The Hybrid Hydraulic-Electric Architecture (HHEA) was proposed in recent years to increase system efficiency of high power mobile machines and to reap the benefits of electrification without the need for large electric machines. It uses a set of common pressure rails to provide the majority of power hydraulically and small electric motors to modulate that power for precise control. This paper presents the development of a Hardwarein-the-loop (HIL) test-bed for testing motion control strategies for the HHEA. Precise motion control is important for off-road vehicles whose utility requires the machine being dexterous and performing tasks exactly as commanded. Motion control for the HHEA is challenging due to its intrinsic use of discrete pressure rail switches to minimize system efficiency or to keep the system within the torque capabilities of the electric motor. The motion control strategy utilizes two different controllers: a nominal passivity based back-stepping controller used in between pressure rail switches and a transition controller used to handle the event of a pressure rail switch. In this paper, the performance of the nominal control under various nominal and rail switching scenarios is experimentally evaluated on the HIL testbed.
|Original language||English (US)|
|Title of host publication||Proceedings of ASME/BATH 2021 Symposium on Fluid Power and Motion Control, FPMC 2021|
|Publisher||American Society of Mechanical Engineers (ASME)|
|State||Published - 2021|
|Event||ASME/BATH 2021 Symposium on Fluid Power and Motion Control, FPMC 2021 - Virtual, Online|
Duration: Oct 19 2021 → Oct 21 2021
|Name||Proceedings of ASME/BATH 2021 Symposium on Fluid Power and Motion Control, FPMC 2021|
|Conference||ASME/BATH 2021 Symposium on Fluid Power and Motion Control, FPMC 2021|
|Period||10/19/21 → 10/21/21|
Bibliographical noteFunding Information:
This material is based upon work supported by the Department of Energy, Office of Energy Efficiency and Renewable Energy (EERE) under grant: DE-EE0008384. We are also grateful for component donations from Eaton, Danfoss and Parker-Hannifin.
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