This paper focuses on the low-level control of heavy complex hydraulic hybrids, taking stability and the dynamic properties of the included components into account. A linear model which can describe a high number of hybrid configurations in a straightforward manner is derived and used for the development of a general multiple input multiple output (MIMO) decoupling control strategy. This strategy is tested in non-linear simulations of an example vehicle and stability requirements for the low-level actuators are derived. The results show that static decoupling may be used to simplify the control problem to three individual loops controlling pressure, output speed and engine speed. In particular, the pressure and output speed loops rely on fast displacement controllers for stability. In addition, it was found that the decoupling is facilitated if the hydrostatic units have equal response. The low-level control of heavy complex hydraulic hybrids may thus imply other demands on actuators than what is traditionally assumed.
- Fluid Power Systems and Technology Division
A General Approach to Low-Level Control of Heavy Complex Hybrid Hydromechanical Transmissions
Larsson, LV, & Krus, P. "A General Approach to Low-Level Control of Heavy Complex Hybrid Hydromechanical Transmissions." Proceedings of the BATH/ASME 2018 Symposium on Fluid Power and Motion Control. BATH/ASME 2018 Symposium on Fluid Power and Motion Control. Bath, UK. September 12–14, 2018. V001T01A042. ASME. https://doi.org/10.1115/FPMC2018-8877
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