Dynamic testing system diagnostics

Abstract

To provide a dynamic testing system, which includes a test station and at least one controller, the test station including: a hydraulic actuator configured to drive actuation of a test subject using a hydraulic fluid flow; and a control valve that includes a housing, a valve body contained in the housing and having a position that controls a flow rate and direction of the hydraulic fluid flow, a valve body driver configured to adjust the position of the valve body based on a reference signal, and a valve position sensor configured to output a position signal that is indicative of the position of the valve body.SOLUTION: The at least one controller is configured to: obtain a current position of the valve body using the position signal; obtain a diagnostic reference; detect a diagnostic condition based on a difference between the current position and the diagnostic reference; and generate a diagnostic signal.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] [CROSS REFERENCE TO RELATED APPLICATIONS] This application claims the benefit of priority from U.S. Provisional Patent Application No. 63 / 580,120, entitled "Dynamic Testing System Diagnostics," filed September 1, 2023, the contents of which are incorporated herein by reference.

[0002] FIELD OF THE DISCLOSURE Embodiments of the present disclosure relate generally to a test station of a dynamic testing system, and more specifically, to speed control of a hydraulic actuator of the test station. [Background technology]

[0003] Dynamic testing systems, such as those developed by MTS Systems Corporation, include test stations that perform various tests by applying loads and displacements to a test object using hydraulic actuators according to a test program. Test stations may include, for example, a vehicle test station that applies simulated driving situations to a moving vehicle, or a building test station that applies simulated seismic activity to a building.

[0004] The actuators of the test station are driven by a flow of actuating fluid, and the actuation performed by each actuator is performed using a control valve (e.g., a proportional control valve) that regulates the flow rate and direction of the actuating fluid flow through the actuator.

[0005] Test stations can experience various types of failures. Some of these failures may be related to leaks along the path of the working fluid flow, for example, in control valves, hydraulic actuators, or other components of the test station. Such leaks reduce the efficiency with which the test station operates. In addition, such leaks may be an early indication of a possible more serious malfunction.

[0006] Other possible failures relate to the accuracy with which the hydraulic actuators execute programmed or commanded movements. For example, it is important that the movement movements of the test object accurately reflect the desired movements dictated by the test program to ensure that the test is performed properly and valid test results are produced. The accuracy with which the hydraulic actuators execute programmed or commanded movements is also important for safety reasons, such as by ensuring that maximum speeds of movement do not exceed safety thresholds when an operator is present.

[0007] It is therefore important to detect these and other test station failures as early as possible. Summary of the Invention

[0008] SUMMARY OF THE DISCLOSURE Embodiments of the present disclosure relate to diagnostic methods for dynamic test systems and dynamic test systems configured to perform the methods.

[0009] One embodiment of a dynamic testing system includes a test station and at least one controller. The test station includes a hydraulic actuator configured to drive an actuation of a test object using a flow of hydraulic fluid, and a control valve. The control valve includes a housing, a valve body contained within the housing having a position that controls a flow rate and direction of the flow of hydraulic fluid, a valve body driver configured to adjust a position of the valve body based on a reference signal, and a valve position sensor configured to output a position signal indicative of a position of the valve body. The at least one controller is configured to obtain a current position of the valve body using the position signal, obtain a diagnostic criterion, detect a diagnostic condition based on a difference between the current position and the diagnostic criterion, and generate a diagnostic signal indicative of the detected diagnostic condition.

[0010] In some embodiments, the hydraulic actuator comprises a cylinder and an actuator rod with a piston housed within the cylinder, where movement of the piston and actuator rod relative to the cylinder drives actuation.

[0011] In some embodiments, the housing of the control valve includes an inlet port connected to a supply of high pressure actuating fluid, an outlet port connected to a low pressure return reservoir, a first port connected to a first working volume defined by an interior of the cylinder and the piston, and a second port connected to a second working volume defined by an interior of the cylinder and the piston, and the position of the valve body directs the actuating fluid flow received at the inlet port to one of the first port and the second port, or to neither the first port nor the second port, to control the flow rate of the actuating fluid flow.

[0012] In some embodiments, the test station includes an actuation sensor configured to generate a feedback signal indicative of a parameter of actuation, and the at least one controller is configured to generate a control reference signal corresponding to a desired actuation based on the test program and to generate an actuator command signal based on a difference between the control reference signal and the feedback signal, the actuator command signal instructing the valve body driver to adjust a position of the valve body.

[0013] In some embodiments, the diagnostic criteria includes a maximum velocity of the actuator rod.

[0014] In some embodiments, the diagnostic criteria includes an operational parameter related to the feedback signal.

[0015] In some embodiments, the actuation sensor includes a displacement sensor, the feedback signal is indicative of a direction or speed of movement of the actuator rod relative to the cylinder, and the actuation parameter is related to the direction or speed of movement indicated by the feedback signal.

[0016] In some embodiments, the actuation sensor includes a load cell, the feedback signal is indicative of a force applied by the actuator, and the actuation parameter is related to the force indicated by the feedback signal.

[0017] In some embodiments, the diagnostic condition includes a displacement sensor failure, an actuation sensor failure, or a hydraulic fluid leak.

[0018] In some embodiments, the current position of the valve body is obtained by at least one controller during execution of the test program by the test station, and the diagnostic criteria includes a predicted position of the valve body based on at least one prior execution of the test program.

[0019] In some embodiments, the predicted position of the valve body is obtained based on a mapping of the position of the valve body over time during at least one prior execution of the test program, stored in a computer readable medium.

[0020] In some embodiments, at least one controller forms the mapping via a process that includes generating a plurality of actuator command signals over a test period during execution of a test program, acquiring a plurality of positions of the valve body over the test period, forming a mapping of the positions over the test period, and storing the mapping in a computer readable medium.

[0021] In some embodiments, the valve body actuator comprises a servo or solenoid and the valve body comprises a spool or piston.

[0022] In some embodiments, the at least one controller is configured to implement a safety measure when the difference meets a threshold condition.

[0023] In some embodiments, the safety measures include issuing an audible and / or visual alarm or signal, issuing an electronic notification, instructing a valve body actuator to adjust the position of the valve body to restrict or block the flow of hydraulic fluid to the hydraulic actuator, and / or closing a safety inlet valve that controls the flow of hydraulic fluid to the hydraulic actuator.

[0024] One method controls a dynamic test system including a test station and at least one controller. The test station includes a hydraulic actuator configured to drive an actuation of a test object using a flow of hydraulic fluid, and a control valve. The control valve includes a housing, a valve body contained within the housing having a position that controls a flow rate and a direction of the flow of hydraulic fluid, a valve body driver configured to adjust a position of the valve body based on a reference signal, and a valve position sensor configured to output a position signal indicative of a position of the valve body. The method, performed by the at least one controller, includes obtaining a current position of the valve body using the position signal and obtaining a diagnostic criterion. A diagnostic condition is detected based on a difference between the current position and the diagnostic criterion, and a diagnostic signal indicative of the detected diagnostic condition is generated.

[0025] In some embodiments, the hydraulic actuator comprises a cylinder and an actuator rod with a piston housed within the cylinder, where movement of the piston and actuator rod relative to the cylinder drives actuation.

[0026] In some embodiments, the housing of the control valve includes an inlet port connected to a supply of high pressure actuating fluid, an outlet port connected to a low pressure return reservoir, a first port connected to a first working volume defined by the interior of the cylinder and the piston, and a second port connected to a second working volume defined by the interior of the cylinder and the piston.

[0027] In some embodiments, the position of the valve body directs the working fluid flow received at the inlet port to one of the first port and the second port, or to neither the first port nor the second port, controlling the flow rate of the working fluid flow.

[0028] In some embodiments, the test station includes an actuation sensor configured to generate a feedback signal indicative of a parameter of actuation, and the method includes generating a control reference signal corresponding to a desired actuation based on the test program, and generating an actuator command signal based on a difference between the control reference signal and the feedback signal. In some embodiments, the actuator command signal is used to instruct a valve body driver to adjust a position of the valve body.

[0029] In some embodiments, the diagnostic criteria includes a maximum velocity of the actuator rod.

[0030] In some embodiments, the diagnostic criteria includes an operational parameter related to the feedback signal.

[0031] In some embodiments, the actuation sensor includes a displacement sensor, the feedback signal is indicative of a direction or speed of movement of the actuator rod relative to the cylinder, and the actuation parameter is related to the direction or speed of movement indicated by the feedback signal.

[0032] In some embodiments, the actuation sensor includes a load cell, the feedback signal is indicative of a force applied by the actuator, and the actuation parameter is related to the force indicated by the feedback signal.

[0033] In some embodiments, the diagnostic condition includes a displacement sensor failure, an actuation sensor failure, or a hydraulic fluid leak.

[0034] In some embodiments, the current position of the valve body is obtained by at least one controller during execution of the test program by the test station, and the diagnostic criteria includes a predicted position of the valve body based on at least one prior execution of the test program.

[0035] In some embodiments, the predicted position of the valve body is obtained based on a mapping of the position of the valve body over time during at least one prior execution of a test program stored on a computer readable medium.

[0036] In some embodiments, the method includes forming the mapping using at least one controller, the mapping including generating a plurality of actuator command signals over a test period during execution of the test program, acquiring a plurality of positions of the valve body over the test period, forming a mapping of the positions over the test period, and storing the mapping in a computer readable medium.

[0037] In some embodiments, the valve body actuator comprises a servo or solenoid and the valve body comprises a spool or piston.

[0038] In some embodiments, the method includes implementing a safety measure when the difference satisfies a threshold condition.

[0039] In some embodiments, the safety measures include issuing an audible and / or visual alarm or signal, issuing an electronic notification, instructing a valve body actuator to adjust the position of the valve body to restrict or block the flow of hydraulic fluid to the hydraulic actuator, and / or closing a safety inlet valve that controls the flow of hydraulic fluid to the hydraulic actuator.

[0040] Another embodiment of a dynamic testing system includes a test station and at least one controller. The test station includes a plurality of hydraulic actuators, each configured to receive a flow of hydraulic fluid and drive an actuation of a test subject using the flow of hydraulic fluid during testing, and a plurality of control valves, each control valve corresponding to one of the hydraulic actuators. Each control valve includes a housing, a valve body contained within the housing having a position that controls a flow rate and direction of a corresponding flow of hydraulic fluid, a valve body driver configured to adjust a position of the valve body based on a reference signal, and a valve position sensor configured to output a position signal indicative of a position of the valve body. The at least one controller is configured to: obtain a current position of each of the valve bodies of the control valves at a time point during execution of a test program using the corresponding position signal; estimate a total flow rate of the hydraulic fluid flow at the time point based on the obtained current position of the control valve; obtain a predicted total flow rate corresponding to the time point based on at least one prior execution of the test program; detect a diagnostic condition based on a difference between the estimated total flow rate and the predicted total flow rate; and generate a diagnostic signal indicative of the detected diagnostic condition.

[0041] In some embodiments, the system includes a mapping of a total flow rate of the working fluid flow during at least one prior run of the test program, and the predicted total flow rate corresponds to the total flow rate indicated by the mapping at said time.

[0042] In some embodiments, the at least one controller is configured to obtain, for each control valve, a predicted total flow rate corresponding to the time point using a process that includes obtaining a predicted position of the valve body corresponding to the time point based on at least one prior execution of the test program, and calculating a predicted total flow rate of the working fluid flow based on a sum of the predicted positions.

[0043] In some embodiments, each hydraulic actuator comprises a cylinder and an actuator rod with a piston housed within the cylinder, such that movement of the piston and actuator rod relative to the cylinder drives actuation.

[0044] In some embodiments, each housing of the control valve includes an inlet port connected to a supply of high pressure actuating fluid, an outlet port connected to a low pressure return reservoir, a first port connected to a first working volume defined by the interior of the cylinder and the piston, and a second port connected to a second working volume defined by the interior of the cylinder and the piston.

[0045] In some embodiments, for each control valve, the position of the valve body directs the working fluid flow received at the inlet port to one of the first port and the second port, or to neither the first port nor the second port, controlling the flow rate of the working fluid flow.

[0046] In some embodiments, each hydraulic actuator includes a corresponding actuation sensor configured to generate a feedback signal indicative of a parameter of a corresponding actuation, and the at least one controller is configured to generate a control reference signal for each control valve corresponding to a desired actuation by the corresponding controller based on a test program, and generate an actuator command signal for each control reference signal based on a difference between the control reference signal and the corresponding feedback signal, each actuator command signal instructing a corresponding valve body actuator to adjust a position of the valve body.

[0047] In some embodiments, the at least one controller is configured to implement a safety measure when the difference meets a threshold condition.

[0048] In some embodiments, the safety measures include issuing an audible and / or visual alarm or signal, issuing an electronic notification, instructing a valve body actuator to adjust a position of a corresponding valve body to restrict or block the flow of hydraulic fluid to the hydraulic actuator, and / or closing a safety inlet valve that controls the flow of hydraulic fluid to the hydraulic actuator.

[0049] Another method controls a dynamic test system including a test station and at least one controller. The test station includes a plurality of hydraulic actuators, each configured to receive a working fluid flow and drive an actuation of a test object using the working fluid flow during testing, and a plurality of control valves, each corresponding to one of the hydraulic actuators. Each control valve includes a housing, a valve body contained within the housing having a position that controls a flow rate and a direction of a corresponding working fluid flow, a valve body driver configured to adjust a position of the valve body based on a reference signal, and a valve position sensor configured to output a position signal indicative of a position of the valve body. The method is performed by the at least one controller and includes obtaining a current position of each valve body of the control valve at a time point using the corresponding position signal, estimating a total flow rate of the working fluid flow at the time point based on the obtained current position of the control valve, obtaining a predicted total flow rate corresponding to the time point based on at least one prior execution of a test program, detecting a diagnostic condition based on a difference between the estimated total flow rate and the predicted total flow rate, and generating a diagnostic signal indicative of the detected diagnostic condition.

[0050] In some embodiments, the system includes a mapping of a total flow rate of the working fluid flow during at least one prior run of the test program, and the predicted total flow rate corresponds to the total flow rate indicated by the mapping at said time.

[0051] In some embodiments, obtaining a predicted total flow rate corresponding to the time point includes, for each control valve, obtaining a predicted position of the valve body corresponding to the time point based on at least one prior execution of the test program, and calculating a predicted total flow rate of the working fluid flow based on a sum of the predicted positions.

[0052] In some embodiments, each hydraulic actuator comprises a cylinder and an actuator rod with a piston housed within the cylinder, and movement of the piston and actuator rod relative to the cylinder drives actuation.

[0053] In some embodiments, the housing of each of the control valves includes an inlet port connected to a supply of high pressure actuating fluid, an outlet port connected to a low pressure return reservoir, a first port connected to a first working volume defined by an interior of the cylinder and the piston, and a second port connected to a second working volume defined by an interior of the cylinder and the piston. For each control valve, the position of the valve body directs a flow of actuating fluid received at the inlet port to one of the first port, the second port, or to neither the first port nor the second port, controlling the flow rate of the actuating fluid flow.

[0054] In some embodiments, each hydraulic actuator includes a corresponding actuation sensor configured to generate a feedback signal indicative of a corresponding parameter of actuation.

[0055] In some embodiments, the at least one controller is configured to generate a control reference signal for each control valve corresponding to a desired actuation by a corresponding controller based on the test program, and generate an actuator command signal for each control reference signal based on a difference between the control reference signal and a corresponding feedback signal, each actuator command signal instructing a corresponding valve body actuator to adjust a position of the valve body.

[0056] In some embodiments, the method includes implementing a safety measure when the difference satisfies a threshold condition.

[0057] In some embodiments, the safety measures include issuing an audible and / or visual alarm or signal, issuing an electronic notification, instructing a valve body actuator to adjust the position of a corresponding valve body to restrict or block hydraulic fluid flow to the hydraulic actuator, and / or closing a safety inlet valve that controls hydraulic fluid flow to the hydraulic actuator.

[0058] This Summary herein is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. The claimed subject matter is not limited to implementations that solve any or all of the shortcomings discussed in the Background. [Brief description of the drawings]

[0059] [Figure 1] 1 is a simplified diagram of an example dynamic testing system according to an embodiment of the present disclosure.

[0060] [Diagram 2] 1 is a schematic diagram of an example test station according to an embodiment of the present disclosure. [Diagram 3] 1 is a schematic diagram of an example test station according to an embodiment of the present disclosure.

[0061] [Figure 4] 11 is a simplified diagram illustrating diagnostic functions that may be performed using the valve body position signal according to an embodiment of the present disclosure.

[0062] [Diagram 5] 1 is a flow chart illustrating a diagnostic method according to an embodiment of the present disclosure.

[0063] [Figure 6] FIG. 1 illustrates one pattern of valve body position over time during execution of a test program in accordance with an embodiment of the present disclosure.

[0064] [Figure 7] 1 is a flowchart illustrating an example of a method for forming a mapping, according to an embodiment of the present disclosure.

[0065] [Figure 8] 1 is a flow chart illustrating a method of controlling a dynamic testing system according to an embodiment of the present disclosure.

[0066] [Figure 9] 2 is a simplified diagram of an example controller according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0067] The embodiments of the present disclosure are described more fully hereinafter with reference to the accompanying drawings. Elements identified using the same or similar reference numerals refer to the same or similar elements. However, various embodiments of the present disclosure may be embodied in many different forms and should not be considered limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0068] The functions described herein may be performed by a single controller, multiple controllers, or at least one controller. As used herein, when one or more functions are described as being performed by a "controller", e.g., a particular controller, one or more controllers, or at least one controller, the embodiment includes the performance of the function(s) by a single controller or processor, or multiple controllers or processors, unless otherwise specified. Furthermore, as used herein, when multiple functions are performed by at least one controller, all of the functions may be performed by a single controller, or some functions may be performed by one controller and other functions may be performed by another controller. Thus, the performance of one or more functions by at least one controller does not require that all of the functions be performed by each of the controllers.

[0069] 1 is a simplified diagram of an example dynamic testing system 100 according to an embodiment of the present disclosure. The testing system 100 can include one or more testing stations 102, each of which can be configured to perform a test or situation simulation by applying forces and / or displacements to a test object 103 (e.g., a vehicle, a building, etc.) using a hydraulic actuator 104 driven by a flow of a working fluid 107.

[0070] The stream 107 may be provided based on a working fluid stream 108 generated by one or more fluid power units (HPUs) 110. The system 100 may include an accumulator 116 that stores pressurized working fluid received from the HPUs 110 and delivers a working fluid stream 118 that may be used to form the stream 107 provided to the test station 102. The system 100 may include a distributor 120 that receives the working fluid stream from the HPUs 110 and / or the accumulator 116 and distributes the working fluid stream 107 to the test station 102. Other configurations of the system 100 may be used to provide the required working fluid stream 107 to the test station 102.

[0071] The system 100 may be a closed system in which the low pressure working fluid flow 107 ′ discharged from the test station 102 returns, for example, as a mixed return flow 124 through the hydraulic distribution system 120 back to the HPU 110 .

[0072] The system controller 126 may operate to control various aspects of the system 100 including the function of the HPU 110, the valving (e.g., the accumulator and / or distributor valving), and / or other aspects of the system 100 to supply the required working fluid flow 107 to the test station 102.

[0073] 2 is a schematic diagram of an example of a test station 102, according to an embodiment of the present disclosure. As described above, the test station 102 includes a number of hydraulic actuators 104, such as hydraulic actuators 104A-104D, configured to apply forces and / or drive motion to a test object 103. Each of the hydraulic actuators 104A-104D is driven by a corresponding flow portion 106A-106D of a working fluid flow 107 generated by one or more of the fluid power units 110 (FIG. 1).

[0074] Each test station 102 may include a test station controller 130 generally configured to perform tests on the test object 103 based on execution of a test program stored, for example, on a non-transitory computer readable medium. The test station controller 130 controls the actuators 104 to apply forces and / or motions to the test object 103 in a conventional manner in response to the execution of the test program through control of the actuating fluid flows 106A-106D using corresponding control valves 132.

[0075] The computing device 134 may be configured to generate a graphical user interface that allows a user to interact with and / or control the test station 102, execute test programs, view data, and / or perform other tasks, such as through a series of communications with the test station controller 130.

[0076] One or more safety inlet valves 136, such as solenoid valves, can control the flow of high pressure actuating fluid flow 107 to the test station 102 in response to a control signal (e.g., an emergency stop) from the test station controller 130, the system controller 126, or another suitable device. Each safety inlet valve 136 has a fully open state that provides a substantially unrestricted path for movement of the actuating fluid flow 107 to the test station 102. The valves 136 also have a closed or substantially closed state in which the valves 136 block or substantially block the actuating fluid flow 107 to the test station 102. The solenoids of the valves 136 can have a default or de-energized state that corresponds to the closed or substantially closed state.

[0077] When the safety inlet valve 136 is in a substantially closed state, an opening in the valve 136 allows actuating fluid stream 107 to travel to the test station 102. However, the flow rate of stream 106 is substantially restricted. This limits the flow rate of actuating fluid 107 to the test station 102 and actuator 104 regardless of the setting of the control valve 132, thereby limiting the speed at which the actuator 104 can move.

[0078] The safety inlet valve 136 may be set to a substantially closed state by the test station controller 130, the system controller 126, or another controller of the system 100, for example, in response to a detected fault or before an operator enters the test area in which the actuator 104 and test subject 103 are located. The one or more safety inlet valves 136 thus provide a level of safety for the test station 102.

[0079] 3 is a simplified diagram of an example of a test station 102, according to an embodiment of the present disclosure. As described above, the test station 102 includes a test station controller 130, and at least one hydraulic actuator 104 and its corresponding control valve 132. Although only a single pair of hydraulic actuators 104 and control valves 132 is shown in FIG. 3 for ease of illustration, it will be understood that the test station 102 may include two or more actuators 104 and corresponding control valves 132, as shown in FIG. 2.

[0080] A control valve 132 for each hydraulic actuator 104 operates to control the flow rate (e.g., gallons per minute) of actuating fluid flow 106 to the actuator 104 received from a high pressure source (e.g., HPU 110) 137 and the discharge of flow 107′ to a low pressure reservoir 138 (e.g., back to the reservoir of HPU 110). Additionally, the control valve 132 controls the direction of flow through the hydraulic actuator 104 to control the actuation applied to the test subject 130.

[0081] In one example, the hydraulic actuator 104 includes a cylinder 140 and an actuator rod 142 having a piston 144 housed within the cylinder 140. The cylinder 140 includes a first port 146 and a second port 148 through which a flow of actuating fluid 106 passes. The valve 132 controls the direction of the actuating fluid flow 106 through the first port 146 and the second port 148 to control the direction of movement of the actuator rod 142 and the speed at which the actuator rod 142 moves relative to the cylinder 140 based on the flow rate of the actuating fluid flow 106.

[0082] The control valve 132 may take any suitable form. Examples of the control valve 132 include a servo valve or a solenoid valve configured to provide variable flow and directional control as described above. As shown in FIG. 3, the control valve 103 generally includes electronics 150, a valve body 152, and a valve body actuator 154. The valve body 152 has an adjustable position that controls the direction and flow of the working fluid flow 106. The electronics 150 is configured to control the valve body actuator 154 to adjust the position of the valve body 152 in response to an actuator command signal 156. For example, the valve body 152 may take the form of a spool and the valve body actuator 154 may take the form of a servo. An example of this type of control valve 132 is described in U.S. Patent Application Publication No. 2016 / 0123355.

[0083] In some embodiments, the control valve 132 includes a position sensor 158 configured to detect a position of the valve body 152, e.g., relative to a housing 160 of the valve 132. The electronics 150 are configured to output a position signal 162 indicative of the detected position of the valve body 152, i.e., the rate and direction of flow 106 through the valve 132. As described below, the position signal 162 may be used to facilitate various diagnostics for the system 100, e.g., diagnostics for the valve 132, the corresponding hydraulic actuator 104, and the test station 102.

[0084] During execution of a test program, the test station controller 130 generates reference signals 164 related to desired movements to be performed by the hydraulic actuators 104 on the test object 103. Each actuator 104 includes an actuation sensor 166 configured to sense a parameter, such as displacement and / or force, of the movement performed by the actuator 104 and generate a feedback signal 168 indicative of the sensed parameter. The actuation sensor 166 may include, for example, a displacement sensor 166A, such as a linear variable differential transformer configured to detect the displacement and / or movement of the actuator rod 142 relative to the cylinder 140 and generate a feedback signal 168A indicative of the detected displacement and / or movement, as shown in FIG. 3, and / or a load cell 166B configured to detect a force applied by the actuator 104, such as a force applied by the actuator rod 142 on the test object 103, and generate a feedback signal 168B indicative of the detected force. A conventional conditioner circuit 169 may be used to process (eg, amplify, filter, etc.) signals 168A and / or 168B to generate the final feedback signal 168.

[0085] The actuator controller 170 is configured to compare the reference signal 164 and the feedback signal 168 corresponding to each actuator 104 and issue a differential signal as a command signal 156 to the corresponding control valve 132. Although the actuator controller 170 is shown in FIG. 3 as receiving a single reference signal 164 and issuing a single command signal 156 corresponding to the illustrated actuator 104, the actuator controller 170 may be configured to receive multiple reference signals 164 and corresponding feedback signals 168 from the test station controller 130 for each hydraulic actuator 104 in the test station 102 and issue a command signal 156 to control the corresponding valve 132.

[0086] Some embodiments of the present disclosure relate to dynamic test system diagnostics using a position signal 162 emitted by a control valve 132. FIG. 4 is a simplified diagram illustrating diagnostic functions that may be performed using a valve body position signal 162, according to embodiments of the present disclosure. A diagnostic controller 180 represents at least one controller of the system 100, such as the system controller 126, the test station controller 130, and / or a separate controller of the system 100. The diagnostic controller 180 is generally configured to perform a method illustrated by the flowchart of FIG. 5. Although the illustrated method relates to diagnostics performed based on the valve body position of a single control valve 132, it is understood that the diagnostic controller 180 may be configured to perform the method for multiple valves 132.

[0087] At 182 of the method, the diagnostic controller 180 obtains a current position 184 of the valve body 152 of the valve 132, and at 186, the diagnostic controller 180 obtains diagnostic criteria 188. In some embodiments, the diagnostic controller 180 obtains the current position by receiving and possibly processing a corresponding position signal 162 (FIG. 3), or by accessing the current position 184 from a memory of the system 100, such as after the position signal 162 is received and processed by a controller of the system 100. The diagnostic controller 180 may obtain the diagnostic criteria 188 from a memory of the system 100. As used herein, "memory" corresponds to a non-transitory computer-readable medium.

[0088] Current position 184 may take the form of a value obtained after processing corresponding position signal 162. For example, because position signal 162 indicates the position (value) of valve body 152 relative to housing 160 and is directly related to the flow rate of flow 106, it may be advantageous to convert the position of valve body 152 to a value representative of the flow rate, a value representative of the velocity of actuator rod 142 of the corresponding actuator 104, or another value that allows comparison with the value of diagnostic criterion 188. Position 184 may therefore take these or other suitable forms.

[0089] In method 190, diagnostic controller 180 detects a diagnostic condition based on the difference between current position 184 and diagnostic criteria 188. In method 192, diagnostic controller 180 generates one or more diagnostic signals 194 indicative of the detected diagnostic condition, as shown in FIG.

[0090] In some embodiments, the diagnostic signal 194 is indicative of the corresponding valve 132 and / or hydraulic actuator 104. This may be accomplished, for example, by including one or more identification codes in the signal 194 or based on the channel (e.g., a multiplexer channel) over which the diagnostic signal 194 is communicated. As a result, the signal 194 may allow a technician to easily narrow down the fault, which may save time fixing the fault and reduce downtime of the test station 102.

[0091] The detected diagnostic condition may indicate a fault, for example, when the difference meets a threshold condition, e.g., the difference is greater than, equal to, or less than a predetermined value. The fault may be related to a leak of actuating fluid in the valve 132, the hydraulic actuator 104, or another location along the path through which the flow 106 flows, a fault in the operation of the position sensor 158 and / or the actuation sensor 166, a fault in the operation of the valve electronics 150, a fault in the actuation performed by the hydraulic actuator 104, and / or another fault.

[0092] In some embodiments, the controller of the system 100 executes one or more safety measures when the diagnostic condition indicates a fault. Examples of safety measures include, for example, notification of the fault via an audible and / or visual alarm or signal, generation of an electronic message, or another notification. The safety measures may include actions to prevent further operation of the hydraulic actuator 104 and / or the test station 102. For example, the actuator controller 170 may issue an actuator command 156 to position the valve body 152 to restrict or block the flow of hydraulic fluid 106 to the actuator 104 and reduce the flow rate of the flow 106 to zero or near-zero (e.g., less than 0.5 gallons per minute) so as to fix or substantially fix the actuator rod 142 in its current position relative to the housing 140 and stop operation. The controller of the system 100 may also close one or more safety inlet valves 136 to limit the flow of hydraulic fluid 106 to the test station 102. Other safety measures may also be used.

[0093] Because the current position 184 of the valve body 152 indicates the direction and rate of actuation flow 106 through the valve 132 and hydraulic actuator 104 for a given pressure of actuation fluid (e.g., 3000 psi), a correlation exists between the current position 184 of the valve body 152 and one or more parameters of the actuation performed by the hydraulic actuator 104, such as the direction and velocity of movement of the actuator rod 142 relative to the cylinder 140 and / or the force applied by the hydraulic actuator 104. Thus, in one embodiment, the diagnostic criteria 188 includes predicted actuation parameters 188A that correspond to the valve body position 184.

[0094] In one example, the operating criteria 188A indicate predicted operating parameters, such as a predicted speed and / or direction of movement of the actuator rod 142 relative to the cylinder 140, or a predicted force applied by the hydraulic actuator 104, for a given valve body position 184. These operating parameters may be determined based on parameters of the hydraulic actuator (e.g., a cross-sectional area of ​​the cylinder 140 or piston 144) and the pressure of the fluid flow 106. The predicted operating parameters 188A may be determined via real-time calculations or by using a mapping of predicted operating parameters 188A versus valve body 152 position that is stored in memory and accessible by the diagnostic controller 180.

[0095] A diagnostic condition may be detected (step 190) based on a difference between the predicted operating parameters 188A and the feedback signal 168 associated with the corresponding actual operating parameters detected or measured by the operating sensors 166. When the difference meets a threshold condition, the diagnostic condition may indicate a fault, such as a working fluid leak, a malfunction of the position sensor 158, and / or a malfunction of the operating sensor 166.

[0096] When the predicted operating parameter 188A is related to the feedback signal 166A and indicates a direction or velocity of movement of the actuator rod 142 relative to the cylinder 140, the diagnostic controller 180 may determine a difference between the measured operating parameter and the predicted direction and / or movement of the actuator rod 142 indicated by the operating reference 188A to detect a diagnostic condition in step 190. A diagnostic signal 194 indicative of the detected diagnostic condition may then be generated in step 192. If the difference exceeds a threshold condition, the diagnostic signal 194 may indicate a fault related to a hydraulic fluid leak, a failure of the position sensor 158, a failure of the displacement sensor 166B, a failure of the valve electronics 150, and / or another fault. For example, if the velocity indicated by the feedback signal 166A is less than the predicted velocity 188A by a predetermined amount, this would tend to indicate a possible hydraulic fluid leak and / or another fault.

[0097] When the predicted operating parameter 188A is related to the feedback signal 166B and indicative of the force applied by the hydraulic actuator, the diagnostic controller 180 may determine a difference between this measured force and the predicted force indicated by the operating reference 188A to detect a diagnostic condition at step 190. A diagnostic signal may then be generated at step 192 indicative of the detected diagnostic condition. A diagnostic signal 194 may then be generated at step 192 indicative of the detected diagnostic condition. If the difference exceeds a threshold condition, the diagnostic signal 194 may indicate a fault related to a hydraulic fluid leak, a failure of the position sensor 158, a failure of the load cell 166B, a failure of the valve electronics 150, and / or another fault. For example, if the force indicated by the feedback signal 166B is less than the predicted force 188A by a predetermined amount, this tends to indicate a possible hydraulic fluid leak and / or another fault.

[0098] The diagnostic criteria 188 may include a maximum velocity 188B for the actuator rod 142 relative to the cylinder 140 stored in memory. The maximum velocity 188B is directly related to the flow rate of the actuating fluid flow 106 and parameters of the hydraulic actuator (e.g., the cross-sectional area of ​​the cylinder 140 or the piston 144). Thus, for example, the diagnostic criterion, the maximum velocity 188B, may take the form of a value corresponding to a velocity limit of the actuator rod 142 or a flow rate of the actuating fluid flow.

[0099] The maximum speed 188B may be set by a user and stored in memory based on parameters of the hydraulic actuator 104 (e.g., speed limits and / or force limits), the position or function being performed by the hydraulic actuator 104, and / or the state of the test station 102. For example, the maximum speed 188B may have a high setting for when the test station 102 is running a test program and a relatively low setting (e.g., less than about 10 to 15 millimeters per second or a corresponding flow rate) when an operator is near the hydraulic actuator 104.

[0100] Based on the difference between the maximum speed 188B and the valve body position 184, a diagnostic condition may be detected (step 190). If necessary, the maximum speed 188B and / or the valve body position 184 may be transformed to allow for a direct comparison of values ​​so that the difference may be determined. When the difference meets a threshold condition, for example, when the valve body position 184 indicates a speed that meets or exceeds a diagnostic criterion that is the maximum speed 188B, a diagnostic signal 194 may indicate an overspeed fault of the hydraulic actuator 104. The controller of the system 100 may then implement safety measures as described above to stop or limit movement of the actuator rod 142.

[0101] According to another embodiment, a diagnostic condition is detected using a diagnostic criterion that is a predicted position 188C that is associated with a predicted position of the valve body 152 of the test station 102 and a predicted flow rate of the working fluid flow 106 through one of the plurality of valves 132 at a given time during execution of the test program. When the difference between the current valve body position 184 and the predicted position 188C meets a threshold condition, a diagnostic condition such as a working fluid leak may be detected (step 190). For example, when the current valve body position 184 indicates a flow rate of the working fluid flow 106 that is greater than the flow rate indicated by the predicted position 188C by a predetermined threshold, this may indicate the presence of a working fluid leak in the path through the valve 132 and the hydraulic actuator 104.

[0102] The predicted location 188C may be obtained using a variety of techniques (step 186). In one embodiment, the predicted location 188C is obtained based on one or more prior runs of the test program.

[0103] During execution of the test program, the position of the valve body 152 of each valve 132 of the test station 102 is adjusted over time in response to actuation commands 156 to regulate the flow rate and direction of the actuation fluid flow 106 and cause the corresponding hydraulic actuator 104 to perform the desired actuation on the test object 103. Because the test program may be repeated multiple times by the test station, the valve body 152 of each of the valves 132 will substantially repeat one pattern of positions over the period during which the test program is executed, absent a critical failure. An example of such a pattern 196 of positions 184 of the valve body 152 of the control valve 132 over time during execution of the test program is shown in FIG.

[0104] In some embodiments, a mapping of the pattern 196 of the valve body position 184 over a test period is formed, from which a predicted valve body position 188C may be obtained in method step 186. The mapping is stored in memory and may take any suitable form.

[0105] In one example, the mapping includes a series of samplings of valve body positions 184 in the pattern 196 at various times during the execution of the test. Figure 7 is a flow chart illustrating an example of a method for forming the mapping, according to an embodiment of the present disclosure.

[0106] At method 200, a plurality of command signals 156 are generated over a test period during execution of a test program. As described above, the command signals 156 control the position of the valve body 152 which controls the actuation performed by the hydraulic actuator 104. At 202, a plurality of positions 184 of the valve body 152 are acquired over the test period, such as based on the position signal 162 from the position sensor 158. At 204, the acquired plurality of positions 184 are mapped over the test period, and the mapping is stored in a memory at 206.

[0107] Thus, an embodiment of method step 186 (FIG. 5) includes the diagnostic controller 180 obtaining the valve body position 184 at a given time t1 during execution of the test program. At 186, a predicted position 188C P1 corresponding to time t1 is obtained from the mapping, as shown in FIG. 6. A diagnostic signal 194 indicative of a diagnostic condition is generated (step 192) that is detected (step 190) based on the difference between the current position 184 and the predicted position 188C (P1).

[0108] As discussed above, when the difference meets a threshold condition, e.g., when the difference is greater than a predetermined threshold amount, the diagnostic condition may be a fault, such as, for example, a leak in the fluid path through the valve 132 and corresponding hydraulic actuator 194. When a fault is indicated by the diagnostic signal 194, the system controller 126 or another controller of the system 100 may implement a safety measure, such as one or more of the safety measures described above. For example, the safety measure may include closing the safety inlet valve 136 and / or issuing an actuator command signal 156 that adjusts the valve body 152 to a position that prevents or substantially prevents the flow 106 from passing through the valve 132.

[0109] A further embodiment of the present disclosure relates to detection of a fault, such as a working fluid leak, at the test station 102 based on an estimated total flow rate of the working fluid flows 106 (e.g., flows 106A-106D in FIG. 2 ) through the control valve 132 at a given time during execution of a test program and a diagnostic criterion ( FIG. 4 ) that is an estimated predicted total flow rate 188D corresponding to the predicted total flow rate of the working fluid flows 106 at the time.

[0110] 8 is a flow chart illustrating a method executed by the diagnostic controller 180 to control the system 100, such as the test station 102 of the system 100, that may be performed by the system 100 according to this embodiment of the disclosure. At a point during execution of a test program, a current position 184 of the control valve 132 of the test station 102 is obtained using the diagnostic controller 180. At 212, a total flow rate of the working fluid flow 106 through the control valve 132 is estimated at that point in time.

[0111] As used herein, the estimated total flow rate may be a value indicative of or related to the aggregate of the flow rates of the working fluid flows 106 through the individual control valves 132 or the working fluid flows 107 input to the test station 102. In one embodiment, the estimated total flow rate of the working fluid flows 106 through the control valves 132 at the time may be determined based on the current positions 184 of the corresponding valve bodies 152 at the time, which may be indicated by the corresponding position signals 162. In one example, the estimated total flow rate may be determined based on the sum of the current positions 184 at the time, which may be calculated by the diagnostic controller 180.

[0112] In method 214, the predicted total flow rate 188D is obtained by the diagnostic controller 180, such as from a memory of the system 100. In some embodiments, the predicted total flow rate 188D is determined based on one or more prior runs of the test program. In one example, the predicted total flow rate 188D may be obtained from or represented by a mapping of the total flow rate of the flow rates 107 into the test stations 102 over time during the execution of the test program. The mapping of the total flow rates may be stored in a memory accessible to the diagnostic controller 180.

[0113] 2, the system 100 may include a flow meter 210 configured to measure a flow rate of the working fluid stream 107 passing through the test station 102. For example, by sampling the measured flow rate of the working fluid stream 107 during execution of a test program, a mapping of the total flow rate may be established.

[0114] In another example, the predicted total flow rate 188D may be determined based on a mapping of patterns 196 of valve body positions 184 during one or more prior runs of the above-mentioned tests, where the mapping of predicted positions may be summed to form a mapping of total flow rate, or the diagnostic controller 180 may use the mapping of predicted positions to obtain a predicted position of each of the valve bodies 152 at the time point. The predicted positions may then be summed by the diagnostic controller 180 at step 214 to obtain a predicted total flow rate 188D for the time point.

[0115] At 216, a diagnostic condition is detected based on the difference between the estimated total flow rate and the predicted total flow rate, and at 218, a diagnostic signal 194 indicative of the diagnostic condition is generated. When the difference meets a threshold condition, e.g., when the difference is greater than a predetermined threshold amount, the diagnostic condition may be a fault, such as, for example, a leak in the fluid path through the valve 132 and the corresponding hydraulic actuator 194. When a fault is indicated by the diagnostic signal 194, the system controller 126 or another controller of the system 100 may implement a safety measure, such as, for example, one or more of the safety measures described above. For example, the safety measure may include closing the safety inlet valve 136 and / or issuing an actuator command signal 156 that adjusts the valve body 152 to a position that prevents or substantially prevents the flow 106 from passing through the valve 132.

[0116] The controllers of system 100, such as system controller 126, test station controller 130, actuator controller 170, diagnostic controller 180, valve electronics 150, etc., may take any suitable form to control the various functions described herein. In one example, the controller of system 100 may take the form of example controller 220 shown in FIG. 9. Controller 220 may include one or more processors 222 and memory 224, which may be local memory or memory accessible to controller 220. The one or more processors 222 are configured to perform the various functions described herein in response to execution of instructions contained in memory 224, such as, for example, a test program.

[0117] The one or more processors 222 may be components of one or more computer-based systems and may include one or more control circuits, a microprocessor-based engine control system, and / or one or more programmable hardware components, such as a field programmable gate array (FPGA). Memory 224 represents local and / or remote memory or computer-readable medium. As used herein, such memory 224 comprises any suitable patent-eligible computer-readable medium and does not include transitory waves or signals. Examples of memory 224 include conventional data storage devices, such as hard disks, CD-ROMs, optical storage devices, magnetic storage devices, and / or other suitable data storage devices. Controller 220 may include circuitry 226 used by one or more processors 222 to receive input signals 228 (e.g., sensor signals), issue control signals 230 (e.g., signals 156, 164, etc.), and / or communicate data 232, for example, in response to one or more processors 222 executing instructions stored in memory 224.

[0118] Although embodiments of the present disclosure have been described with reference to preferred embodiments, workers skilled in the art will recognize that changes may be made in form and detail without departing from the spirit and scope of the present disclosure.

Claims

1. 1. A dynamic testing system comprising: A testing station comprising: a hydraulic actuator configured to drive an actuation of the test object using a flow of actuating fluid; A control valve, Housing and a valve body contained within the housing having a location for controlling the flow rate and direction of the working fluid flow; a valve body actuator configured to adjust the position of the valve body based on a reference signal; a valve position sensor configured to output a position signal indicative of the position of the valve body; a control valve comprising: a test station comprising: At least one controller, using the position signal to obtain a current position of the valve body; Obtain diagnostic criteria, detecting a diagnostic condition based on a difference between the current location and the diagnostic criteria; generating a diagnostic signal indicative of the detected diagnostic condition; At least one controller configured to: A dynamic testing system comprising:

2. The hydraulic actuator includes: A cylinder and an actuator rod including a piston housed within the cylinder; Equipped with movement of the piston and the actuator rod relative to the cylinder drives the actuation; The housing of the control valve an inlet port connected to a supply of high pressure working fluid; an outlet port connected to a low pressure return reservoir; a first port connected to a first working volume defined by an interior of the cylinder and the piston; a second port connected to a second working volume defined by an interior of the cylinder and the piston; and Equipped with the position of the valve body directs the working fluid flow received at the inlet port to one of the first port and the second port, or to neither the first port nor the second port, to control a flow rate of the working fluid flow.

10. The dynamic testing system of claim 1.

3. the testing station comprising an actuation sensor configured to generate a feedback signal indicative of a parameter of the actuation; The at least one controller: generating a control reference signal corresponding to a desired operation based on a test program; generating an actuator command signal based on a difference between the control reference signal and the feedback signal; It is structured as follows: the actuator command signal instructs the valve body actuator to adjust the position of the valve body; In a further embodiment, the diagnostic criteria include a maximum velocity of the actuator rod, and / or the diagnostic criteria include an operating parameter related to the feedback signal.

3. The dynamic testing system of claim 2.

4. the actuation sensor includes a displacement sensor; the feedback signal is indicative of a direction or speed of movement of the actuator rod relative to the cylinder; the operating parameter is related to the direction or speed of movement indicated by the feedback signal; Or, the actuation sensor includes a load cell; the feedback signal is indicative of the force applied by the actuator; the actuation parameter being related to the force indicated by the feedback signal; A dynamic testing system according to any one of claims 1 to 3.

5. the current position of the valve body is obtained by the at least one controller during execution of a test program by the test station; the diagnostic criteria include a predicted position of the valve body based on at least one prior execution of the test program; In one embodiment, the predicted position of the valve body is obtained based on a mapping of the position of the valve body over time during the at least one prior execution of the test program, the mapping being stored on a computer readable medium.

4. The dynamic testing system of claim 3.

6. the at least one controller is configured to implement a safety measure when the difference satisfies a threshold condition; The safety measures are: Emitting an audible and / or visible alarm or signal; to give you electronic notice; instructing the valve body actuator to adjust the position of the valve body to restrict or block the flow of hydraulic fluid to the hydraulic actuator; and / or closing a safety inlet valve controlling the flow of hydraulic fluid to the hydraulic actuator; Including, A dynamic testing system according to any one of the preceding claims.

7. 1. A method of controlling a dynamic testing system, comprising: The dynamic testing system comprises: A testing station comprising: a hydraulic actuator configured to drive an actuation of the test object using a flow of actuating fluid; A control valve, Housing and a valve body contained within the housing having a location for controlling the flow rate and direction of the working fluid flow; a valve body actuator configured to adjust the position of the valve body based on a reference signal; a valve position sensor configured to output a position signal indicative of the position of the valve body; a control valve comprising: a test station comprising: At least one controller; Equipped with The method performed by the at least one controller comprises: obtaining a current position of the valve body using the position signal; Obtaining diagnostic criteria and detecting a diagnostic condition based on a difference between the current location and the diagnostic criterion; generating a diagnostic signal indicative of the detected diagnostic condition; Including, method.

8. The hydraulic actuator includes: A cylinder and an actuator rod including a piston housed within the cylinder; Equipped with movement of the piston and the actuator rod relative to the cylinder drives the actuation; The housing of the control valve an inlet port connected to a supply of high pressure working fluid; an outlet port connected to a low pressure return reservoir; a first port connected to a first working volume defined by an interior of the cylinder and the piston; a second port connected to a second working volume defined by an interior of the cylinder and the piston; and Equipped with the position of the valve body directs the working fluid flow received at the inlet port to one of the first port and the second port, or to neither the first port nor the second port, to control a flow rate of the working fluid flow. The method of claim 7.

9. the testing station comprising an actuation sensor configured to generate a feedback signal indicative of a parameter of the actuation; The method comprises: generating a control reference signal corresponding to a desired operation based on a test program; generating an actuator command signal based on a difference between the control reference signal and the feedback signal; Including, the actuator command signal is used to instruct the valve body driver to adjust the position of the valve body; In one embodiment, the current position of the valve body is obtained by the at least one controller during execution of a test program by the test station, and the diagnostic criteria includes a predicted position of the valve body based on at least one prior execution of the test program; In a further embodiment, the diagnostic criteria include a maximum velocity of the actuator rod, and / or the diagnostic criteria include an operating parameter related to the feedback signal. The method according to claim 8.

10. the actuation sensor includes a displacement sensor; the feedback signal is indicative of a direction or speed of movement of the actuator rod relative to the cylinder; the operating parameter is related to the direction or speed of movement indicated by the feedback signal; Or, the actuation sensor includes a load cell; the feedback signal is indicative of the force applied by the actuator; the actuation parameter being related to the force indicated by the feedback signal; The method according to any one of claims 7 to 9.

11. The method includes implementing a safety measure when the difference satisfies a threshold condition; The safety measures are: Emitting an audible and / or visible alarm or signal; to give you electronic notice; instructing the valve body actuator to adjust the position of the valve body to restrict or block the flow of hydraulic fluid to the hydraulic actuator; and / or closing a safety inlet valve controlling the flow of hydraulic fluid to the hydraulic actuator; Including, The method according to any one of claims 7 to 10.

12. 1. A dynamic testing system comprising: A testing station comprising: a plurality of hydraulic actuators, each configured to receive a flow of actuating fluid and to use the flow of actuating fluid to drive an actuation of a test subject during testing; a plurality of control valves, each control valve corresponding to one of the hydraulic actuators; Housing and a valve body contained within the housing having a location that controls the flow rate and direction of the corresponding working fluid flow; a valve body actuator configured to adjust the position of the valve body based on a reference signal; a valve position sensor configured to output a position signal indicative of the position of the valve body; A plurality of control valves, a test station comprising: At least one controller, using the corresponding position signals to obtain a current position of the valve body of each of the control valves at a point in time during execution of a test program; estimating a total flow rate of the working fluid flow at the time based on the obtained current position of the control valve; obtaining a predicted total flow rate corresponding to the time point based on at least one prior execution of the test program; detecting a diagnostic condition based on a difference between the estimated total flow rate and the predicted total flow rate; generating a diagnostic signal indicative of the detected diagnostic condition; At least one controller configured to: Equipped with In a further embodiment, the system includes a mapping of a total flow rate of the working fluid flow during the at least one prior execution of the test program; the predicted total flow corresponds to the total flow indicated by the mapping at the time; and / or The at least one controller: obtaining, for each control valve, a predicted position of the valve body corresponding to the time point based on the at least one prior execution of the test program; calculating the predicted total flow rate of the working fluid flow based on the sum of the predicted positions; and obtaining the predicted total flow corresponding to the time point using a process including: Dynamic Testing Systems.

13. Each of the hydraulic actuators is A cylinder and an actuator rod including a piston housed within the cylinder; Equipped with movement of the piston and the actuator rod relative to the cylinder drives the actuation; The housing of each of the control valves comprises: an inlet port connected to a supply of high pressure working fluid; an outlet port connected to a low pressure return reservoir; a first port connected to a first working volume defined by an interior of the cylinder and the piston; a second port connected to a second working volume defined by an interior of the cylinder and the piston; and Equipped with For each control valve, the position of the valve body directs the working fluid flow received at the inlet port to one of the first port and the second port, or to neither the first port nor the second port, to control a flow rate of the working fluid flow.

13. The dynamic testing system of claim 12.

14. each hydraulic actuator including a corresponding actuation sensor configured to generate a feedback signal indicative of a corresponding parameter of said actuation; The at least one controller: generating a control reference signal for each control valve corresponding to a desired operation by a corresponding said controller based on a test program; generating an actuator command signal for each control reference signal based on a difference between the control reference signal and the corresponding feedback signal; It is structured as follows: Each actuator command signal instructs a corresponding valve body driver to adjust the position of the valve body.

14. The dynamic testing system of claim 13.

15. the at least one controller is configured to implement a safety measure when the difference satisfies a threshold condition; The safety measures are: Emitting an audible and / or visible alarm or signal; to give you electronic notice; and / or instructing the valve body actuator to adjust the position of the valve body correspondingly to restrict or block the flow of hydraulic fluid to the hydraulic actuator. closing a safety inlet valve controlling the flow of hydraulic fluid to the hydraulic actuator; Including, A dynamic testing system according to any one of claims 12 to 14.

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