In this paper a hydraulic hybrid system architecture for multi-actuator displacement controlled systems is analyzed. In particular the problem of optimal control for a hybrid excavator with four actuators is solved. The system states and controls are identified and classified into those which are cycle defined and those which are free to vary during the duty cycle. A state space model is derived for the hybrid system using the free states and controls and an outline of the algorithm used to apply dynamic programming to the system is described. The optimal controls and states for an aggressive truck loading cycle of the excavator are compared with suboptimal controls and states obtained using a rule based control strategy. Finally a comparison is made for the simulated fuel consumption of the system using optimal and suboptimal controls. A comparison is also made between the fuel consumption of the hybrid and non-hybrid excavators.
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ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
October 31–November 2, 2011
Arlington, Virginia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5475-4
PROCEEDINGS PAPER
Optimal Control for the Series-Parallel Displacement Controlled Hydraulic Hybrid Excavator
Joshua Zimmerman,
Joshua Zimmerman
Purdue University, West Lafayette, IN
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Rohit Hippalgaonkar,
Rohit Hippalgaonkar
Purdue University, West Lafayette, IN
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Monika Ivantysynova
Monika Ivantysynova
Purdue University, West Lafayette, IN
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Joshua Zimmerman
Purdue University, West Lafayette, IN
Rohit Hippalgaonkar
Purdue University, West Lafayette, IN
Monika Ivantysynova
Purdue University, West Lafayette, IN
Paper No:
DSCC2011-5996, pp. 129-136; 8 pages
Published Online:
May 5, 2012
Citation
Zimmerman, J, Hippalgaonkar, R, & Ivantysynova, M. "Optimal Control for the Series-Parallel Displacement Controlled Hydraulic Hybrid Excavator." Proceedings of the ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1. Arlington, Virginia, USA. October 31–November 2, 2011. pp. 129-136. ASME. https://doi.org/10.1115/DSCC2011-5996
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