status input, a key switch input, a direction input, or an operator presence input; requesting and receiving the status of the one or more components from each of the one or more component controllers; upon receiving an indication that the status of a component in the one or more components is normal operation, enabling the normal operating component, and outputting a normal operating component indicator to any other component in the one or more components that requires the normal operating component to operate.

[0008] According to another aspect of the present disclosure, a method for configuring a control system for a plurality of different types of machines is provided, the machines including at least a wheel loader, a motor grader, a mining truck, and a marine machine. The control system includes one or more component controllers, the one or more component controllers are used for one or more components of the machines in the plurality of different types of machines, the one or more component controllers are configured to provide outputs to the one or more components, and each of the one or more component controllers has a component memory storing component instructions and at least one component processor configured to execute the component instructions. The control system also includes a supervisory controller connected to the one or more component controllers, the supervisory controller is configured to receive inputs from the one or more component controllers and generate outputs to the one or more component controllers, and has a supervisory memory and at least one supervisory processor, the supervisory memory storing supervisory instructions. The at least one supervisory processor is configured to execute the supervisory instructions to perform the method, which includes: receiving a supervisory system input from an operator of the machine, the supervisory system input including at least one of a machine component status input, a key switch input, a direction input, or an operator presence input; requesting and receiving the status of the one or more components from each of the one or more component controllers; upon receiving an indication that the status of a component in the one or more components is normal operation, enabling the normally operating component, outputting a normally operating component indicator to any other component in the one or more components that requires the normally operating component to operate; and upon receiving an indication that the status of a component in the one or more components is a fault, disabling the faulty component, and disabling any other component in the one or more components that requires the faulty component to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 A schematic diagram of a pair of machines including a wheel loader and a motor grader in which a modular system mode controller according to the present disclosure may be used is shown.

[0010] Figure 2 A schematic diagram showing components of a modular system mode controller according to the present disclosure is shown.

[0011] Figure 3 A flow chart of a control method executed by a modular system mode controller according to the present disclosure is shown.

[0012] Figure 4 A flow chart of another control method executed by a modular system mode controller according to the present disclosure is shown.

[0013] Figure 5A flow chart of yet another control method executed by a modular system mode controller according to the present disclosure is shown. DETAILED DESCRIPTION

[0014] The foregoing general description and the following detailed description are merely exemplary and illustrative and do not limit the claimed features. As used herein, the terms "comprises," "comprising," "having," "containing," or other variations thereof are intended to cover non-exclusive inclusions, such that a process, method, article, or device comprising a series of elements may include not only these elements, but may also include other elements that are not explicitly listed or inherent to such a process, method, article, or device. Unless expressly excluded, the use of the singular to describe a component, structure, or operation does not exclude the use of a plurality of such components, structures, operations, or their equivalents. In the context of describing the present invention (particularly in the context of the claims below), the use of the terms "one" and "an" and "said" and "at least one" or the terms "one or more" and similar indicators should be interpreted as covering the singular and the plural, unless otherwise stated herein or clearly contradicted by the context. The use of the term "at least one" after a list of one or more items (e.g., "at least one of A and B" or "one or more of A and B") should be interpreted to mean one item selected from the listed items (A or B) or any combination of two or more of the listed items (A and B; A, A and B; A, B and B), unless otherwise indicated herein or clearly contradicted by context. Similarly, the word "or" as used herein refers to any possible permutation of a group of items. In addition, in the present disclosure, relative terms (such as, for example, "approximately," "generally," "substantially," and "approximately") are used to indicate possible variations of ±10% in the stated values. In addition, in the present disclosure, the term "automatically" is used to indicate the performance of a function within a device (e.g., a controller) without the need for action by an operator.

[0015] refer to Figure 1 , a control system 100 according to the present disclosure may be installed and used in a machine such as a wheel loader 105 and / or a motor grader 110. In addition to wheel loaders and motor graders, the control system 100 may also be installed and used in other types of machines including, but not limited to, marine machines and mining trucks. The control system 100 and the associated methods described below provide a common mode controller that may be used in various types of machines having different component configurations.

[0016] refer to Figure 2, the control system 100 includes a supervisory controller 200 having a supervisory memory 205 and one or more supervisory processors 210. The supervisory memory 205 may store data and / or software routines that may help the supervisory controller 200 perform its functions, such as the following functions discussed below: Figure 3 Method 300, Figure 4 Method 400, and Figure 5 The method 500 of FIG. 500 is provided. In addition, the supervisory memory 205 may also store data received from various inputs associated with the machines 105 , 110 , including, for example, a key switch input 215 , a forward-neutral-reverse (FNR) input 220 , an operator presence input 225 , and a parking brake status input 230 discussed in more detail below. The supervisory memory 205 may also store data received from any of a plurality of component controllers discussed in more detail below. More generally, the supervisory memory 205 may store data from any other suitable input associated with the machines 105 , 110 , such inputs being generally referred to as machine component status inputs. In addition, the supervisory controller 200 checks operator inputs as well as machine status and component status while executing a startup sequence and a shutdown sequence. Many commercially available microprocessors may be configured to perform the functions of the supervisory controller 200. It should be appreciated that the supervisory controller 200 may be readily embodied as a general purpose machine controller capable of controlling many other machine functions. Alternatively, a dedicated machine controller may be provided. Various other known circuits may be associated with supervisory controller 200 , including signal conditioning circuits, communications circuits, hydraulic or other actuation circuits, and other suitable circuits.

[0017] More specifically, the key switch input 215 may include one of the following: a key-on input when the ignition switch of the machine is turned on or pressed "on"; and a key-off input when the ignition switch of the machine is turned off or pressed "off". The FNR input 220 may include one of a forward gear, a neutral gear, or a reverse gear, which indicates the operating state of the transmission of the machine. The forward gear input may also indicate a specific gear of a multi-speed transmission. The operator presence input 225 may include one of the following: an operator is present when the operator is physically present in the machine; and an operator is not present when the operator is not physically present in the machine. The parking brake state input 230 may include one of the following: parking brake on, indicating that the parking brake of the machine is on or applied to prevent the machine from moving; parking brake off, indicating that the parking brake of the machine is off or not applied, thereby allowing the machine to move. Any other type of status input (also often referred to as machine component status input) may have values ​​of at least two states (eg, normal operation or abnormal operation).

[0018] Reference again Figure 2, the control system 100 includes one or more component controllers 235, as a superset of controllers, for controlling one or more components 240, respectively. Each component controller 235 has a memory 245 and one or more processors 250. The memory 245 can store data and / or software routines that can help the component controller 235 perform the functions of its specific component discussed below. In addition, the memory 245 can also store data received from the component 240 it controls and data received from the supervisory controller 200. Many commercially available microprocessors can be configured to perform the functions of the component controller 235. It should be understood that each of the component controllers 235 can be easily embodied as a general-purpose machine controller capable of controlling many other machine functions. Alternatively, a dedicated machine controller can be provided. Various other known circuits can be associated with the component controller 235, including signal conditioning circuits, communication circuits, hydraulic or other actuation circuits, and other appropriate circuits. Each component controller 235 reports the status of the component 240 to the supervisory controller 200 and enables or disables the operation of the component 240 after a command from the supervisory controller 200. Supervisory controller 200 may also enable disabling of component 240 via component controller 235 based on the fault status of component 240 provided by the component controller.

[0019] Specific examples of components 240 for which component controller 235 is provided include a power source 255, such as a battery or fuel cell, a direct current (DC) bus 260, and an electric pump motor 265, such as Figure 2 However, components 240 are not limited to these components and may include, but are not limited to, one or more of the following: a hydraulic motor, a power traction motor, a battery thermal monitoring system (BTMS), a DC-DC converter, a charger system (such as a trolley-type system), and a grid receiving system.

[0020] The modular architecture of the control system 100 allows the supervisory controller 200 to be generic in that it can be used or reused for different machines without requiring communication compatibility between the supervisory controller 200 and the components 240. Instead, component messages and sequencing can be processed by the component controller 235, which in turn provides feedback as input to the supervisory controller 200. The component controllers 235 can also be generic in that they can be used or reused for different technologies and can be used or reused for different component vendors. The control system 100 described herein further improves the management of fault notifications of components of a machine because the supervisory controller 200 can make an enabling decision or a disabling decision regarding the component 240 based on the severity of the fault, as discussed in more detail below.

[0021] Industrial Applicability

[0022] The control system 100 of the present disclosure, and in particular the method performed by the control system 100, including the supervisory controller 200 and the component controller 235, can provide a configurable modular system mode controller for performing various operations of different machines. The control system 100 is capable of operating components of different types and in different combinations. And, by virtue of the data and software routines used by the supervisory controller 200 and the component controller 235, as described herein, the efficiency of the control of various components (including determining faults and / or enabling and disabling components) is improved, and the software routines, particularly the software routines for the supervisory controller 200, can be debugged more easily and efficiently.

[0023] Figure 3 A flow chart of a method 300 performed by a supervisory controller 200 of a control system 100 is shown. As noted above, the control system 100 may include one or more component controllers 235 for one or more components 240 of a machine, such as a wheel loader 105. The supervisory controller 200 is connected to the one or more component controllers 235, and when using a software routine including supervisory instructions, at least one processor 210 of the supervisory controller 200 performs a step 305 of receiving supervisory system inputs. As described above, the supervisory system inputs may include one or more of the following: a key switch input 215, a FNR input 220, an operator presence input 225, and a parking brake status input 230. The inputs may be communicated to the supervisory controller 200 by an operator of the wheel loader 205 (or other machine). The supervisory controller 200 may perform subsequent steps conditional on certain supervisory system inputs (e.g., a key-on input, an operator presence input, and / or a parking brake off input). The method 300 may also include step 310, which requests and receives the status of one or more components 240 of the wheel loader 105 from each of the one or more component controllers 235. For example, the wheel loader 105 may include a power source 255, a DC bus 260, and a pump motor 265, among other components, and the status of each of these components may be communicated by the corresponding component controller 235, where the status includes one or more of standby, normal operation, shutdown, and failure. The method may also include step 315, in which, upon receiving an indication that a component 240 has failed (i.e., an input from one of the component controllers 235), the supervisory controller 200 may disable the failed component 240, and in step 320, any other components 240 in the machine that require the failed component 240 to operate may be disabled.

[0024] In the event that the component controller 235 of the power source 255 returns a faulted status to the supervisory controller 200, the supervisory controller 200 may disable the failed power source 255 and any components in the wheel loader 105 that require the power source 255 to operate, such as the DC bus 260 and / or the pump motor 265, by switching an enable flag of each of the power source 255, the DC bus 260, and / or the pump motor 265. In addition, the faulted status output by the component controller 235 to the supervisory controller 200 may indicate whether the fault is a major fault that renders the component 240 inoperable and requires disabling the component, or a minor fault that may not necessarily render the component 240 inoperable but may indicate that maintenance of the component 240 is required. In this manner, the supervisory controller 200 may complete an operation sequence, such as a startup sequence, a disable sequence, or a fault sequence, in a relatively short period of time.

[0025] Figure 4A flow chart of a method 400 performed by a supervisory controller 200 of a control system 100 is shown. As noted above, the control system 100 may include one or more component controllers 235 for one or more components 240 of a machine, such as a wheel loader 105. The supervisory controller 200 is connected to the one or more component controllers 235, and when using a software routine including supervisory instructions, at least one processor 210 of the supervisory controller 200 performs a step 405 of receiving supervisory system inputs. As described above, the supervisory system inputs may include one or more of the following: a key switch input 215, a FNR input 220, an operator presence input 225, and a parking brake status input 230. The inputs may be communicated to the supervisory controller 200 by an operator of the wheel loader 205 (or other machine). The supervisory controller 200 may perform subsequent steps conditional on certain supervisory system inputs (e.g., a key-on input, an operator presence input, and / or a parking brake off input). The method 400 may also include step 410, which requests and receives the status of one or more components 240 of the wheel loader 105 from each of the one or more component controllers 235. For example, the wheel loader 105 may include a power supply 255, a DC bus 260, and a pump motor 265, among other components, and the status of each of these components may be communicated by the corresponding component controller 235, wherein the status includes one or more of standby, normal operation, shutdown, and failure. The method may also include step 415, in which the supervisory controller 200 may enable the normally operating component 240 upon receiving an indication that the component 240 is normally operating (i.e., an input from one of the component controllers 235). In addition, the method 400 may include step 420, which outputs the normally operating component indicator to any other component 240 that requires the normally operating component 240 to operate. In addition, the supervisory component 200 may enable all such normally operating components 240 for operation by switching the enable flag of each of the components 240.

[0026] As a specific example, in the event that the component controller 235 of the power source 255 returns a status of normal operation to the supervisory controller 200, the supervisory controller 200 may enable the power source 255 via the component controller 235 of the power source 255, and enable any other components 240 in the wheel loader 105 that require the power source 255 to operate, such as the DC bus 260 and / or the pump motor 265, by switching an enable flag of each of the power source 255, the DC bus 260, and / or the pump motor 265. In this manner, the supervisory controller 200 may complete an operation sequence, such as a startup sequence and an enable sequence, in a relatively short time.

[0027] Figure 5A flow chart of another method 500 performed by the supervisory controller 200 of the control system 100 is shown. As noted above, the control system 100 may include one or more component controllers 235 for one or more components 240 of a machine, such as the wheel loader 105. The supervisory controller 200 is connected to the one or more component controllers 235, and when using a software routine including supervisory instructions, at least one processor 210 of the supervisory controller 200 performs a step 505 of receiving supervisory system inputs. As described above, the supervisory system inputs may include one or more of the following: a key switch input 215, a FNR input 220, an operator presence input 225, and a parking brake status input 230. The inputs may be communicated to the supervisory controller 200 by an operator of the wheel loader 205 (or other machine) or a machine sensor. The supervisory controller 200 may perform subsequent steps conditional on certain supervisory system inputs (e.g., a key-on input, an operator presence input, and / or a parking brake off input). The method 500 may also include step 510, which requests and receives the status of one or more components 240 of the wheel loader 105 from each of the one or more component controllers 235. For example, the wheel loader 105 may include a power supply 255, a DC bus 260, and a pump motor 265, among other components, and the status of each of these components may be communicated by the corresponding component controller 235, wherein the status includes one or more of standby, normal operation, shutdown, and failure. The method 500 may also include step 515, in which the supervisory controller 200 may enable the normally operating component 240 upon receiving an indication that the component 240 is normally operating (i.e., input from one of the component controllers 235). In addition, the method 500 may include step 520, which outputs the normally operating component indicator to any other component 240 that requires the normally operating component 240 to operate. In addition, the supervisory component 200 may enable all such normally operating components 240 for operation by switching the enable flag of each of the components 240. The method 500 may also include: step 525, in which the supervisory controller 200 may disable the failed component 240 upon receiving an indication that the component 240 has failed (i.e., input from one of the component controllers 235); and step 530, in which the supervisory controller 200 may disable other components 240 in the machine that require the failed component 240 to operate.

[0028] As with the method 400 described above, as a specific example of the method 500, in the event that the component controller 235 of the power source 255 returns a status of normal operation to the supervisory controller 200, the supervisory controller 200 may enable the power source 255 via the component controller 235 of the power source 255, and enable any other components 240 in the wheel loader 105 that require the power source 255 for operation, such as the DC bus 260 and / or the pump motor 265, by switching an enable flag of each of the power source 255, the DC bus 260, and / or the pump motor 265. In this manner, the supervisory controller 200 may complete an operation sequence, such as a startup sequence and an enable sequence, in a relatively short time. Also, as with the method 300 described above, for the method 500, in the event that the component controller 235 of the power source 255 returns a faulted status to the supervisory controller 200, the supervisory controller 200 may disable the failed power source 255 and any components in the wheel loader 105 that require the power source 255 to operate, such as the DC bus 260 and / or the pump motor 265, by switching an enable flag of each of the power source 255, the DC bus 260, and / or the pump motor 265. In addition, the faulted status output by the component controller 235 to the supervisory controller 200 may indicate whether the fault is a severe fault that renders the component 240 inoperable and requires disabling the component, or a minor fault that does not necessarily render the component 240 inoperable but may indicate that maintenance of the component 240 is required. In this manner, the supervisory controller 200 may complete an operation sequence, such as a startup sequence, a disable sequence, or a fault sequence, in a relatively short period of time.

[0029] With the control system 100 and the related methods described herein, a common mode controller can be provided that can be used for various machines with different component configurations. In addition, components can be easily enabled or disabled based on the configuration of the machine so that these components can be used in different machines. The modular architecture allows the supervisory controller to be universal because it can be used or reused for different machines without requiring communication compatibility between the supervisory controller and the components. Instead, component messages and sequencing can be processed by the component controller, which in turn provides feedback as input to the supervisory controller. In addition, the component controllers can also be universal because they can be used or reused for different technologies, or can be used or reused for different component suppliers. In addition, the control system 100 can be used with components from different suppliers because the supervisory controller can be configured to work with component controllers of components from those various different suppliers. With the control system 100 of the present disclosure, the amount of time required to complete an operation (such as a startup sequence or a shutdown sequence) can be reduced because the supervisory controller does not need to communicate with each individual sensor or individual aspect associated with the component, but rather communicates with the component controller that can perform the operation in a simultaneous manner or in an efficient sequential manner.

[0030] The control system 100 described herein further improves the management of fault notifications of components of a machine, because the supervisory controller can make an enabling decision or a disabling decision regarding a component based on the severity of the fault. In addition, the control system 100 provides for more efficient detection of faults in one or more components, and thus timely enabling or disabling of components, particularly where some components rely on other components for operability. The software routines executed by the supervisory controller and the component controllers can also be relatively easy to debug, and it can also be relatively easier to troubleshoot problems related to faulty components and / or related to the supervisory controller. The debugging of the software routines of the supervisory controller can also require relatively less time, because the software routines of the individual component controllers do not need to be debugged as part of such a debugging process of the supervisory controller. The software routines further provide a relatively concise implementation of the software routines.

[0031] It will be apparent to those skilled in the art that various modifications and variations may be made to the disclosed systems and methods without departing from the scope of the present disclosure. Other embodiments of the systems and methods will be apparent to those skilled in the art in view of the specification and practice of the control systems and methods disclosed herein. The specification and examples are intended to be considered exemplary only, with the true scope of the present disclosure being indicated by the following claims and their equivalents.

Claims

1. A control system (100) for a machine (105 / 110), the control system (100) include: one or more component controllers (235) for one or more components (240) of the machine (105 / 110), each of the one or more component controllers (235) having a component memory (245) storing component instructions and at least one component processor (250) configured to execute the component instructions; and A supervisory controller (200) connected to the one or more component controllers (235) and having a supervisory memory (205) storing supervisory instructions and at least one supervisory processor (210), the supervisory memory storing supervisory instructions and the at least one supervisory processor configured to execute the supervisory instructions to perform operations, the operations comprising: receiving a supervisory system input from an operator of the machine (105 / 110), the supervisory system input comprising at least one of: a machine (105 / 110) component status input, a key switch input (215), a direction input (220), or an operator presence input (225); requesting and receiving a status of the one or more components (240) from each of the one or more component controllers (235); and Upon receiving an indication that the status of a component of the one or more components (240) is failed, disabling the failed component and disabling any other components (240) of the one or more components (240) that require the failed component to operate.

2. The control system (100) of claim 1, wherein the key switch input (215) is one of a key-on input and a key-off input, the direction input is one of a forward input, a neutral input, or a reverse input, and the operator presence input (225) is one of an operator being present in the machine (105 / 110) and an operator not being present in the machine (105 / 110).

3. The control system (100) of claim 1, wherein the supervisory controller (200) disables the one or more components (240) by switching an enable flag of each of the one or more components (240).

4. The control system (100) of claim 1, wherein the one or more components (240) include two or more components (240), the two or more components including at least a power source (255) and a DC bus (260).

5. The control system (100) of claim 4, wherein the status of each of the two or more components (240) comprises at least one of standby, normal operation, shutdown, or failure.

6. The control system (100) according to claim 5, in, In the event that the status of the power supply (255) is a fault, the supervisory controller (200) disables the power supply (255) and any other components (240) of the two or more components (240) that require the power supply (255) to operate.

7. The control system (100) of claim 5, wherein the faulty condition further comprises an indication of one of a major fault and a minor fault.

8. The control system (100) of claim 1, wherein the operations performed by the at least one supervisory processor further include: Upon receiving an indication that a status of a component among the one or more components (240) is operating normally, enabling the normally operating component; as well as A normally functioning component indicator is output to any other component (240) of the one or more components (240) that requires the normally functioning component to operate.

9. The control system (100) of claim 8, wherein the key switch input (215) is one of a key-on input and a key-off input, the direction input is one of a forward input, a neutral input, or a reverse input, and the operator presence input (225) is one of an operator being present in the machine (105 / 110) and an operator not being present in the machine (105 / 110).

10. The control system (100) of claim 8, wherein the supervisory controller (200) enables the one or more components (240) by switching an enable flag of each of the one or more components (240).

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