The effects of control methods on energy efficiency and position tracking of an electro-hydraulic excavator equipped with zonal hydraulics

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dc.contributor Aalto-yliopisto fi
dc.contributor Aalto University en Zhang, Shuzhong Minav, Tatiana Pietola, Matti Kauranne, Heikki Kajaste, Jyrki 2019-02-25T08:43:38Z 2019-02-25T08:43:38Z 2019-04-01
dc.identifier.citation Zhang , S , Minav , T , Pietola , M , Kauranne , H & Kajaste , J 2019 , ' The effects of control methods on energy efficiency and position tracking of an electro-hydraulic excavator equipped with zonal hydraulics ' Automation in Construction , vol. 100 , pp. 129-144 . en
dc.identifier.issn 0926-5805
dc.identifier.issn 1872-7891
dc.identifier.other PURE UUID: 36241e54-1548-4fd3-8c33-663db92e5ca3
dc.identifier.other PURE ITEMURL:
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dc.description.abstract Compared to conventional central hydraulic systems still typically used in most off-road machinery, the main advantages of zonal hydraulics are lower pressure losses, lower power demand, and thus, lower energy consumption on a system level and easy automatisation. In this case study, zonal hydraulics is realised with Direct Driven Hydraulics (DDH), and it is implemented as a replacement for the conventional centralised hydraulic system of a micro excavator. A simulation model for the front attachment of the excavator with three individual DDH units is presented. The proposed model of a single DDH unit was partially validated with a standalone test setup. Various common working cycles, such as digging and dumping with differing payloads and levelling, were adopted for this simulation study. Two controllers—a conventional proportional-integral-derivative (PID) controller and a flow-rate-matching feedforward plus PID controller—were designed for each DDH unit. Thereafter, detailed comparisons were provided, consisting of energy consumption, energy efficiency and position tracking performance between the two controllers. The results showed that the proposed feedforward plus PID controller had better performance than a conventional PID in the studied case. By adopting this controller, higher system energy efficiency (improved by 11–24% without regeneration and by 8–28% when considering regeneration) and better position tracking performance (root mean square tracking error and max errors lowered by 20–87% and 35–83%, respectively) were achieved simultaneously. Therefore, this work can be applied to zonal hydraulics to facilitate the electrification and automatisation of construction machinery. en
dc.format.extent 16
dc.format.extent 129-144
dc.format.mimetype application/pdf
dc.language.iso en en
dc.publisher Elsevier
dc.relation.ispartofseries Automation in Construction en
dc.relation.ispartofseries Volume 100 en
dc.rights openAccess en
dc.subject.other Control and Systems Engineering en
dc.subject.other Civil and Structural Engineering en
dc.subject.other Building and Construction en
dc.subject.other 213 Electronic, automation and communications engineering, electronics en
dc.title The effects of control methods on energy efficiency and position tracking of an electro-hydraulic excavator equipped with zonal hydraulics en
dc.type A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä fi
dc.description.version Peer reviewed en
dc.contributor.department Department of Mechanical Engineering
dc.contributor.department Engineering Design
dc.subject.keyword Direct driven hydraulics
dc.subject.keyword Electro-hydraulic excavator
dc.subject.keyword Energy efficiency
dc.subject.keyword Flow-rate-matching feedforward control
dc.subject.keyword Position tracking
dc.subject.keyword Pump/motor model
dc.subject.keyword Working cycle
dc.subject.keyword Zonal hydraulics
dc.subject.keyword Control and Systems Engineering
dc.subject.keyword Civil and Structural Engineering
dc.subject.keyword Building and Construction
dc.subject.keyword 213 Electronic, automation and communications engineering, electronics
dc.identifier.urn URN:NBN:fi:aalto-201902251857
dc.identifier.doi 10.1016/j.autcon.2019.01.003
dc.type.version publishedVersion

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