MODULAR HYDRAULIC TEST AND CONTROL SYSTEM
Patent Information
- Application Number
- TR202614952
- Authority / Receiving Office
- TR · TR
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2026-09-01
- Publication Date
- 2026-09-21
Smart Images
Figure 00000026_0000
Abstract
Description
1 TARIFF MODULAR HYDRAULIC TEST AND CONTROL SYSTEM TECHNICAL AREA 5 The invention relates to the development, verification, and testing of hydraulic and / or electrohydraulic systems. It relates to a modular hydraulic test and control system for implementation. PREVIOUS TECHNIQUE 10 Development, verification, and testing of hydraulic and electrohydraulic systems. taking measurements from sensors in processes, electric motors and hydraulic valves driving, evaluating feedback data and generating control commands. These systems require LVDT, pressure sensor, load cell, Hall sensor and 15 Different types of sensors, such as encoders, are used, and these sensors have electrical properties. Their outputs can differ from each other. Similarly, servo valves, proportional valves, proportional directional control valves, direct actuated valves, poppet and solenoid valves, DC Motors and BLDC motors require different voltage, current, or driving signals. Therefore, hydraulic test setups, various measuring instruments, signal converters, motor 20 drivers, valve drivers, communication units and control elements are used together. It consists of structures. Current applications involve reading sensors, controlling motors, and hydraulics. Different manufacturers may use separate equipment for operating the valves. This 25 Additional protocol converters and connectors are needed to enable the hardware to work together. components, programmable logic controllers, automation panels or Application-specific control panels may be required. Different electrical inputs and outputs. Connecting equipment with similar structures to the same test setup using cables and connectors. increasing the number, causing connection incompatibilities and affecting signal quality. connection 30 This makes it dependent on the length and interfaces used. Also, the size of the system... the increase in area, the complexity of the installation, and the source of a malfunction that occurs Problems such as difficulty in identification arise, especially at high resolution. In applications using sensors, servo valves, and multiple communication structures These integration difficulties are becoming more apparent. 35 2 In conclusion, all the problems mentioned above necessitate an innovation in the relevant technical field. It has made it mandatory. A BRIEF DESCRIPTION OF THE INVENTION The present invention aims to eliminate the aforementioned disadvantages and contribute to the relevant technical field. It is related to a modular test and control system, designed to bring new advantages. One aim of the invention is to provide different electrical outputs used in hydraulic and electrohydraulic systems. A modular 10 that enables sensors with different structures to be read through a common system. The goal is to establish a test and control system. Another purpose of the invention is to adapt electric motors, servo valves, proportional hydraulic valves, by driving direct actuator valves and electrohydrostatic actuators from these elements The evaluation of the received feedback data is done within the same control architecture. 15 The goal is to create a system that makes this happen. Another objective of the invention is to compare sensor measurements with target values. By enabling the updating of motor and valve drive commands, position and / or pressure based The goal is to develop a system capable of performing closed-loop control. 20 Another purpose of the invention is to provide the necessary sensor reading, communication, and actuator control. allowing modules to be used separately or together depending on project requirements The goal is to establish a system. Another purpose of the invention is to connect adapters, driver boards, and programmable boards from different manufacturers. By reducing the need for a logic controller and a dedicated control panel, it reduces the number of connections and cables. The goal is to create a structure that limits the complexity and scope of the system. Another objective of the invention is to enable multiple actuator control modules to use a common CANBUS 30. connecting to the communication structure and controlling the aforementioned actuator with the main control module. Address and / or identification information between modules via a CANBUS distributor module. a scalable test and control system that enables command and data routing. to reveal. 35 Another purpose of the invention is to enable the operation of multiple hydraulic valves and / or electrohydrostatic actuators. In applications that need to run simultaneously, the main control module has multiple components. 3 a module that allows the actuator to transmit time-synchronized control commands to the control module The goal is to establish a system. Another objective of the invention is to enable embedded control software to handle real sensor and actuator inputs and... The outputs are developed, installed, verified, and processed in a desktop environment. 5 The goal is to create a system that allows for debugging. All the purposes mentioned above and those that will emerge from the detailed explanation below. The present invention is intended to implement hydraulic and / or electrohydraulic systems. a modular hydraulic test and control system for development, verification and testing 10 It is related to this. Accordingly, the innovation lies in measuring from at least one sensor with different electrical outputs. It must include at least one sensor readout module configured to receive data from the servo valve. control module, proportional hydraulic valve control module, direct actuator valve control module and at least one actuator selected as at least one of the electrohydrostatic actuator control modules. It includes a control module, a sensor reading module, and actuator control within the system. 15 connected to the sensor reading module in order to exchange data with it. It generates at least one control command based on the measurement data it receives, and the aforementioned control... at least one master control module that transmits the command to the actuator control module in the system It includes. Thus, the type of valve or actuator to be driven is determined by reading different sensors. Selecting the appropriate actuator control module within a common and modular control architecture 20 by carrying out feedback testing and control processes in an integrated manner. is provided. A feature of a possible configuration of the invention is that the main control module and the components in the system... Measurement data, status information and control command between a small actuator control module 25 It includes a CANBUS line that enables the data transfer to take place. Thus, the modules regular exchange of measurement, status and control data between them via a common communication line and reliable transmission is ensured. A feature of a possible configuration of the invention is the communication between the main control module and different 30 modules. to enable data exchange between at least one external device using its protocols Including at least one of the following connections: Ethernet, RS-232, RS-485, CANBUS, Bluetooth, and I²C. It includes a communication module. Thus, the system can support different communication protocols. data exchange with external devices, test setups and automation systems. It is possible to accomplish this. 35 4 A feature of a possible configuration of the invention is the differential of the sensor reading module. a device with at least one of the following outputs: millivolt, 4-20 mA, 0-10 V, digital, I²C, SPI and pulse. It is configured to receive measurement data from the sensor. Thus, different electrical The need for additional and separate signal reading equipment for sensors with output structures. By reducing the number of measurements, it is ensured that they are connected to a common measurement infrastructure. 5 A feature of a possible configuration of the invention is that the sensor reading module consists of an LVDT, a load cell, pressure sensor, Hall sensor, encoder, PT100 and / or PT1000 type temperature sensor, other temperature sensors, humidity sensor, thermocouple, light sensor, accelerometer and gyroscope It must be configured to receive measurement data from at least one of its sensors. Thus, 10 different physical properties relating to position, force, pressure, temperature, motion and environmental conditions Measuring and evaluating quantities via the same sensor reading module It is possible. A characteristic of a possible configuration of the invention is that it controls at least one electrohydrostatic actuator. 15 It includes a module and an electrohydrostatic actuator control module to drive a BLDC motor. To provide three-phase PWM outputs for phases U, V, and W, and to drive at least one hydraulic valve. This includes digital and / or PWM valve drive outputs. Thus, the BLDC motor The operation of the hydraulic valves and their operation are coordinated through the same control module. By implementing this, integrated control of the electrohydrostatic actuator is achieved. 20 is provided. A feature of a possible configuration of the invention is that the electrohydrostatic actuator control module, To determine the rotor position of a BLDC motor, at least three motors with a phase difference relative to each other are required. Hall sensor input and phase current measurement inputs for measuring motor phase currents 25 This involves monitoring the rotor position and phase currents of the BLDC motor. The engine's driving condition and operating conditions can be evaluated. A feature of a possible configuration of the invention is that the electrohydrostatic actuator control module, electrohydrostatic actuator and / or a movable element in the electrohydrostatic actuator 30 At least one LVDT input and at least one hydraulic circuit to determine its position It must include at least one pressure sensor input to determine the pressure at that point. Thus, The direct relationship between the actual position of the electrohydrostatic actuator and the hydraulic circuit pressure This allows for monitoring and the use of this data in feedback control processes. 35 A feature of a possible configuration of the invention is the electrohydrostatic actuator control module. at least one of the following data: position data, pressure data, motor rotor position data, and phase current data. by evaluating and updating the BLDC motor and / or hydraulic valve drive outputs. It is structured in such a way that the motor is configured according to the feedback data received from the actuator. and / or updating the valve drive outputs, thereby changing the electrohydrostatic actuator. It is ensured that working conditions are properly controlled. A characteristic feature of a possible configuration of the invention is that it includes at least one servo valve control module. and the servo valve control module is designed to drive at least one servo valve in current-controlled mode. It must contain at least one valve drive channel. A servo valve control module can drive multiple valves. In systems that include channels, servo valves can be driven independently of each other. In configurations where the driven servo valve has LVDT feedback, the servo valve is 10. The control module determines the actual position of the servo valve by driving the relevant valve. It can include at least one LVDT input associated with the channel. Thus, LVDT feedback Servo valves that are not present can be driven by current control; LVDT feedback. The servo valves in question are then monitored for closed-loop control by tracking their positions. It can be accomplished. 15 A feature of a possible configuration of the invention is that each servo in the servo valve control module Driving current for the valve in at least one of the following driving ranges: ±20 mA, ±40 mA or ±100 mA It is the production of. In configurations without LVDT feedback, the servo valve, beforehand It can be driven with current control according to the specified driving current. LVDT back 20 In systems with power supply, the servo valve control module determines the target valve position value. The driving is based on the difference between the actual valve position determined via LVDT and the actual valve position. It can update the current. Thus, servo valves can be used with or without feedback. This allows for control within different driving current ranges. A feature of a possible configuration of the invention is that the actuator control module to be controlled Depending on the valve or actuator type, servo valve control module, proportional hydraulic valve control module, from the direct actuator valve control module and electrohydrostatic actuator control module It is structured in such a way that only one of them can be selected. Thus, the valve to be driven or A control module suitable for the actuator type can be integrated into the same main control architecture. 30 A characteristic feature of a possible configuration of the invention is at least one proportional hydraulic valve control module. It includes and controls the proportional hydraulic valve control module, which supplies current and voltage to a proportional hydraulic valve. and / or is configured to transmit a driving signal of a PWM nature. Proportional The hydraulic valve can be configured as a proportional directional control valve. Thus, the valve opening can be 35°. and / or control of hydraulic flow and / or pressure by gradually adjusting the direction is provided. 6 A characteristic feature of a possible configuration of the invention is at least one direct-acting valve control module. including and direct actuator valve control module, inside the direct actuator valve direct positioning of the movable valve element by electrical drive signal It is configured to provide this. The module in question is the main control module. Depending on the control command it receives, the directly actuated valve is supplied with current, voltage and / or PWM. It can transmit driving signals; feedback such as valve position, pressure, flow and / or actuator position. It allows the driving command to be updated according to the feed data. A feature of a possible configuration of the invention is the sensor reading of the main control module. position 10 received from the module and / or actuator control modules in the system and / or pressure data to a predetermined target position value and / or target pressure comparison with the value and, based on the comparison result, the relevant actuator control module. It performs closed-loop control by updating the transmitted control command. Thus, Control to ensure measured position and / or pressure values are kept within target values. The commands are updated based on feedback. 15 A characteristic feature of a possible configuration of the invention is the use of multiple hydraulic valves and / or In cases where the electrohydrostatic actuator needs to be controlled, the main control module At least one CANBUS distributor module located among multiple actuator control modules It includes. The CANBUS distributor module receives control commands from the main control module. It directs according to the address and / or identification information of the relevant actuator control module and the relevant measurement data, status information and / or error information from actuator control modules It transfers the system capacity to the main control module. Thus, the control architecture of the system capacity. It is scaled without modification. The characteristic of a possible configuration of the invention is a single hydraulic valve or electrohydrostatic valve. In the case where the actuator is being controlled, the relevant actuator control module is connected to the main control module. direct connection via CANBUS; multiple hydraulic valves and / or In cases where an electrohydrostatic actuator is controlled, multiple actuators can be controlled. The module is connected to the main control module via the CANBUS distributor module. 30 A feature of a possible configuration of the invention is that the main control module has multiple actuators. by transmitting time-synchronized control commands to the control module, multiple hydraulic valves can be controlled. and / or enables the simultaneous operation of the electrohydrostatic actuator. Thus, more than one 35 test and control applications where multiple valves or actuators need to work together This is possible through a shared control architecture. 7 A feature of a possible configuration of the invention is that the main control module is connected to an external computer. a USB connection that enables data linking and loading of control software and includes a JTAG and / or SWD interface that enables debugging. Thus, Loading the control software onto the target hardware, actual sensor and actuator input and Running and debugging operations using the outputs in the desktop environment 5 It is possible to achieve this. A feature of a possible configuration of the invention is that the main control module is predetermined. sequential control of at least one actuator control module in the system according to a test sequence transmitting commands, position, pressure and / or motor current data obtained during the test 10 recording and / or transferring the measurement data to an external computer and pre-determined If it goes outside the limits, it will stop the test and / or generate an error. Thus, while repeated and sequential testing procedures are performed automatically, the measurement data is collected. monitoring, recording and testing in deportation working conditions safely This ensures that it is stopped. 15 The characteristic of a possible construction of the invention is that it differs from the target values, tolerance ranges, control parameters, test sequences, module settings, module addresses and / or from identity information, measurement data, status information and error conditions at least one memory unit that stores at least one of the following and is connected to the main control module 20 This includes the operation, configuration, monitoring, and test results of the system. The data used for evaluation is stored in a memory unit connected to the main control module. It ensures that it can be stored and reused when needed. BRIEF DESCRIPTION OF THE FIGURE 25 Figure 1 shows the modular hydraulic test and control system, which is the subject of the invention, and includes an external computer, communication module, main control module, sensor reading module, CANBUS distributor module and showing actuator control modules that can be selected according to different valve or actuator types. A schematic block diagram is given. 30 DETAILED DESCRIPTION OF THE INVENTION This detailed explanation describes the subject of the invention, aiming to provide a better understanding of the subject and avoiding any unnecessary complications. This is explained through examples of structures that will not create a limiting effect. 35 8 Modular hydraulic test and control system (1), hydraulic and electrohydraulic systems taking measurement data during development, verification and testing, word The subject is the processing of data, the driving of electric motors and hydraulic valves, and their return. It is a system that enables the implementation of feed-based control operations. Modular. hydraulic test and control system (1); sensor reading module (30), electrohydrostatic 5 actuator control module (40), servo valve control module (50), proportional hydraulic valve control module (51), direct actuator valve control module (52) and communication The module is organized as separate modules that perform (20) different technical tasks and communication line between the main control module and the required modules (10) (100) can be linked via 10 depending on the project requirement. It can be configured. Multiple actuator control modules are used. CANBUS between the main control module (10) and actuator control modules in the configurations The distribution module (120) can be located. Thus, only sensor measurement and data collection A study can be conducted in which the operations are performed, or a valve or actuator to be driven. An integrated and feedback control structure in which the appropriate control module is selected according to its type is also 15 It can be created. The term actuator control module refers to electrohydrostatic actuator control. module (40), servo valve control module (50), proportional hydraulic valve control module (51) and It refers to at least one of the direct actuated valve control modules (52). Modular hydraulic test and control system (1), at least one main control module (10), at least one 20 sensor reading module (30) and electrohydrostatic actuator control module (40), servo valve control module (50), proportional hydraulic valve control module (51) and direct actuated valve It includes at least one of the control modules (52). Main control module (10), sensor reading data exchange with module (30) and at least one actuator control module in the system. It is connected in such a way as to perform. The modular hydraulic test and control system (1), also different 25 exchanging data with external devices that use communication protocols at least one communication module (20) and more than one actuator control module providing In the configurations where it is used, it can include at least one CANBUS distributor module (120). Data transfer between the mentioned modules requires at least one intermodule communication line (100) This can be done through. The system also requires at least one sensor group (60), 30 in the system Depending on the control module located, at least one electrohydrostatic actuator (70), servo valve (80), proportional hydraulic valve (81) and / or direct actuator valve (82) with at least one external Computer (90) can be connected. Main control module (10), modular hydraulic test and control system (1) common operation 35 It is a central control unit that manages the system. Main control module (10), sensor reading from module (30) and electrohydrostatic actuator control module (40) in the system, servo 9 valve control module (50), proportional hydraulic valve control module (51) and / or direct actuator It receives measurement data and status information from the valve control module (52). Measurement data and status information are applied to the test sequence conducted, against predetermined target values. or is processed according to the control algorithm run in the main control module (10). Main control module (10), control of the relevant actuator in the system as a result of the mentioned process 5 It generates control commands to be passed to the module. Modular hydraulic test and control system (1) is connected to at least one main control module (10). Memory unit (110) can contain. Memory unit (110); target location value and target Predetermined target values including at least one of the pressure values, tolerance 10 ranges, predefined limits, test sequences, control parameters, module settings, module address and / or identification information, measurement data, status information, and It stores error conditions. This status information relates to modules and system components. whether the components are ready, active, deactivated or in a fault state, the engine and valves the working status, the status of inter-module communication and the continuation of the test being conducted 15 at least one piece of information relating to its commencement, completion or termination It may include the aforementioned target values, test sequences, control parameters, and modules. The settings can be saved in advance to the memory unit (110) and / or to an external computer (90) It can be transferred via. The main control module (10) stores in the memory unit (110) Measurement according to target values, test sequences, control parameters and module settings 20 It processes data and / or status information and issues at least one control command as a result of the processing. It consists of the memory unit (110), which is internal to the main control module (10). It can be an external memory connected to a memory or main control module (10). The main control module (10) only collects the measurement data from the sensors and 25 It can work in such a way as to enable transfer to an external computer (90). In addition main control module (10) converts the measurement data to predetermined target values It can perform a feedback control operation by comparing sensors. For example, a sensor group. If the position measured by (60) differs from the target position value, the main control module (10) transmits the drive to the relevant actuator control module in the system 30 updating the command; the relevant actuator control module, according to the updated control command. The valve and / or actuator adjusts the drive output. Similarly, the measured hydraulic pressure... If the pressure falls outside the target value, the motor or valve drive command is changed. The operating status of the hydraulic system is being adjusted. 35 Communication module (20), modular hydraulic test and control system (1) with different communication enabling data exchange between external devices that use protocols The communication module (20) provides Ethernet, RS-232, RS- in possible configurations. The 485 includes at least one of the following connections: CANBUS, Bluetooth, and I²C. This allows Modular hydraulic test and control system (1) provides a test setup, automation system, data It can be connected to the collection system or an external computer (90). Communication module (20) Data that the main control module (10) can process from different protocols 5 It can convert the data generated by the main control module (10) into its structure and the relevant It can transmit to an external system. The sensor reading module (30) is located in the sensor group (60) and has different electrical outputs. It enables the acquisition of measurement data from sensors with specific structures. Sensor reading 10 module (30), analog voltage, differential millivolt, 4-20 mA, 0-10 V, digital, I²C, SPI and pulse It can be configured to receive at least one of the sensor signals of this nature. The sensor reading module (30) reads the electrical signal received from the sensor, and the signal in question an input suitable for voltage, current, differential voltage, digital data or pulse. It receives it through the circuit. The sensor reading module (30) is an analog sensor 15 by subjecting the main signal to at least one of the following processes: amplification, attenuation and / or filtering. can bring the signal to a range that the control module (10) can read and, if necessary It can convert measurement data into digital, I²C, SPI, or pulse-based formats. Sensor signals are received via the relevant digital input or communication link. It is transferred to the main control module (10) for processing. 20 Sensor group (60) indicates the operating status of the hydraulic or electrohydraulic system being tested. It includes one or more sensors that detect related physical quantities. The aforementioned sensor group (60), LVDT in possible configurations, pressure sensor, load cell, Hall sensor, encoder, PT100 and / or PT1000 type resistance temperature sensor, other temperature 25 sensors, at least one of which is a humidity sensor, thermocouple, light sensor, accelerometer, and gyroscope. LVDT includes a shaft, valve element or electrohydrostatic actuator (70) It can be used to determine the position of a moving part. Load cell The pressure sensor measures the applied force at the relevant point in the hydraulic circuit. Pressure determination is performed using a PT100 and / or PT1000 type resistance temperature sensor at a temperature of 30°C. The Hall sensor and encoder determine the position of a motor or moving part. It enables the acquisition of motion information. The sensor reading module (30) reads different types of measurement data received from the sensor group (60). This allows for inclusion in a common data collection structure. In this context, location, 35 Measurement data relating to pressure, force, temperature, motion and environmental conditions together. The data can be obtained and correlated with time information. The obtained measurement data is used for main control. 11 by module (10) to the electrohydrostatic actuator control module (40) in the system, servo valve control module (50), proportional hydraulic valve control module (51) and / or as a result of the control commands transmitted to the direct actuated valve control module (52) It can be used to evaluate the changes that have occurred. The electrohydrostatic actuator control module (40) controls the electrical actuator (70). It enables the control of the motor and hydraulic valves. Electrohydrostatic Actuator control module (40), driving a three-phase BLDC motor in a possible configuration. It generates PWM outputs for the U, V, and W phases. electrohydrostatic actuator control module (40), also one or more 10 located in the electrohydrostatic actuator (70) Digital or automatic control for opening, closing, or adjusting the driving distance of the hydraulic valve. It produces valve drive outputs in the form of PWM. The electrohydrostatic actuator control module (40) receives from the electrohydrostatic actuator (70). It is structured to evaluate feedback data. In this context, 15 electrohydrostatic actuator control module (40) for determining the motor rotor position. At least three Hall sensor inputs with a phase difference relative to each other, the phase currents of the motor Phase current measurement inputs for measurement, at least one for determining actuator position. At least one pressure sensor input for determining LVDT input and hydraulic circuit pressure. It can include the electrohydrostatic actuator control module (40), the inputs in question are 20 It receives motor rotor position data, phase current data, position data, and pressure data from the device. can evaluate the data through a local control algorithm or the aforementioned It can transmit data to the main control module (10). The electrohydrostatic actuator (70) is a hydraulic pump driven by an electric motor. 25 the hydraulic flow generated by this means is directed through one or more valves. It is an electrohydraulic actuator structure that generates mechanical motion. The electrohydrostatic actuator (70) can be configured with a BLDC motor, hydraulic pump, Hydraulic valves include a movable actuator element and feedback sensors. The electrohydrostatic actuator control module (40) drives the motor and valves together. By controlling the operation of the electric motor, it regulates the hydraulic flow paths. The direction is carried out in a coordinated manner. Electrohydrostatic actuator control module (40), intermodule communication line (100) via target position value, target pressure value, direction of movement and / or test sequence information 35 It can receive. The mentioned module activates the electrohydrostatic actuator (70) according to the commands received. The current and actual status, pressure, motor rotor position, phase current, and fault condition are being monitored. 12 at least one of the data points is transmitted to the main control via the intermodule communication line (100). It transmits the position and pressure to the module (10). The main control module (10) transmits the position and pressure. electrohydrostatic by comparing the data with the target values stored in the memory unit (110) It can update the control command transmitted to the actuator control module (40). Main control module (10) transmits the motor rotor position and phase current data to the electrohydrostatic actuator (70) 5 to monitor the working conditions and evaluate the test conducted. can be used. However, if the data in question exceeds the predetermined limits or If an error condition is received, the main control module (10) sends the driving command. can modify, stop the test and / or put the system into a safe operating state. It can pass the received measurement data and error conditions in the memory unit (110) 10 can be stored and / or transferred to an external computer (90). The servo valve control module (50) controls the current of at least one servo valve (80). It enables the driving of the servo valve control module (50), at least one valve driving channel. It includes. In the preferred configuration, the servo valve control module (50) contains two servo valves (80) 15 It has two valve drive channels that control each other independently. Each valve drive The channel transmits the driving current to the relevant servo valve (80). The servo valve control module (50) transmits the LVDT current. Servo valves (80) without feedback according to the predetermined driving current It can control. The driven servo valve (80) has LVDT feedback. In the configurations, the servo valve control module (50) is the 20 moving element of the servo valve. At least one LVDT associated with the relevant valve drive channel to determine its actual position. It may include an introduction. Servo valve control module (50), in possible configuration, servo valve (80) ±20 mA, ±40 mA or ensures that it is driven in at least one of the ±100 mA driving ranges. Driving 25 The direction of the current determines the direction of movement of the servo valve (80), and the magnitude of the drive current determines the direction of movement of the valve. It determines the opening or the amount of valve movement. LVDT feedback is absent. In the configuration, the servo valve control module (50) receives control from the main control module (10). It applies the driving current determined according to the command to the servo valve (80). LVDT return In the configuration with power supply, the servo valve control module (50), main control 30 It generates a driving current according to the target valve position value it receives from the module (10) and The actual valve position determined via LVDT is compared with the target valve position value. It compares them. Based on the position difference determined as a result of the comparison, the driving flow is determined. It is being updated. 35 Servo valve (80) enables precise direction or adjustment of hydraulic flow. It is a hydraulic control element that provides multiple servo valves (80) with the same servo valve. 13 Control via control module (50), mutually operating valves or the same hydraulic It ensures the coordinated operation of valves that control different branches of the circuit. The servo valve control module (50) provides driving currents and status information, as well as LVDT feedback. In the structures with supply, the valve positions are determined via the intermodule communication line (100) It can report to the main control module (10) via it. 5 The proportional hydraulic valve control module (51) controls the electrical operation of at least one proportional hydraulic valve (81). It enables gradual control via driving signal. Proportional hydraulic valve The control module (51) acts proportionally according to the control command it receives from the main control module (10). It can transmit a current, voltage and / or PWM type driving signal to the hydraulic valve (81). 10 Feedback data such as valve position, pressure, flow and / or actuator position are read from the sensor. main control via module (30) and / or proportional hydraulic valve control module (51) can be transferred to module (10) and the driving command can be given according to the mentioned feedback data. It can be updated. Proportional hydraulic valve (81) adjusts the valve according to the magnitude of the applied electrical drive signal. a hydraulic control in which the opening and / or hydraulic flow direction can be adjusted incrementally It is an element of the proportional hydraulic valve (81), a proportional directional control valve in possible configurations. It can be configured as such. In addition, the system can be controlled by the actuator to be used. 20 in driving poppet and / or solenoid valves depending on the drive outputs of the module It can also be used. The direct actuated valve control module (52) is in the structure of a direct actuated valve (82). direct positioning of the movable valve element by electrical drive signal It is configured to provide. Direct actuated valve control module (52), main 25 According to the control command received from the control module (10), current is supplied to the direct actuated valve (82). It can transmit driving signals in the form of voltage and / or PWM; valve position, pressure, flow the driving command according to feedback data such as actuator position. It allows for updating. A direct actuator valve (82) is an electrical actuator of the movable valve element within a hydraulic valve. It is a valve structure that is directly positioned via electromagnetic actuation. The design provides fast response and precision thanks to the direct actuation of the movable valve element. It can be used in applications that require location tracking. 35 Intermodule communication line (100), communication module between main control module (10) (20), sensor reading module (30) and electrohydrostatic actuator control in the system. 14 module (40), servo valve control module (50), proportional hydraulic valve control module (51) control command, measurement data and between and / or direct actuated valve control module (52) It enables the transmission of status information. The main control module (10) and the system have Data transfer between actuator control modules, in a possible configuration, via CANBUS. This is done via. Multiple actuator control modules can be integrated into the system. CANBUS distributor module (120) in the structures to which it is connected, intermodule communication located in the part of the line (100) between the main control module (10) and the actuator control modules It can receive data between the main control module (10) and the sensor reading module (30). The data transfer can be performed via I²C and / or SPI connection, sensor reading Analog signals received from module (30) are sent to the analog inputs of the main control module (10) It can be transferred. Between the main control module (10) and the communication module (20), SPI is used. At least one of the following connections is available: UART, I²C, and CANBUS. In a configuration where a single hydraulic valve or electrohydrostatic actuator is controlled, the relevant electrohydrostatic actuator control module (40), servo valve control module (50), proportional 15 hydraulic valve control module (51) or direct actuated valve control module (52) main control It can be connected directly to the module (10) via CANBUS. Multiple hydraulic In a configuration where the valve and / or electrohydrostatic actuator is controlled, CANBUS Distributor module (120), main control module (10) and multiple actuator control module It is located between them. CANBUS distributor module (120), main control module (10) 20 It assigns the received control commands to the address and / or identification information of the relevant actuator control module. It directs and processes the measurement data and status information coming from the actuator control modules accordingly. and / or transmits error information to the main control module (10). For this purpose, each actuator An address and / or identification information can be defined for the control module. The main control module (10) controls multiple hydraulic valves and / or electrohydrostatic actuators. If they need to be operated simultaneously, more than one can be operated via the CANBUS distributor module (120). Multiple actuators can transmit time-synchronized control commands to the control module. The aforementioned control commands are the address and / or identification numbers of the relevant actuator control modules. This information is associated with different valves and / or actuators, thus allowing them to be controlled by the same system. 30 running synchronously or according to a predetermined time relationship within the cycle It can be provided. Configuration of the external computer (90), modular hydraulic test and control system (1), It is used for monitoring, programming, and recording measurement data. 35 A user interface running on an external computer (90), in other words a PC GUI, target values, test sequences, control parameters, and module settings are user-defined. to be determined by and to monitor error conditions with measurement data It can provide. The external computer (90) can connect directly to the main control module (10) or It can be connected via the communication module (20). Main control module (10) and external The connection between the computer (90) is via USB in the possible configuration. is being carried out. 5 The main control module (10) is used for loading and debugging the control software. It may have a JTAG and / or SWD interface for implementation. This structure Thanks to this, embedded control software can be run directly on the target hardware, Software verification using real sensor and actuator inputs and outputs 10 This can be done. Thus, a desktop environment is not required to set up a comprehensive automation control panel. In this environment, it is possible to develop and test hydraulic control software. Based on all that has been said, the invention fulfills its function in the following way: In a sample working case of the modular hydraulic test and control system (1), external a target position value from the computer (90) to the main control module (10) It is transferred. The mentioned target position value is in the memory associated with the main control module (10). It is stored in unit (110). The main control module (10) stores the target position value in the modules. 20 via communication line (100) to electrohydrostatic actuator control module (40) It transmits. The electrohydrostatic actuator control module (40) transmits in the electrohydrostatic actuator. (70) by driving the electric motor and hydraulic valves located in the electrohydrostatic actuator (70) It moves its movable element towards the target position. Electrohydrostatic The actual position of the actuator (70) is associated with at least one electrohydrostatic actuator (70). It is determined by the LVDT. The AC differential position generated by the LVDT is 25. The signal is transmitted to the corresponding LVDT input of the electrohydrostatic actuator control module (40). The determined actual position is compared with the target position value, and the position between them is calculated. Depending on the difference, the driving commands for the BLDC motor and / or hydraulic valves are updated. As the actual position approaches the target position value, the driving command can be reduced, and The position of the electrohydrostatic actuator (70) is stored in the memory unit (110) with a tolerance of 30. It can be maintained within this range. Thus, even under varying load and pressure conditions. the electrohydrostatic actuator (70) is brought to the target position and in that position It is possible to ensure that it is kept in place. In a sample working case for servo valve control, the main control module (10) has memory 35 control command stored in unit (110) or transmitted via external computer (90) It transmits to the servo valve control module (50). The servo valve control module (50) controls 16 According to the command, the servo valve (80) must drive at least from the ±20 mA, ±40 mA or ±100 mA ranges. One of them applies a driving current. The direction of the driving current is the direction of movement of the servo valve (80), Its magnitude determines the valve opening or the amount of movement. LVDT feedback. In the configuration where the missing servo valve (80) is used, the servo valve control module (50), Current-controlled driving is achieved by applying the specified driving current to the servo valve (80). It is performed using a servo valve (80) with LVDT feedback. In the configuration, the main control module (10) connects to the servo valve control module (50) and a target valve. The position value is transmitted. The actual position of the moving element of the servo valve (80) This is determined via the relevant LVDT and compared with the target valve position value. Based on the position difference determined by the comparison, the drive current is updated to servo 10. Closed-loop control of the valve (80) is performed. Multiple valve drive channels If a servo valve control module (50) is used, the servo valves (80) can be separated from each other. to independently or coordinately manage different arms of the same hydraulic circuit It can be controlled in this way. In a sample study of proportional hydraulic valve control, the main control module (10), target valve opening, target flow, target pressure and / or target actuator position A control command to the proportional hydraulic valve control module (51) according to at least one of its information. It transmits. The proportional hydraulic valve control module (51) transmits the mentioned control command according to the command. a driving signal of current, voltage and / or PWM type to the proportional hydraulic valve (81) 20 It applies. Valve position, pressure, flow and / or received via sensor group (60). At least one of the actuator position data can be fed back to the main control module (10) and The driving command can be updated based on the difference between the measured value and the target value. In a sample working case for direct actuator valve control, the main control module is 25 (10) directly according to the target valve position and / or target operating value of the hydraulic system It transmits a control command to the direct actuated valve control module (52). Direct actuated valve The control module (52) directly drives the movable valve element of the direct actuated valve (82) a driving signal in the form of current, voltage and / or PWM to position It consists of at least one of the following data points: valve position, pressure, flow and / or actuator position. The driving signal can be updated by using feedback data. In another working scenario, the pressure sensor located in the sensor group (60) is used. pressure data, sensor reading module (30) and / or relevant actuator control in the system. It is transmitted to the main control module (10) via the module. The main control module (10) 35 the measured pressure value compared with the target pressure value stored in the memory unit (110). It compares the measured pressure with the target pressure value. If the measured pressure is lower than the target pressure value, the relevant 17 The driving command transmitted to the motor and / or hydraulic valve can be increased; the measured pressure can be adjusted to the target. If the pressure exceeds a certain value, the driving command in question can be reduced. If the measured pressure exceeds the predetermined safe operating limits The main control module (10) can stop the relevant motor and / or hydraulic valve, ensuring the system is safe. It can switch to a working state and generate an error state. Thus, 5 operating the hydraulic system around the target pressure and avoiding overpressure This ensures that potential negative consequences are limited. During the repetitive motion test, the main control module (10) stores in the memory unit (110) According to the test sequence, the electrohydrostatic actuator (70) moves forward and forward between the specified positions and 10 It creates a series of control commands that cause it to move backward. Each movement during which the position of the electrohydrostatic actuator (70), hydraulic circuit pressure, BLDC motor Measurement data such as rotor position and phase currents are collected. The aforementioned measurement data... It can be stored in the memory unit (110) and / or externally by associating it with time information. can be transferred to the computer (90). The main control module (10) stores the measurement data in memory 15 It can compare with the limit values stored in the unit (110); position, pressure or engine The test is terminated if at least one of the stream data points falls outside the predetermined limits. It can stop the process and generate an error message. The generated error message is relevant to the situation. The measurement data can be stored in the memory unit (110) and / or transferred to an external computer. (90) can be transferred. Thus, the repeated operating conditions of the electrohydrostatic actuator (70) are 20 The underlying behavior can be monitored, and the error conditions that occur during the test can be identified. It can be determined. In a study regarding sensor verification, the LVDT located in sensor group (60), pressure sensor, load cell, PT100 and / or PT1000 type resistance temperature sensor, Hall 25 Electrical signals received from the sensor or encoder are read by the sensor reading module (30) It is received. Sensor reading module (30), differential millivolt, 4-20 mA, 0-10 V, digital, I²C, Converting SPI or pulse-type sensor signals into measurement data for main control. It transmits the received measurement data to the module (10). The main control module (10) directly transmits the received measurement data to the module (10). It can store in the memory unit (110) and / or transfer to an external computer (90). This 30 In the operating state, only the actuator control modules in the system are activated without being activated. Sensor reading and data collection processes can be performed. Thus, different electrical... Testing sensors with different outputs through the same control infrastructure, and analyzing the measurement results... This makes it possible to monitor and carry out sensor verification studies. 35 In a study concerning the development of embedded control software, the control software Loading to the main control module (10) via JTAG and / or SWD interface and error 18 Sorting operations are performed. Target values are obtained via external computer (90), Control parameters, test sequences, and module settings are transferred to the system. The software, from the sensor reading module (30) and the electrohydrostatic actuator control in the system module (40), servo valve control module (50), proportional hydraulic valve control module (51) and / or actual measurement data received from the direct actuated valve control module (52) 5 It is executed on the target hardware using [method]. This allows for a wide range of applications. Sensor reading, motor driving, and different types of automation can be performed without the need to install an automation panel. hydraulic valve operating and closed-loop control functions in a desktop environment. It can be developed, tested, and verified. In a study where the modular hydraulic test and control system (1) is scaled up, multiple electrohydrostatic actuator control modules (40), servo valve control modules (50), proportional hydraulic valve control module (51) and / or direct actuated valve control module (52), Communication line between common modules (100) via CANBUS distributor module (120) It is connected. Thanks to the address and / or identification information assigned to each module, the main 15 The control module (10) directs the control command it generates to the relevant module and which valve or actuator is associated with the measurement data received from the modules Thus, new servo valves (80) and proportional hydraulic valves are determined in the test setup. (81), the addition of direct actuator valves (82) or electrohydrostatic actuators (70) In this case, the system's capacity can be increased to 20 without the need to completely change the control architecture. It can be increased. In a sample operating scenario where multiple valves or actuators are operated simultaneously, Main control module (10), multiple actuators via CANBUS distributor module (120) It transmits time-synchronized control commands to the control module. CANBUS distributor 25 module (120) assigns each control command according to the address and / or identification information of the relevant module. Thus, multiple servo valves (80), proportional hydraulic valves (81), direct actuator valve (82) and / or electrohydrostatic actuator (70) simultaneously or predetermined It can be operated according to a time relationship. In a study where the communication module (20) is used, different communication External devices using protocols are integrated into the modular hydraulic test and control system (1) It can be connected. Communication module (20), Ethernet, RS-232, RS-485, CANBUS, Data that the main control module (10) can process, is the data it receives via Bluetooth or I²C. converting the structure and the measurement data generated by the main control module (10), 35 It transmits status information and error conditions to the relevant external device. In this way, the system... 19 with an external computer (90), data collection system, test setup or existing automation It can exchange data with the system. According to all these configurations, the modular hydraulic test and control system (1) has different electrical Reading sensors with outputs and depending on the type of valve or actuator to be driven, 5 electrohydrostatic actuator control module (40), servo valve control module (50), proportional hydraulic valve control module (51) and direct actuated valve control module (52) enables their use separately or together. The elements taken from the said elements Feedback data can be evaluated within a common control architecture. Single In use, the relevant actuator control module is directly connected to the main control module (10). It can be connected, and in multi-user configurations, multiple actuator control modules can be controlled via CANBUS. It can be managed by the main control module (10) via the distributor module (120). Thanks to the modular structure of the system, sensor verification studies can be carried out using electrohydrostatic methods. Actuator tests, servo valve tests, proportional hydraulic valve tests, direct actuator valve tests, 15 Repeated motion tests and closed-loop position or pressure control are performed using the same control infrastructure. This can be done through various channels. Sensor reading, motor driving, valve operation, and other functions are all possible. integrating driving and communication equipment within the same system, additional the need for a signal converter, motor driver, valve driver and protocol converter This reduces the number of connections and connectors, cable clutter, and connection issues. incompatibility and the risk of communication interruption that may arise from interfaces. It is being restricted. Modular hydraulic test and control system (1), a wide range of programmable logic It can be used in a desktop environment without installing a controller or automation panel. 25 In addition, the system can be integrated into an existing test setup or automation panel. It can also be operated as supplementary control equipment by means of multiple actuators. the control module connects to a common communication line via the CANBUS distributor module (120). The ability to connect them allows the system to be expanded as the number of valves and actuators increases. Modules can be managed via address and / or identification information using control commands. 30 It allows measurement data to be routed to the relevant modules. Main control. Time-synchronized control commands to multiple actuator control modules of the module (10) Simultaneous operation in multiple valve and / or actuator applications thanks to its transmission capability. This allows for hydraulic and electrohydraulic testing of various sizes. These systems can be created while maintaining the same basic control architecture. 35 The scope of protection of the invention is specified in the claims attached hereto, and these details are strictly adhered to. The explanation cannot be limited to those given for illustrative purposes. Because a technically skilled person... the person, without deviating from the main theme of the invention, in light of what has been described above, similar It is clear that these structures can emerge. 21 REFERENCE NUMBERS GIVEN IN THE FIGURE 1. Modular Hydraulic Test and Control System Main Control Module 5 Communication Module Sensor Reading Module 40 Electrohydrostatic Actuator Control Module 50 Servo Valve Control Module 51 Proportional Hydraulic Valve Control Module 10 52 Direct Actuated Valve Control Module 60 Sensor Groups 70 Electrohydrostatic Actuators 80 Servo Valves 81 Proportional Hydraulic Valve 15 82 Direct Actuated Valves 90 External Computers 100 Communication Lines 110 Memory Units 120 CANBUS Distributor Module 20
Claims
22 REQUESTS 1. Development, verification and testing of hydraulic and / or electrohydraulic systems. It is a modular hydraulic test and control system (1) for implementation, and its feature is; 5 to obtain measurement data from at least one sensor with different electrical outputs It must contain at least one configured sensor reading module (30), At least one servo valve (80) configured to drive current controlled. a servo valve control module (50) to drive at least one proportional hydraulic valve (81) at least one configured proportional hydraulic valve control module (51), 10 at least one configured to drive at least one direct actuated valve (82) direct actuator valve control module (52) and at least one electrohydrostatic actuator (70) at least one electrohydrostatic device configured to drive and control It must include at least one of the actuator control modules (40), sensor reading module (30) and at least one actuator control in the system 15 sensor reading that is connected to the module in order to exchange data. Generate at least one control command based on the measurement data it receives from the module (30) and transmitting the mentioned control command to the relevant actuator control module in the system. It must contain at least one main control module (10).
2. According to claim 1, a modular hydraulic test and control system (1) whose feature is; main control module (10) and at least one actuator control module in the system the transfer of measurement data, status information and control commands between them It includes a CANBUS line that enables this to happen.
3. According to claim 1, a modular hydraulic test and control system (1) whose feature is; main control module (10) and at least one external device using different communication protocols Ethernet, RS-232, RS-485 are used to enable data exchange between devices. A communication system that includes at least one of the following: CANBUS, Bluetooth, and I²C. It includes module (20). 30 4. According to claim 1, a modular hydraulic test and control system (1) whose feature is; sensor The reading module (30) has differential millivolt, 4-20 mA, 0-10 V, digital, I²C, SPI and to obtain measurement data from a sensor that has at least one pulse output It is structured. 35 23 5. According to claim 4, a modular hydraulic test and control system (1) whose feature is; sensor Reading module (30) LVDT, load cell, pressure sensor, Hall sensor, encoder, PT100 and / or PT1000 type resistance temperature sensor, temperature sensor, humidity sensor, Measurement from at least one of the following sensors: thermocouple, light sensor, accelerometer, and gyroscope. It is configured to receive data. 5 6. According to claim 1, a modular hydraulic test and control system (1) whose feature is; at least It includes an electrohydrostatic actuator control module (40) and electrohydrostatic The actuator control module (40) uses U, V and W to drive a BLDC motor. Three-phase PWM outputs for the phases and a digital 10 to drive at least one hydraulic valve. and / or includes PWM valve drive outputs.
7. According to claim 6, a modular hydraulic test and control system (1) has the following features: electrohydrostatic actuator control module (40), rotor position of BLDC motor To determine this, at least three Hall sensor inputs with a phase difference relative to each other and 15 It includes phase current measurement inputs for measuring the phase currents of the motor.
8. According to claim 6, a modular hydraulic test and control system (1) whose feature is; electrohydrostatic actuator control module (40), electrohydrostatic actuator (70) and / or the position of a movable element in the electrohydrostatic actuator (70) 20 to determine at least one point in the hydraulic circuit with at least one LVDT inlet. It must include at least one pressure sensor input to determine the pressure.
9. According to claim 8, a modular hydraulic test and control system (1) whose feature is; electrohydrostatic actuator control module (40) position data, pressure data, motor 25 BLDC is determined by evaluating at least one of the rotor position data and phase current data. configured to update motor and / or hydraulic valve drive outputs It is the fact that.
10. According to claim 1, a modular hydraulic test and control system (1) has the characteristic of having at least one 30 It must include a servo valve control module (50) and the servo valve control module (50) must contain at least at least one valve drive channel to drive a servo valve (80) in current controlled manner that it includes and the driven servo valve (80) has LVDT feedback In the configurations, the relevant valve determines the actual position of the servo valve (80). It must include at least one LVDT inlet associated with the drive channel. 35 24 11. According to claim 10, a modular hydraulic test and control system (1) whose feature is; servo The valve control module (50) provides ±20 mA, ±40 mA or ±100 for each servo valve (80). It must generate a driving current in at least one of the mA driving ranges and drive the servo valve. (80) In configurations with LVDT feedback, target valve position The difference between the value and the actual valve position determined via LVDT is 5. It is an update of the driving current according to this.
12. According to claim 1, a modular hydraulic test and control system (1) whose feature is; at least It includes a proportional hydraulic valve control module (51) and proportional hydraulic valve control module (51) provides current, voltage and / or PWM 10 to at least one proportional hydraulic valve (81). It is structured to transmit driving signals.
13. According to claim 1, a modular hydraulic test and control system (1) has the following features; at least it includes a direct actuator valve control module (52) and direct actuator valve control module (52), movable valve 15 inside direct actuator valve (82) current to directly position the element with an electrical drive signal, Generating a driving signal of voltage and / or PWM type and controlling valve position, pressure, flow and / or according to at least one of the actuator position feedback data mentioned It is configured to update the driving signal.
14. According to claim 1, a modular hydraulic test and control system (1) whose feature is; main control module (10) sensor reading module (30) and / or in the system It receives position and / or pressure data from actuator control modules in advance. Comparison with the determined target position value and / or target pressure value and According to the comparison result, the control transmitted to the relevant actuator control module is 25. It performs closed-loop control by updating the command. According to claim 15, a modular hydraulic test and control system (1) has the feature of having more than excess hydraulic valves and / or electrohydrostatic actuators need to be checked In this case, there are 30 between the main control module (10) and multiple actuator control modules. It must contain at least one CANBUS distributor module (120), CANBUS distributor The module (120) receives control commands from the main control module (10) to the relevant actuator. Routing of the control module based on address and / or identification information and the relevant actuator. Measurement data, status information and / or error information from control modules are transmitted to the main unit. It is to transfer it to the control module (10). 35 According to claim 16, it is a modular hydraulic test and control system (1), the feature of which is; a single in the case where a hydraulic valve or electrohydrostatic actuator is being controlled The actuator control module is directly connected to the main control module (10) via CANBUS It is connected via.
17. According to claim 15, a modular hydraulic test and control system (1) whose feature is; main control module (10) through CANBUS distributor module (120) multiple by transmitting time-synchronized control commands to the actuator control module, multiple Simultaneous operation of the hydraulic valve and / or electrohydrostatic actuator It is a verification. 10 According to claim 18, it is a modular hydraulic test and control system (1), the feature of which is; the same or a common communication between multiple actuator control modules of different types Connecting to line (100) assigns an address and / or identifier to each actuator control module. The information is defined, and the control commands refer to the aforementioned address and / or identification information. 15 using and directing to the relevant actuator control module and actuator control The measurement data and status information generated by the modules are sent to the relevant address. and / or transmission to the main control module (10) along with the identification information. According to Claim 19, it is a modular hydraulic test and control system (1), the feature of which is; main 20 establishing a data connection between the control module (10) and an external computer (90) a USB connection allows the installation of control software and troubleshooting. It includes a JTAG and / or SWD interface that enables extraction. According to Claim 1, a modular hydraulic test and control system (1) has the following features: main 25 control module (10) in the system according to a predetermined test sequence It must transmit sequential control commands to at least one actuator control module during testing. It records the acquired position, pressure and / or motor current data and / or an external transferring the measurement data to the computer and detecting data outside predetermined limits If this occurs, it will stop the test and / or generate an error message. 30 According to claim 21, a modular hydraulic test and control system (1) whose characteristic is; target from values, tolerance ranges, control parameters, test sequences, from module settings, module address and / or identification information, measurement storing at least one of the following: data, status information, and error status, and 35 It must contain at least one memory unit (110) which is connected to the main control module (10).