Diagnosis of dynamic testing systems

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 on September 1, 2023, the content of which is incorporated herein by reference in its entirety.

[0002] Embodiments of the present disclosure generally relate to test stations of dynamic test systems, and more specifically, to speed control of hydraulic actuators in test stations.

Background Art

[0003] Dynamic test systems, such as those developed by MTS Systems Corporation, include test stations that perform various tests by applying loads and displacements to test objects using hydraulic actuators according to test programs. Test stations can include, for example, vehicle test stations that apply simulated driving conditions to moving vehicles or building test stations that apply simulated seismic activity to buildings.

[0004] The actuators of the test station are driven by an operating fluid flow. The operations performed by each actuator are executed using a control valve (e.g., a proportional control valve) that regulates the flow rate and direction of the operating 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 operating 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. Additionally, such leaks may be an early indication of the potential for more serious problems.

[0006] Other potential failures relate to the precision with which the hydraulic actuator performs its programmed or commanded actions. For example, it is crucial that the movement of the object under test accurately reflects the desired movement instructed by the test program, so that the test is performed properly and valid test results are produced. The precision with which the hydraulic actuator performs its programmed or commanded actions is also important for safety reasons, such as ensuring that the maximum operating speed does not exceed a safety threshold when an operator is present.

[0007] Therefore, it is important to detect failures in these and other test stations as early as possible. [Overview of the Initiative]

[0008] Embodiments of this disclosure relate to a diagnostic method for a dynamic test system and a dynamic test system configured to perform the method.

[0009] One embodiment of a dynamic test system comprises a test station and at least one controller. The test station comprises a hydraulic actuator configured to drive the operation of the object under test using a working fluid flow, and a control valve. The control valve comprises a housing, a valve body housed within the housing having a position that controls the flow rate and direction of the working fluid flow, a valve body drive unit 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 indicating the position of the valve body. At least one controller is configured to use the position signal to obtain the current position of the valve body, obtain a diagnostic criterion, detect a diagnostic state based on the difference between the current position and the diagnostic criterion, and generate a diagnostic signal indicating the detected diagnostic state.

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

[0011] In some embodiments, the housing of the control valve includes 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 formed by the inside of a cylinder and a piston, and a second port connected to a second working volume formed by the inside of a cylinder and a piston, and the position of the valve body controls the flow rate of the working fluid by directing the working fluid flow received at the inlet port to one of the first and second ports, or not directing it to either the first and second ports.

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

[0013] In some embodiments, the diagnostic criteria include the maximum speed of the actuator rod.

[0014] In some embodiments, the diagnostic criteria include operating parameters related to the feedback signal.

[0015] In some embodiments, the actuation sensor includes a displacement sensor, the feedback signal indicates the 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 indicates the 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 conditions include a failure of the displacement sensor, a failure of the operating sensor, or a leak of the working fluid.

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

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

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

[0021] In some embodiments, the valve body drive unit includes a servo or solenoid, and the valve body includes a spool or piston.

[0022] In some embodiments, at least one controller is configured to perform safety measures when the difference satisfies a threshold condition.

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

[0024] One method controls a dynamic test system comprising a test station and at least one controller. The test station includes a hydraulic actuator configured to drive the operation of a test object using a working fluid flow, and a control valve. The control valve includes a housing, a valve body accommodated within the housing having positions for controlling the flow rate and direction of the working fluid flow, a valve body drive unit 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 indicating the position of the valve body. In the method executed by the at least one controller, the current position of the valve body is obtained using the position signal, and a diagnostic criterion is obtained. A diagnostic state is detected based on the difference between the current position and the diagnostic criterion, and a diagnostic signal indicating the detected diagnostic state is generated.

[0025] In some embodiments, the hydraulic actuator includes a cylinder and an actuator rod having a piston accommodated within the cylinder, and the movement of the piston and the actuator rod relative to the cylinder drives the operation.

[0026] In some embodiments, the housing of the control valve includes 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 formed by the interior of the cylinder and the piston, and a second port connected to a second working volume formed by the interior of the cylinder and the piston.

[0027] In some embodiments, the position of the valve body guides 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, and controls the flow rate of the working fluid flow.

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

[0029] In some embodiments, the diagnostic criteria include the maximum speed of the actuator rod.

[0030] In some embodiments, the diagnostic criteria include the operating parameters related to the feedback signal.

[0031] In some embodiments, the operating sensor includes a displacement sensor, the feedback signal indicates the moving direction or speed of the actuator rod relative to the cylinder, and the operating parameters are related to the moving direction or speed indicated by the feedback signal.

[0032] In some embodiments, the operating sensor includes a load cell, the feedback signal indicates the force applied by the actuator, and the operating parameters are related to the force indicated by the feedback signal.

[0033] In some embodiments, the diagnostic status includes a failure of the displacement sensor, a failure of the operating sensor, or a leak of the operating fluid.

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

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

[0036] In some embodiments, the method includes forming a mapping using at least one controller, which includes generating a plurality of actuator command signals over a test period during the 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.

[0037] In some embodiments, the valve body drive unit includes a servo or solenoid, and the valve body includes a spool or piston.

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

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

[0040] Another embodiment of the dynamic test system comprises a test station and at least one controller. The test station comprises a plurality of hydraulic actuators, each configured to receive a working fluid flow and use the working fluid flow to drive the operation of the object under test during the test, and a plurality of control valves, each control valve corresponding to one of the hydraulic actuators. Each control valve comprises a housing, a valve body housed within the housing having a position that controls the flow rate and direction of the corresponding working fluid flow, a valve body drive unit 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 indicating the position of the valve body. At least one controller is configured to use the corresponding position signal to obtain the current position of each valve body of the control valve at a certain point in time during the execution of the test program, to estimate the total flow rate of the working fluid flow at that point in time based on the obtained current position of the control valve, to obtain a predicted total flow rate corresponding to that point in time based on at least one preceding execution of the test program, to detect a diagnostic state based on the difference between the estimated total flow rate and the predicted total flow rate, and to generate a diagnostic signal indicating the detected diagnostic state.

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

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

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

[0044] In some embodiments, each housing of the control valve includes 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 formed by the inside of the cylinder and the piston, and a second port connected to a second working volume formed by the inside of the cylinder and the piston.

[0045] In some embodiments, for each control valve, the position of the valve body controls the flow rate of the working fluid by directing the working fluid flow received at the inlet port to either the first port or the second port, or not directing it to either the first port or the second port.

[0046] In some embodiments, each hydraulic actuator includes a corresponding actuation sensor configured to generate a feedback signal indicating the corresponding actuation parameters, and 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 to generate an actuator command signal for each control reference signal based on the difference between the control reference signal and the corresponding feedback signal. Each actuator command signal instructs the corresponding valve body drive unit to adjust the position of the valve body.

[0047] In some embodiments, at least one controller is configured to perform safety measures when the difference satisfies a threshold condition.

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

[0049] Another method involves controlling a dynamic test system comprising a test station and at least one controller. The test station comprises a plurality of hydraulic actuators, each configured to receive a working fluid flow and use the working fluid flow to drive the operation of the object under test during the test, and a plurality of control valves, each corresponding to one of the hydraulic actuators. Each control valve comprises a housing, a valve body housed within the housing having a position that controls the flow rate and direction of the corresponding working fluid flow, a valve body drive unit 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 indicating the position of the valve body. This method is performed by at least one controller and includes: obtaining the current position of each valve body of the control valve at a given time using the corresponding position signal; estimating the total flow rate of the working fluid flow at that time based on the obtained current position of the control valve; obtaining a predicted total flow rate corresponding to that time based on at least one preceding run of the test program; detecting a diagnostic state based on the difference between the estimated total flow rate and the predicted total flow rate; and generating a diagnostic signal indicating the detected diagnostic state.

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

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

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

[0053] In some embodiments, each housing of the control valve includes 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 formed by the inside of the cylinder and the piston, and a second port connected to a second working volume formed by the inside of the cylinder and the piston. For each control valve, the position of the valve body controls the flow rate of the working fluid by directing the working fluid flow received at the inlet port to either the first port or the second port, or not directing it to either the first port or the second port.

[0054] In some embodiments, each hydraulic actuator includes a corresponding actuation sensor configured to generate a feedback signal indicating the corresponding operating parameters.

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

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

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

[0058] This summary in this specification is provided in a simplified form to introduce selected concepts that are further described below in the detailed description. This summary is not intended to identify any important 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 address any or all of the shortcomings described in the background art. [Brief explanation of the drawing]

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

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

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

[0062] [Figure 5] This is a flowchart showing a diagnostic method according to an embodiment of the present disclosure.

[0063] [Figure 6] This figure shows one pattern of the valve body position over time during the execution of a test program according to an embodiment of the present disclosure.

[0064] [Figure 7] This flowchart shows an example of a method for forming a mapping according to embodiments of the present disclosure.

[0065] [Figure 8] This flowchart shows a method for controlling a dynamic test system according to embodiments of the present disclosure.

[0066] [Figure 9] This is a simplified diagram of an example of a controller according to an embodiment of the present disclosure. [Modes for carrying out the invention]

[0067] Embodiments of this disclosure are described more fully hereafter with reference to the accompanying drawings. Elements identified by the same or similar reference numerals refer to the same or similar elements. However, various embodiments of this disclosure can be embodied in many different forms and should not be considered as being limited to the embodiments described herein. Rather, these embodiments are provided so as to make this disclosure thorough and complete and will fully convey the scope of this 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. Where used herein, when one or more functions are described as being performed by a “controller,” for example, a specific controller, one or more controllers, or at least one controller, embodiments include the execution of the functions (which may be multiple) by a single controller or processor, or by multiple controllers or processors, unless otherwise specified. Furthermore, where used herein, when multiple functions are performed by at least one controller, all functions may be performed by a single controller, or some functions may be performed by one controller and others by another. Thus, the execution of one or more functions by at least one controller does not require that all functions be performed by each of the controllers.

[0069] Figure 1 is a simplified diagram of an example of a dynamic test system 100 according to an embodiment of the present disclosure. The test system 100 may comprise one or more test stations 102, each of which may be configured to perform a test or situational simulation by applying force and / or displacement to an object under test 103 (e.g., an automobile, a building, etc.) using a hydraulic actuator 104 driven by a working fluid flow 107.

[0070] The flow 107 can be provided based on a working fluid flow 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 discharges a working fluid flow 118 that can be used to form the flow 107 supplied to the test station 102. The system 100 may include a distributor 120 that receives the working fluid flow from the HPUs 110 and / or the accumulator 116 and distributes the working fluid flow 107 to the test station 102. Other configurations of the system 100 can be used to supply the requested working fluid flow 107 to the test station 102.

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

[0072] The system controller 126 can operate to control various aspects of the system 100, including the functions of the HPU 110, valve mechanisms (e.g., valve mechanisms of the accumulator and / or distributor), and / or other aspects of the system 100 for supplying the required working fluid flow 107 to the test station 102.

[0073] Figure 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 comprises a plurality of hydraulic actuators 104, such as hydraulic actuators 104A to 104D, configured to apply force to and / or drive movement of the object under test 103. Each of the hydraulic actuators 104A to 104D is driven by corresponding flow portions 106A to 106D of the working fluid flow 107 generated by one or more of the fluid power units 110 (Figure 1).

[0074] Each test station 102 may include a test station controller 130, which is generally configured to perform a test on the test subject 103 based on the execution of a test program stored, for example, on a non-temporary computer-readable medium. The test station controller 130 controls the actuators 104 to apply force and / or motion to the test subject 103 in a conventional manner in response to the execution of the test program, via the control of working fluid flows 106A to 106D using corresponding control valves 132.

[0075] The computing device 134 can be configured to generate a graphical user interface that allows the user to interact with and / or control the test station 102, execute test programs, view data, and / or perform other tasks, for example, 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 inflow of high-pressure working fluid flow 107 into the test station 102 in response to control signals (e.g., emergency stop) from the test station controller 130, system controller 126, or another suitable device. Each safety inlet valve 136 has a fully open state that provides a path that does not significantly restrict the movement of the working fluid flow 107 into the test station 102. The valve 136 also has a closed state or substantially closed state in which the valve 136 blocks or substantially blocks the working fluid flow 107 into the test station 102. The solenoid of the valve 136 may have a default state or a de-energized state corresponding to the closed state or substantially closed state.

[0077] When the safety inlet valve 136 is in a substantially closed state, opening the valve 136 allows the working fluid flow 107 to move to the test station 102. However, the flow 107 The flow rate is effectively limited. This means that, regardless of the setting of the control valve 132, the flow to the test station 102 and actuator 104 is restricted. Working fluid flowThe flow rate of 107 is limited, thereby limiting the speed at which actuator 104 can move.

[0078] The safety inlet valve 136 can 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 the operator enters the test area where the actuator 104 and the object under test 103 are located. Thus, one or more safety inlet valves 136 provide a certain level of safety with respect to the test station 102.

[0079] Figure 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 comprises a test station controller 130, and at least one hydraulic actuator 104 and its corresponding control valve 132. In Figure 3, only a single pair of hydraulic actuators 104 and control valves 132 are shown for the sake of simplicity, but it will be understood that the test station 102 may comprise two or more actuators 104 and corresponding control valves 132, as shown in Figure 2.

[0080] A control valve 132 for each hydraulic actuator 104 operates to control the flow rate (e.g., gallons / min) of the working fluid flow 106 to the actuator 104 received from a high-pressure source (e.g., HPU 110) 137, and the discharge of the flow 107' to the low-pressure reservoir 138 (e.g., the return of the HPU 110 to the reservoir). Furthermore, the control valve 132 is also used under test. 103 The direction of the flow through the hydraulic actuator 104 is controlled to control the operation applied to it.

[0081] In one example, the hydraulic actuator 104 comprises a cylinder 140 and an actuator rod 142 having a piston 144 housed within the cylinder 140. The cylinder 140 is used for the flow of the working fluid. 107The valve 132 has a first port 146 and a second port 148 through which the fluid passes. The valve 132 controls the direction of the working fluid flow 106 through the first port 146 and the second port 148 so as 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 working fluid flow 106.

[0082] The control valve 132 can take any suitable form. Examples of the control valve 132 include a servo valve or solenoid valve configured to provide the variable flow rate and directional control described above. As shown in Figure 3, the control valve 132 The valve generally comprises an electronic device 150, a valve body 152, and a valve body drive unit 154. The valve body 152 has an adjustable position that controls the direction and flow rate of the working fluid flow 106. The electronic device 150 is configured to control the valve body drive unit 154 to adjust the position of the valve body 152 in response to an actuator command signal 156. For example, the valve body 152 can be in the form of a spool, and the valve body drive unit 154 can be in 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 the position of the valve body 152 relative to the housing 160 of the valve 132, for example. The electronic equipment 150 receives the detected position of the valve body 152, i.e., the flow through the valve 132. 107 It is configured to output a position signal 162 indicating the flow rate and direction. As described below, the position signal 162 can be used to facilitate various diagnostics of the system 100, such as diagnostics of the valve 132, the corresponding hydraulic actuator 104, and the test station 102.

[0084] During the execution of the test program, the test station controller 130 emits a reference signal 164 regarding the desired operation to be performed on the test object 103 by the hydraulic actuator 104. Each actuator 104 is equipped with an actuation sensor 166 configured to sense parameters of the operation performed by the actuator 104, such as displacement and / or force, and to emit a feedback signal 168 indicating the sensed parameters. 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 indicating the detected displacement and / or movement, and / or a load cell 166B, configured to detect a force applied by the actuator 104, such as the force applied by the actuator rod 142 to the test object 103, and to generate a feedback signal 168B indicating the detected force. The conventional conditioner circuit 169 can be used to process signals 168A and / or 168B (e.g., by amplification, filtering, etc.) to generate the final feedback signal 168.

[0085] The actuator controller 170 is configured to compare a reference signal 164 and a feedback signal 168 corresponding to each actuator 104 and to generate a differential signal as a command signal 156 for the corresponding control valve 132. In Figure 3, the actuator controller 170 is shown to receive a single reference signal 164 and generate a single command signal 156 corresponding to the actuator 104 described, but the actuator controller 170 can be configured to receive multiple reference signals 164 and corresponding feedback signals 168 from the test station controller 130 for each hydraulic actuator 104 of the test station 102 and to generate a command signal 156 to control the corresponding valve 132.

[0086] Some embodiments of this disclosure relate to dynamic test system diagnostics using a position signal 162 emitted by a control valve 132. Figure 4 is a simplified diagram showing a diagnostic function that may be performed using the valve body position signal 162 according to embodiments of this disclosure. The diagnostic controller 180 represents at least one controller of the system 100, e.g., a system controller 126, a test station controller 130, and / or a separate controller of the system 100. The diagnostic controller 180 is generally configured to perform a method shown by the flowchart in Figure 5. The illustrated method relates to a diagnosis performed based on the valve body position of a single control valve 132, but it will be understood that the diagnostic controller 180 may be configured to perform the method for multiple valves 132.

[0087] In method 182, the diagnostic controller 180 obtains the current position 184 of the valve body 152 of the valve 132, and in method 186, the diagnostic controller 180 obtains a diagnostic criterion 188. In some embodiments, the diagnostic controller 180 obtains the current position by receiving and possibly processing a corresponding position signal 162 (Figure 3), or by accessing the current position 184 from the memory of the system 100 after the position signal 162 has been received and processed by the controller of the system 100. The diagnostic controller 180 may obtain the diagnostic criterion 188 from the memory of the system 100. As used herein, “memory” corresponds to a non-temporary computer-readable medium.

[0088] The current position 184 may take the form of a value obtained after processing the corresponding position signal 162. For example, the position signal 162 indicates the position (value) of the valve body 152 relative to the housing 160, and the flow 107 Since it is directly related to the flow rate, it may be advantageous to convert the position of the valve body 152 to a value that represents the flow rate, a value that represents the speed of the actuator rod 142 of the corresponding actuator 104, or another value that allows comparison with a value of the diagnostic criterion 188. Thus, the position 184 may take one of these or another suitable form.

[0089] In method 190, the diagnostic controller 180 detects a diagnostic state based on the difference between the current position 184 and the diagnostic criterion 188. In method 192, the diagnostic controller 180 generates one or more diagnostic signals 194 indicating the detected diagnostic state, as shown in Figure 4.

[0090] In some embodiments, the diagnostic signal 194 indicates the corresponding valve 132 and / or hydraulic actuator 104. This can be achieved, for example, by including one or more identification codes in the signal 194, or based on the channel through which the diagnostic signal 194 is communicated (e.g., a multiplexer channel). As a result, the signal 194 allows technicians to easily narrow down the fault, thereby saving time to fix the fault and reducing downtime of the test station 102.

[0091] The detected diagnostic condition may indicate a failure, for example, when the difference meets a threshold condition, for example, when the difference is greater than, equal to, or less than a predetermined value. The failure may be in the valve 132, the hydraulic actuator 104, or the flow 107 This may be related to leakage of the working fluid at another location along the path through which the fluid flows, failure in the operation of the position sensor 158 and / or the actuation sensor 166, failure in the operation of the valve's electronic equipment 150, failure of the operation performed by the hydraulic actuator 104, and / or other failures.

[0092] In some embodiments, the controller of system 100 performs one or more safety measures when the diagnostic condition indicates a fault. Examples of safety measures include, for example, notification of a fault via an audible and / or visible alarm or signal, the generation of an electronic message, or other notification. Safety measures may include actions to prevent further operation of the hydraulic actuator 104 and / or test station 102. For example, the actuator controller 170 housing the actuator rod 142 160The working fluid flow 106 to the actuator 104 is restricted or blocked and the flow is stopped in order to fix or substantially fix it in its current position relative to the actuator 104. 107 An actuator command 156 may be issued to instruct the valve body 152 to position itself so as to reduce the flow rate to zero or near zero (e.g., less than 0.5 gallons / minute). The controller of system 100 may also close one or more safety inlet valves 136 to limit the working fluid flow 106 to the test station 102. Other safety measures may also be used.

[0093] The current position 184 of the valve body 152 is relative to the valve 132 and hydraulic actuator 104 for a given pressure (e.g., 3000 psi) of the working fluid. Working fluid flow Since 106 indicates direction and flow rate, there is a correlation between the current position 184 of the valve body 152 and one or more parameters of the operation performed by the hydraulic actuator 104, such as the direction and speed of movement of the actuator rod 142 relative to the cylinder 140, and / or the force applied by the hydraulic actuator 104. Therefore, in one embodiment, the diagnostic criterion 188 includes a predictive operating parameter 188A corresponding to the valve body position 184.

[0094] In one example, the operating criterion 188A represents, for a given valve body position 184, predicted operating parameters, such as the predicted speed and / or direction of movement of the actuator rod 142 relative to the cylinder 140, or the predicted force applied by the hydraulic actuator 104. These operating parameters may be determined based on the parameters of the hydraulic actuator (e.g., the 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 calculation or by using a mapping of the predicted operating parameters 188A to the position of the valve body 152, which is stored in memory and accessible by the diagnostic controller 180.

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

[0096] Predictive operating parameter 188A is the feedback signal 168A In relation to and indicating the direction or speed of movement of the actuator rod 142 relative to the cylinder 140, the diagnostic controller 180 may determine the difference between this measured operating parameter and the predicted direction and / or movement of the actuator rod 142 indicated by the operating criterion 188A, so as to detect a diagnostic condition in step 190. A diagnostic signal 194 indicating the detected diagnostic condition may then be generated in step 192. If the difference exceeds a threshold condition, the diagnostic signal 194 indicates a leak in the working fluid, a failure of the position sensor 158, or a displacement sensor 166A This may indicate a failure of the valve's electronic equipment 150, and / or a failure related to another failure, for example, the feedback signal. 168A If the velocity indicated is less than the predicted velocity 188A by a predetermined amount, this tends to indicate a potential leak of the working fluid and / or another malfunction.

[0097] Predictive operating parameter 188A is the feedback signal 168BWhen relating to and indicating a force applied by a hydraulic actuator, the diagnostic controller 180 may determine the difference between this measured force and the predicted force indicated by the operating criterion 188A so as to detect a diagnostic state in step 190. Subsequently, in step 192, a diagnostic signal indicating the detected diagnostic state may be generated. Subsequently, in step 192, a diagnostic signal 194 indicating the detected diagnostic state may be generated. If the difference exceeds a threshold condition, the diagnostic signal 194 may indicate a fault related to a leak in the working fluid, 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, a feedback signal 168B If the force indicated by is less than the predicted force 188A by a predetermined amount, this tends to indicate a potential leak of the working fluid and / or another malfunction.

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

[0099] The maximum speed 188B may be set by the 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 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 mm / second to less than 15 mm / second or a corresponding flow rate) when an operator is near the hydraulic actuator 104.

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

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

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

[0103] During the execution of the test program, the position of the valve body 152 of each valve 132 in the test station 102 is adjusted over time in accordance with the actuation command 156 to regulate the flow rate and direction of the working fluid flow 106 and to cause the corresponding hydraulic actuator 104 to perform the desired actuation on the object under test 103. Since the test program may be repeated many times by the test station, each valve body 152 of the valve 132 substantially repeats one pattern of position over the duration of the test program, unless there is a major failure. An example of such a pattern 196 of the position 184 of the valve body 152 of the control valve 132 over time during the execution of the test program is shown in Figure 6.

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

[0105] In one example, the mapping includes a series of samples of valve body positions 184 in pattern 196 at various points in time during the execution of the test. Figure 7 is a flowchart showing an example of a method for forming a mapping according to embodiments of the present disclosure.

[0106] In method 200, a plurality of command signals 156 are generated over the test period while the test program is running. As described above, the command signals 156 control the position of the valve body 152 which controls the operation performed by the hydraulic actuator 104. In 202, a plurality of positions 184 of the valve body 152 are acquired over the test period, for example, based on position signals 162 from a position sensor 158. In 204, the acquired plurality of positions 184 are mapped over the test period, and the mapping is stored in memory in 206.

[0107] Accordingly, an embodiment of step 186 of the method (Figure 5) includes the diagnostic controller 180 acquiring the valve body position 184 at a given time t1 during the execution of the test program. In step 186, as shown in Figure 6, a predicted position 188C(P1) corresponding to time t1 is acquired from the mapping. A diagnostic signal 194 indicating a diagnostic state is generated (step 192), which is detected (step 190) based on the difference between the current position 184 and the predicted position 188C(P1).

[0108] As described above, when the difference satisfies the threshold condition, for example, when the difference is greater than a predetermined threshold amount, the diagnostic state is, for example, valve 132 and the corresponding hydraulic actuator. 104 This could be a fault such as a leak in the fluid path through the system. When a fault is indicated by diagnostic signal 194, the system controller 126 or another controller of system 100 may implement one or more of the safety measures described above. For example, the safety measures may include closing the safety inlet valve 136 and / or flow 107 This includes issuing an actuator command signal 156 to adjust the valve body 152 to a position that prevents or substantially prevents the passage of the fluid through the valve 132.

[0109] Further embodiments of this disclosure relate to the working fluid flow 106 through the control valve 132 at a given point in time during the execution of a test program (e.g., the flow in Figure 2). 107 A~ 107 This relates to the detection of faults such as leaks of the working fluid in the test station 102, based on the estimated total flow rate of D) and the diagnostic criteria (Figure 4), which is the estimated predicted total flow rate 188D corresponding to the predicted total flow rate of the working fluid flow 106 at the above time.

[0110] Figure 8 is a flowchart showing how a diagnostic controller 180 can be used to control a test station 102 of the system 100, as can be performed by the system 100, according to this embodiment of the present disclosure. At some point during the execution of the test program, the current position 184 of the control valve 132 of the test station 102 is obtained using the diagnostic controller 180. At 212, the total flow rate of the working fluid flow 106 through the control valve 132 is estimated at the above time.

[0111] As used herein, the estimated total flow rate may be a value representing or related to the sum of the flow rates of the working fluid flow 106 through individual control valves 132 or the working fluid flow 107 introduced into the test station 102. In one embodiment, the estimated total flow rate of the working fluid flow 106 through the control valve 132 at the given time is determined based on the current position 184 of the corresponding valve body 152 at the given time, which may be indicated by the corresponding position signal 162. In one example, the estimated total flow rate may be determined based on the sum of the current positions 184 at the given 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, for example, from the memory of the system 100. In some embodiments, the predicted total flow rate 188D is determined based on one or more prior executions 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 107 to the test station 102 over time during the execution of the test program. The total flow rate mapping may be stored in memory accessible from the diagnostic controller 180.

[0113] In some embodiments, the system 100 may include a flowmeter 210 configured to measure the flow rate of the working fluid flow 107 passing through the test station 102, as shown in Figure 2. For example, a total flow mapping can be established by sampling the measured flow rate of the working fluid flow 107 during the execution of a test program.

[0114] In another example, the predicted total flow rate 188D may be determined based on the mapping of patterns 196 of one or more preceding running valve body positions 184 in the test described above. Here, the mapping of predicted positions may be summed to form a mapping of total flow rates, or the diagnostic controller 180 may use the mapping of predicted positions to obtain the respective predicted positions of the valve body 152 at the above time. Then, in step 214, the predicted positions may be summed by the diagnostic controller 180 to obtain the predicted total flow rate 188D for the above time.

[0115] In 216, the diagnostic state is detected based on the difference between the estimated total flow rate and the predicted total flow rate, and in 218, a diagnostic signal 194 indicating the diagnostic state is generated. When the difference satisfies a threshold condition, for example, when the difference is greater than a predetermined threshold amount, the diagnostic state is, for example, valve 132 and the corresponding hydraulic actuator. 104 This could be a fault such as a leak in the fluid path through the system. When a fault is indicated by diagnostic signal 194, the system controller 126 or another controller of system 100 may take safety measures, such as one or more of the safety measures described above. For example, safety measures include closing the safety inlet valve 136 and / or flow 107 This may include issuing an actuator command signal 156 to adjust the valve body 152 to a position that prevents or substantially prevents the passage of the fluid through the valve 132.

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

[0117] 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 media. As used herein, such memory 224 comprises any suitable, patentable computer-readable media and does not contain transient 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 in response to one or more processors 222 executing instructions stored in memory 224.

[0118] While embodiments of this disclosure are described with reference to preferred embodiments, those skilled in the art will recognize that modifications may be made in form and detail without departing from the spirit and scope of this disclosure. The inventions disclosed herein include the following: [Aspect 1] A dynamic testing system, It is a test station, A hydraulic actuator configured to drive the operation of the object under test using a working fluid flow, It is a control valve, Housing and A valve body housed within the housing has a position for controlling the flow rate and direction of the working fluid flow, A valve body drive unit configured to adjust the position of the valve body based on a reference signal, A valve position sensor configured to output a position signal indicating the position of the valve body, A control valve equipped with, A test station equipped with, At least one controller, The current position of the valve body is obtained using the position signal. Obtain the diagnostic criteria, The diagnostic status is detected based on the difference between the current location and the diagnostic criteria. A diagnostic signal is generated that indicates the detected diagnostic state. A controller configured as follows: A dynamic testing system equipped with the following features. [Aspect 2] The hydraulic actuator is Cylinder and An actuator rod including a piston housed within the cylinder, Equipped with, The movement of the piston and the actuator rod relative to the cylinder drives the operation. The housing of the control valve is An inlet port connected to the supply unit for high-pressure working fluid, An outlet port connected to a low-pressure return reservoir, A first port connected to the first working volume formed by the inside of the cylinder and the piston, A second port connected to the inside of the cylinder and the second working volume formed by the piston, Equipped with, The position of the valve body controls the flow rate of the working fluid, which is received at the inlet port, by directing it to one of the first port and the second port, or not directing it to either the first port or the second port. The dynamic testing system described in Embodiment 1. [Aspect 3] The test station includes an operating sensor configured to generate a feedback signal indicating the parameters of the operation, The aforementioned at least one controller is It generates a control reference signal corresponding to the desired operation based on the test program, An actuator command signal is generated based on the difference between the control reference signal and the feedback signal. It is configured in such a way, The actuator command signal instructs the valve body drive unit to adjust the position of the valve body. In a further embodiment, the diagnostic criterion includes the maximum speed of the actuator rod, and / or the diagnostic criterion includes operating parameters related to the feedback signal. The dynamic testing system described in Embodiment 2. [Aspect 4] The aforementioned operating sensor includes a displacement sensor, The feedback signal indicates the direction or speed of movement of the actuator rod relative to the cylinder. The aforementioned operating parameters are related to the direction of movement or the velocity indicated by the feedback signal. Or, The aforementioned operating sensor includes a load cell, The feedback signal indicates the force applied by the actuator. The aforementioned operating parameter is related to the force indicated by the feedback signal, A dynamic testing system according to any one of embodiments 1 to 3. [Aspect 5] The current position of the valve body is acquired by the at least one controller during the execution of the test program by the test station. The diagnostic criteria include a predicted position of the valve body based on at least one prior run of the test program, In one embodiment, the predicted position of the valve body is obtained based on a mapping of the valve body's position over time during at least one preceding execution of the test program, which is stored on a computer-readable medium. The dynamic testing system described in Embodiment 3. [Aspect 6] The at least one controller is configured to take safety measures when the difference satisfies a threshold condition. The aforementioned safety measures are To emit an audible and / or visible alarm or signal, To issue electronic notifications, Instructing the valve body drive unit to adjust the position of the valve body so as to restrict or block the flow of the working fluid to the hydraulic actuator, and / or, To close the safety inlet valve that controls the flow of the working fluid to the hydraulic actuator, including, A dynamic test system according to any one of embodiments 1 to 5. [Aspect 7] A method for controlling a dynamic testing system, The aforementioned dynamic testing system is It is a test station, A hydraulic actuator configured to drive the operation of the object under test using a working fluid flow, It is a control valve, Housing and A valve body housed within the housing has a position for controlling the flow rate and direction of the working fluid flow, A valve body drive unit configured to adjust the position of the valve body based on a reference signal, A valve position sensor configured to output a position signal indicating the position of the valve body, A control valve equipped with, A test station equipped with 、 At least one controller, Equipped with, The method performed by the at least one controller is: The current position of the valve body is obtained using the position signal, Obtaining diagnostic criteria, The diagnostic status is detected based on the difference between the current location and the diagnostic criteria, To generate a diagnostic signal indicating the detected diagnostic state, including, method. [Aspect 8] The hydraulic actuator is Cylinder and An actuator rod including a piston housed within the cylinder, Equipped with, The movement of the piston and the actuator rod relative to the cylinder drives the operation. The housing of the control valve is An inlet port connected to the supply unit for high-pressure working fluid, An outlet port connected to a low-pressure return reservoir, A first port connected to the first working volume formed by the inside of the cylinder and the piston, A second port connected to the inside of the cylinder and the second working volume formed by the piston, Equipped with, The position of the valve body controls the flow rate of the working fluid, which is received at the inlet port, by directing it to one of the first port and the second port, or not directing it to either the first port or the second port. The method according to aspect 7. [Aspect 9] The test station includes an operating sensor configured to generate a feedback signal indicating the parameters of the operation, The aforementioned method, To generate a control reference signal corresponding to the desired operation based on the test program, The actuator command signal is generated based on the difference between the control reference signal and the feedback signal. Includes, The actuator command signal is used to instruct the valve body drive unit to adjust the position of the valve body. In one embodiment, the current position of the valve body is acquired by the at least one controller during the execution of a test program by the test station, and the diagnostic criteria include a predicted position of the valve body based on at least one preceding execution of the test program. In a further embodiment, the diagnostic criterion includes the maximum speed of the actuator rod, and / or the diagnostic criterion includes operating parameters related to the feedback signal. The method described in aspect 8. [Aspect 10] The aforementioned operating sensor includes a displacement sensor, The feedback signal indicates the direction or speed of movement of the actuator rod relative to the cylinder. The aforementioned operating parameters are related to the direction of movement or the velocity indicated by the feedback signal. Or, The aforementioned operating sensor includes a load cell, The feedback signal indicates the force applied by the actuator. The aforementioned operating parameter is related to the force indicated by the feedback signal, The method according to any one of embodiments 7 to 9. [Aspect 11] The method includes taking safety measures when the difference satisfies a threshold condition, The aforementioned safety measures are To emit an audible and / or visible alarm or signal, To issue electronic notifications, Instructing the valve body drive unit to adjust the position of the valve body so as to restrict or block the flow of the working fluid to the hydraulic actuator, and / or, To close the safety inlet valve that controls the flow of the working fluid to the hydraulic actuator, including, The method according to any one of embodiments 7 to 10. [Aspect 12] A dynamic testing system, It is a test station, A plurality of hydraulic actuators, each configured to receive a working fluid flow and to use the working fluid flow to drive the operation of the object under test during the test, Multiple control valves, each control valve corresponding to one of the hydraulic actuators, Housing and A valve body housed within the housing has a position that controls the flow rate and direction of the corresponding working fluid flow, A valve body drive unit configured to adjust the position of the valve body based on a reference signal, A valve position sensor configured to output a position signal indicating the position of the valve body, Multiple control valves equipped with, A test station equipped with, At least one controller, Using the corresponding position signals, the current position of each valve body of the control valve at a certain point in time during the execution of the test program is obtained. Based on the acquired current position of the control valve, the total flow rate of the working fluid at that time is estimated. Based on at least one prior execution of the test program, the predicted total flow rate corresponding to the time point is obtained. The diagnostic status is detected based on the difference between the estimated total flow rate and the predicted total flow rate. A diagnostic signal is generated that indicates the detected diagnostic state. A controller configured as follows: Equipped with, In further embodiments, The system includes mapping the total flow rate of the working fluid during at least one preceding run of the test program, The predicted total flow rate corresponds to the total flow rate shown by the mapping at the aforementioned time point, and / or, The aforementioned at least one controller is For each control valve, the predicted position of the valve body corresponding to the time point is obtained based on the at least one preceding execution of the test program, The predicted total flow rate of the working fluid is calculated based on the sum of the predicted positions, A process including is configured to obtain the predicted total flow rate corresponding to the aforementioned time point, Dynamic testing system. [Aspect 13] Each of the aforementioned hydraulic actuators is Cylinder and An actuator rod including a piston housed within the cylinder, Equipped with, The movement of the piston and the actuator rod relative to the cylinder drives the operation. Each of the housings of the control valves is An inlet port connected to the supply unit for high-pressure working fluid, An outlet port connected to a low-pressure return reservoir, A first port connected to the first working volume formed by the inside of the cylinder and the piston, A second port connected to the inside of the cylinder and the second working volume formed by the piston, Equipped with, For each control valve, the position of the valve body controls the flow rate of the working fluid, either by directing the working fluid flow received at the inlet port to one of the first port and the second port, or by not directing it to either the first port or the second port. The dynamic testing system described in embodiment 12. [Aspect 14] Each hydraulic actuator is equipped with a corresponding actuation sensor configured to generate a feedback signal indicating the corresponding parameters of the actuation, The aforementioned at least one controller is A control reference signal is generated for each control valve corresponding to the desired operation by the corresponding controller based on the test program. Based on the difference between the control reference signal and the corresponding feedback signal, actuator command signals are generated for each control reference signal. It is configured in such a way, Each actuator command signal instructs the corresponding valve body drive unit to adjust the position of the valve body. The dynamic testing system described in embodiment 13. [Aspect 15] The at least one controller is configured to take safety measures when the difference satisfies a threshold condition. The aforementioned safety measures are To emit an audible and / or visible alarm or signal, To issue electronic notifications, To instruct the valve body drive unit to adjust the position of the corresponding valve body so as to restrict or block the flow of the working fluid to the hydraulic actuator, and / or To close the safety inlet valve that controls the flow of the working fluid to the hydraulic actuator, including, Dynamic test system according to any one of embodiments 12 to 14 。

Claims

1. A dynamic testing system, It is a test station, A hydraulic actuator configured to drive the operation of the object under test using a working fluid flow, It is a control valve, Housing and A valve body housed within the housing has a position for controlling the flow rate and direction of the working fluid flow, A valve body drive unit configured to adjust the position of the valve body based on a reference signal, A valve position sensor configured to output a position signal indicating the position of the valve body, A control valve equipped with, A test station equipped with, At least one controller, The current position of the valve body is obtained using the position signal. Obtain the diagnostic criteria, The diagnostic status is detected based on the difference between the current location and the diagnostic criteria. A diagnostic signal is generated that indicates the detected diagnostic state. A controller configured as follows: Equipped with, The hydraulic actuator is Cylinder and An actuator rod including a piston housed within the cylinder, Equipped with, The movement of the piston and the actuator rod relative to the cylinder drives the operation. The housing of the control valve is An inlet port connected to the supply unit for high-pressure working fluid, An outlet port connected to a low-pressure return reservoir, A first port connected to the first working volume formed by the inside of the cylinder and the piston, A second port connected to the inside of the cylinder and the second working volume formed by the piston, Equipped with, The position of the valve body controls the flow rate of the working fluid, which is received at the inlet port, by directing it to one of the first port and the second port, or not directing it to either the first port or the second port. The test station includes an operating sensor configured to generate a feedback signal indicating the parameters of the operation, The aforementioned at least one controller is It generates a control reference signal corresponding to the desired operation based on the test program, An actuator command signal is generated based on the difference between the control reference signal and the feedback signal. It is configured in such a way, The actuator command signal instructs the valve body drive unit to adjust the position of the valve body. A dynamic test system in which the diagnostic criteria include the maximum speed of the actuator rod and / or the diagnostic criteria include operating parameters related to the feedback signal.

2. The aforementioned operating sensor includes a displacement sensor, The feedback signal indicates the direction or speed of movement of the actuator rod relative to the cylinder. The aforementioned operating parameters are related to the direction of movement or the velocity indicated by the feedback signal. Or, The aforementioned operating sensor includes a load cell, The feedback signal indicates the force applied by the hydraulic actuator. The aforementioned operating parameter is related to the force indicated by the feedback signal, The dynamic testing system according to claim 1.

3. The current position of the valve body is acquired by the at least one controller during the execution of the 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, The predicted position of the valve body is obtained based on a mapping of the valve body's position over time during at least one preceding execution of the test program, which is stored in a computer-readable medium. The dynamic testing system according to claim 1.

4. The at least one controller is configured to perform safety measures when the difference satisfies a threshold condition. The aforementioned safety measures are: To emit an audible and / or visible alarm or signal, To issue electronic notifications, To instruct the valve body drive unit to adjust the position of the valve body so as to restrict or block the flow of the working fluid to the hydraulic actuator, and / or, To close the safety inlet valve that controls the flow of the working fluid to the hydraulic actuator, including, A dynamic testing system according to any one of claims 1 to 3.

5. A method for controlling a dynamic testing system, The aforementioned dynamic testing system is It is a test station, A hydraulic actuator configured to drive the operation of the object under test using a working fluid flow, It is a control valve, Housing and A valve body housed within the housing has a position for controlling the flow rate and direction of the working fluid flow, A valve body drive unit configured to adjust the position of the valve body based on a reference signal, A valve position sensor configured to output a position signal indicating the position of the valve body, A control valve equipped with, A test station equipped with, At least one controller, Equipped with, The method performed by the at least one controller is: The current position of the valve body is obtained using the position signal, Obtaining diagnostic criteria, The diagnostic status is detected based on the difference between the current location and the diagnostic criteria, To generate a diagnostic signal indicating the detected diagnostic state, Includes, The hydraulic actuator is Cylinder and An actuator rod including a piston housed within the cylinder, Equipped with, The movement of the piston and the actuator rod relative to the cylinder drives the operation. The housing of the control valve is An inlet port connected to the supply unit for high-pressure working fluid, An outlet port connected to a low-pressure return reservoir, A first port connected to the first working volume formed by the inside of the cylinder and the piston, A second port connected to the inside of the cylinder and the second working volume formed by the piston, Equipped with, The position of the valve body controls the flow rate of the working fluid, which is received at the inlet port, by directing it to one of the first port and the second port, or not directing it to either the first port or the second port. The test station includes an operating sensor configured to generate a feedback signal indicating the parameters of the operation, The aforementioned method, To generate a control reference signal corresponding to the desired operation based on the test program, The actuator command signal is generated based on the difference between the control reference signal and the feedback signal. Includes, The actuator command signal is used to instruct the valve body drive unit to adjust the position of the valve body. The current position of the valve body is acquired by the at least one controller during the execution of a test program by the test station, and the diagnostic criteria include the predicted position of the valve body based on at least one preceding execution of the test program. The diagnostic criteria include the maximum speed of the actuator rod, and / or the diagnostic criteria include operating parameters related to the feedback signal. method.

6. The aforementioned operating sensor includes a displacement sensor, The feedback signal indicates the direction or speed of movement of the actuator rod relative to the cylinder. The aforementioned operating parameters are related to the direction of movement or the velocity indicated by the feedback signal. Or, The aforementioned operating sensor includes a load cell, The feedback signal indicates the force applied by the hydraulic actuator. The aforementioned operating parameter is related to the force indicated by the feedback signal, The method according to claim 5.

7. The method includes taking safety measures when the difference satisfies a threshold condition, The aforementioned safety measures are: To emit an audible and / or visible alarm or signal, To issue electronic notifications, To instruct the valve body drive unit to adjust the position of the valve body so as to restrict or block the flow of the working fluid to the hydraulic actuator, and / or, To close the safety inlet valve that controls the flow of the working fluid to the hydraulic actuator, including, The method according to claim 5 or 6.

8. A dynamic testing system, It is a test station, A plurality of hydraulic actuators, each configured to receive a working fluid flow and to use the working fluid flow to drive the operation of the object under test during the test, A plurality of control valves, each control valve corresponding to one of the hydraulic actuators, Housing and A valve body housed within the housing has a position that controls the flow rate and direction of the corresponding working fluid flow, A valve body drive unit configured to adjust the position of the valve body based on a reference signal, A valve position sensor configured to output a position signal indicating the position of the valve body, Multiple control valves equipped with, A test station equipped with, At least one controller, Using the corresponding position signals, the current position of each valve body of the control valve at a certain point in time during the execution of the test program is obtained. Based on the acquired current position of the control valve, the total flow rate of the working fluid at that time is estimated. Based on at least one prior execution of the test program, the predicted total flow rate corresponding to the time point is obtained. The diagnostic status is detected based on the difference between the estimated total flow rate and the predicted total flow rate. A diagnostic signal is generated that indicates the detected diagnostic state. A controller configured as follows: Equipped with, The system includes mapping the total flow rate of the working fluid during at least one preceding run of the test program, The predicted total flow rate corresponds to the total flow rate shown by the mapping at the aforementioned time point, and / or, The aforementioned at least one controller is For each control valve, the predicted position of the valve body corresponding to the time point is obtained based on the at least one preceding execution of the test program, The predicted total flow rate of the working fluid is calculated based on the sum of the predicted positions, A process including is configured to obtain the predicted total flow rate corresponding to the aforementioned time point, Dynamic testing system.

9. Each of the aforementioned hydraulic actuators is Cylinder and An actuator rod including a piston housed within the cylinder, Equipped with, The movement of the piston and the actuator rod relative to the cylinder drives the operation. Each of the housings of the control valves is An inlet port connected to the supply unit for high-pressure working fluid, An outlet port connected to a low-pressure return reservoir, A first port connected to the first working volume formed by the inside of the cylinder and the piston, A second port connected to the inside of the cylinder and the second working volume formed by the piston, Equipped with, For each control valve, the position of the valve body is such that it directs the working fluid flow received at the inlet port to either the first port or the second port, or does not direct it to either the first port or the second port, thereby controlling the flow rate of the working fluid flow. The dynamic testing system according to claim 8.

10. Each hydraulic actuator is equipped with a corresponding actuation sensor configured to generate a feedback signal indicating the corresponding parameters of the actuation, The aforementioned at least one controller is A control reference signal is generated for each control valve corresponding to the desired operation by the corresponding controller based on the test program. Based on the difference between the control reference signal and the corresponding feedback signal, actuator command signals are generated for each control reference signal. It is configured in such a way, Each actuator command signal instructs the corresponding valve body drive unit to adjust the position of the valve body. The dynamic testing system according to claim 9.

11. The at least one controller is configured to perform safety measures when the difference satisfies a threshold condition. The aforementioned safety measures are: To emit an audible and / or visible alarm or signal, To issue electronic notifications, Instructing the valve body drive unit to adjust the position of the corresponding valve body so as to restrict or block the flow of the working fluid to the hydraulic actuator, and / or, To close the safety inlet valve that controls the flow of the working fluid to the hydraulic actuator, including, A dynamic testing system according to any one of claims 8 to 10.

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