Method to automatically detect parameter for pressure dynamics control
Systems and methods for auto-commissioning first and second valve assemblies associated with an actuator in an electro-hydraulic system are disclosed. In one method, a controller performs an automatic test protocol to determine a bulk modulus over fluid volume parameter used by the controller to control the valve assemblies. In one aspect, the test protocol can include pressurizing each side of the actuator to two different pressures with one of the first and second valve assemblies and blocking the other side of the actuator with the other of the first and second valve assemblies. The bulk modulus over fluid volume parameter for each valve assembly can be calculated based on recorded fluid pressures at the actuator and consumed flow at the first and second valve assemblies.
1. A method for determining a bulk modulus over fluid volume parameter for a valve controller, the method comprising the steps of:
a. providing first and second valve assemblies in fluid communication with a hydraulic actuator;
b. pressurizing each side of the actuator to two different pressures with one of the first and second valve assemblies and blocking the other side of the actuator with the other of the first and second valve assemblies; and
c. calculating the bulk modulus over fluid volume parameter for the first and second valves.
2. The method for determining a bulk modulus over fluid volume parameter of claim 1 , wherein the pressurizing step includes pressurizing a first side of the actuator with the first valve assembly to a first pressure and then to a second pressure while the second valve assembly is closed, and includes pressurizing a second side of the actuator with the second valve assembly to a third pressure and then to a fourth pressure while the first valve assembly is closed.
3. The method for determining a bulk modulus over fluid volume parameter of claim 2 , further including the steps of recording the first, second, third, and fourth pressures.
4. The method for determining a bulk modulus over fluid volume parameter of claim 3 , further including the steps of recording a first consumed flow associated with the first valve assembly and first pressure, recording a second consumed flow associated with the first valve assembly and second pressure, recording a third consumed flow associated with the second valve assembly and third pressure, and recording a fourth consumed flow associated with the second valve assembly and fourth pressure.
5. The method for determining a bulk modulus over fluid volume parameter of claim 4 , wherein the calculating step is a function of the first through fourth pressures and the first through fourth consumed flows.
6. The method for determining a bulk modulus over fluid volume parameter of claim 5 , wherein the pressurizing step includes a first pressurization step in which the second valve assembly is held closed and the first valve assembly is opened for a first predetermined period of time and then closed and includes a second pressurization step in which the second valve assembly is held closed and the first valve assembly is opened for a second predetermined period of time and then again closed.
7. The method for determining a bulk modulus over fluid volume parameter of claim 6 , wherein the first and second predetermined periods of time are equal.
8. The method for determining a bulk modulus over fluid volume parameter of claim 6 , wherein the pressurizing step includes a third pressurization step in which the first valve assembly is held closed and the second valve assembly is opened for a third predetermined period of time and then closed and includes a fourth pressurization step in which the first valve assembly is held closed and the second valve assembly is opened for a fourth predetermined period of time and then again closed.
9. The method for determining a bulk modulus over fluid volume parameter of claim 6 , wherein the first, second, third, and fourth predetermined periods of time are equal.
10. The method for determining a bulk modulus over fluid volume parameter of claim 1 , wherein the first and second valve assemblies are spool and sleeve type valve assemblies.
11. The method for determining a bulk modulus over fluid volume parameter of claim 1 , wherein the actuator is a linear actuator.
12. The method for determining a bulk modulus over fluid volume parameter of claim 1 , wherein the calculating step is performed during a commissioning process of the valve assembly.
13. The method for determining a bulk modulus over fluid volume parameter of claim 1 , further comprising storing the bulk modulus over volume parameter as a constant in a controller associated with the first and second valve assemblies.