Fault detection, isolation and reconfiguration systems and methods for controlling electrohydraulic systems used in construction equipment

摘要

The present disclosure relates to fault detection, isolation and reconfiguration schemes, architectures and methods for use in electrohydraulic actuation systems for construction equipment. In one embodiment, a supervisory controller adapted to interface with a main controller of the construction vehicle is provided. A plurality of control nodes that interface with the supervisory controller are also disclosed, each of which includes pressure and position sensors. The nodes also include a first actuator control node for controlling operation of a first hydraulic actuator, a second actuator control node for controlling operation of a second hydraulic actuator, and a pump control node. The control system has an architecture in which faults are detected and isolated at the supervisory controller level and, where possible, within each of the control nodes at a sensor level, a component level, and a subsystem level.

主权项

1. A hydraulic actuator control system for a piece of construction equipment including a boom and a bucket pivotally connected to the boom, the piece of construction equipment including a lift cylinder for raising and lowering the boom and a tilt cylinder for pivoting the bucket relative to the boom, the actuator control system comprising:
a tilt cylinder control node including a head side tilt valve adapted to be in fluid communication with a head side of the tilt cylinder and a rod side tilt valve adapted to be in fluid communication with a rods side of the tilt cylinder, the tilt cylinder control node further including a first head side spool position sensor corresponding to the head side tilt valve, a first rod side spool position sensor corresponding to the rod side tilt valve, a first head side pressure sensor for sensing a pressure of the head side of the tilt cylinder, and a first rod side pressure sensor for sensing a pressure of the rod side of the tilt cylinder; a lift cylinder control node including a head side lift valve adapted to be in fluid communication with a head side of the lift cylinder and a rod side lift valve adapted to be in fluid communication with a rods side of the lift cylinder, the lift cylinder control node further including a second head side spool position sensor corresponding to the head side lift valve, a second rod side spool position sensor corresponding to the rod side lift valve, a second head side pressure sensor for sensing a pressure of the head side of the lift cylinder, and a second rod side pressure sensor for sensing a pressure of the rod side of the lift cylinder; a control system that uses a first fault detection algorithm for detecting a fault in the tilt cylinder control node, the first fault detection algorithm including a first flow value corresponding to flow through the head side tilt valve and a second flow value corresponding to flow through the rod side tilt valve; and the control system also using a second fault detection algorithm for detecting a fault in the lift cylinder control node, the second fault detection algorithm including a third flow value corresponding to flow through the head side lift valve and a fourth flow value corresponding to flow through the rod side tilt valve.