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Automation in Construction
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Article history: This paper deals with the method of how to regenerate the potential energy for a hybrid hydraulic excavator
Accepted 6 August 2010 (HHE). After studying the structure and working cycle of the HHE, two energy regeneration systems are
considered. Then, the control strategy and parameter matching for the proposed energy regeneration system
Keywords: (ERS) are discussed. United simulations with AMEsim and MATLAB/simulink for the conventional control
Hybrid system
system and two ERSs are carried out in this paper. An estimated 41% of the total potential energy could be
Excavator
Energy regeneration system
regenerated at the lowering of the boom in accumulator-motor-generator system while the recovery
Energy saving efficiency in the motor-generator system is only about 17%, and it is also shown that the accumulator-motor-
generator energy regeneration system (AMGERS) features better speed control of the boom and response
characteristics than the motor-generator energy regeneration system (MGERS), hence, the AMGERS is a good
configuration for the HHE at present.
© 2010 Elsevier B.V. All rights reserved.
⁎ Corresponding author. Tel.: + 86 571 87951314 8108; fax: + 86 571 87951941. The structure of the HHE is shown in Fig. 1, the engine and electric
E-mail address: ltlkxl@163.com (T. Lin). motor drive the hydraulic pump in a parallel hybrid style. The
0926-5805/$ – see front matter © 2010 Elsevier B.V. All rights reserved.
doi:10.1016/j.autcon.2010.08.002
T. Lin et al. / Automation in Construction 19 (2010) 1016–1026 1017
Fig. 2. Regenerative power of the boom of the 7-ton hydraulic excavator in digging
working condition.
Table 1
The proportion of the theoretical regeneration energy for each actuator.
• Such large and frequent changes of load power make it work in a 3. Power component design
serious condition. Even though we use the supercapacitor to restore
the enery, how to guarantee its life remains a big problem. A conventional 7-ton class hydraulic excavator for experiment has
• How to control the actuators in quick and precise responses under been used in our lab. The main parameters of the conventional
energy regeneration control. If the boom velocity is controlled by hydraulic excavator related to this paper are listed as follows:
the motor and the generator, then, the damping changes, hence,
how to obtain the same control performance is a key problem. • The maximum volume flow required in the boom cylinder is 200 L/min;
• When the boom goes down, oil volume released from the raw
As the hydraulic accumulator systems have an order of magnitude chamber of the boom cylinder is about 7 L;
advantage in terms of the power density over electric system, hydraulic • The total regenerated energy of the boom cylinder is about 49,205 J.
accumulator energy recovery systems are ideal for those confronted with
frequent and short start–stop cycles in enough spaces. But the major In an excavator, the joysticks are the most common interfaces
disadvantage of a hydraulic accumulator is that the energy storage between the drivers and hydraulic manipulators. The boom speed is
density is severely limited relative to other competing technologies. The the control target which is compared with the joystick command
key problem for hybrid excavators is to find storage space for the energy through a conversion gain. However, most of the hydraulic booms are
storage components. Both of the battery and hydraulic accumulator are open-loop control as there are no sensors assembled in the
not suitable to be used as the energy accumulator in the ERS of the excavators. In order to make for the driver a same sensing of boom
hydraulic excavator. Hence, in this paper, an energy recovery system that cylinder moving speed comparing with the conventional hydraulic
combines the advantages of an electric and hydraulic accumulator is excavator, a control strategy is necessary. There are two goals of
proposed in Fig. 5, the advantages are as follows: control strategy. One is to improve the recovery efficiency, ensuring
the distribution of the working points of the motor and the generator
• When the boom goes down, the gravitational potential energy can in or near its high efficiency area. The other is to guarantee the control
be converted into both the electric energy and the hydraulic energy. performance.
The time for regenerating the energy can been considerably
improved from 2 s to 20 s depending on the control strategy. 3.1. Control strategy
• As the hydraulic accumulator can quickly store the energy, the change
rate and amplitude of the charging current are much smaller. Hence, 3.1.1. The MGERS
we can use a battery instead of a capacitor even if the recovery time is For the hybrid power system controller, the dynamic-work-point
short. control strategy reported in Ref. [1] is used. As for MGERS, two
T. Lin et al. / Automation in Construction 19 (2010) 1016–1026 1019
different approaches have been tried out in a simulation model to 3.1.2. The AMGERS
investigate which strategy works better. The input signal and the For the AMGERS, the control strategy is illustrated in Fig. 8. The
output signal are shown in Fig. 4 and these two strategies are: input signal and the output signal are shown in Fig. 5 and the control
strategy is based on following logics.
1) strategy 1—without the throttle control Step 1: Based on a joystick command, the target flow Qt is obtained
from a suitable gain and sent to the controller as a reference speed.
In this strategy, when the boom goes up, the valve orifice is
And the actual flowQb is calculated as:
continuously controlled. On the contrary, the valve orifice is fully
opened during the lowering of the boom, and the generator is used as pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
Q b = kc1 ðp1 −p2 Þ ð1Þ
a unique active damper, with the purpose to control the boom
lowering velocity. The aim of this strategy is to measure the speed of
Where c1 is the control signal of the proportional directional valve,
the generator, which is analogous to the boom velocity. The error
p1 is the pressure of port A of the proportional directional valve, p2 is
between the desired generator speed and current speed will be input
the pressure of port T of the proportional directional valve, and k is
to a proportional–integral (PI) controller to generate a voltage control
transfer coefficient.
signal which is sent to the inverter to adjust the generator speed or
Step 2: In order to ensure that the cylinder can follow the desired
the boom velocity, see Fig. 6.
speed, a PI controller is applied to control the boom velocity. The error
2) strategy 2—with the throttle control between the desired flow rate and the actual flow rate is used as an input
signal to the PI controller, and then the output signal of the controller is
The control strategy diagram is presented in Fig. 7. When the boom sent to the proportional directional valve to adjust the boom velocity.
goes up, the strategy is the same as strategy 1, and when the boom Step 3: According to the efficiency map of the hydraulic motor and
goes down, the valve orifice is still continuously controlled. Both the generator, we set the pressure pc that guarantees the working points
generator and the proportional directional valve are used to control of the hydraulic motor and the generator distributing at the high
the boom lowering velocity. The goal with this strategy is to control efficient area.
the flow rate through the proportional directional valve which is Step 4: Then, if the pressure p2 N pc, the generator works at a
analogous to the boom velocity. Measuring the pressure p1, p2 and constant speed of 1500 rpm, else the generator doesn't work.
calculating the restriction area of the valve from a control signal c1 and
the table that indicates the relationship between the control signal 3.2. Parameter matching
and the restriction area, The error between the desired flow rate and
actual flow rate will be input to a speed PI controller to generate a 3.2.1. MGERS
voltage control signal which is sent to the proportional directional Based on the structure of the MGERS proposed in Fig. 4, the
valve and then adjust the boom velocity. components are chosen to satisfy the working requirements.
1020 T. Lin et al. / Automation in Construction 19 (2010) 1016–1026
Firstly, the generator is selected from the relation between the recovery time can be set at around 10 s. The rating speed is about
regeneration power and the time of the 7-ton hydraulic excavator as 1500 rpm because the generator works at 1500 rpm under the control
plotted in Fig. 2. Neglecting the loss energy in the hydraulic pipe and strategy. Then, the maximum speed can be set at 2000 rpm.
the hydraulic motor, the maximum required power is about 35 kW However, there is one possibility that the accumulator cannot
and the average power is at around 25 kW. As the demand for the regenerate the energy if the pressure in the accumulator is higher
generator is small size, lightweight, the speed of generator cannot be than its maximum working pressure, so all of the energy must been
set too low to improve the specific power. Moreover, the maximum regenerated by the generator. Considering the economics, we can
speed of the generator should not be allowed to exceed the maximum make a tradeoff that if the accumulator cannot regenerate the energy,
rpm limit caused by the noise of the hydraulic motor without 60% of the potential energy should be recovered by the generator in
reduction gear box. Hence, the maximum speed can be set at 3 s, hence, the maximum power of the generator is about 10 kW.
2000 rpm and the base speed can be 1500 rpm. Then, for an ideal case, in one cycle, all of hydraulic oil of 7 L is
For the capacitor, the specifications and setting parameters flowing to oil tank within 10 s, hence, the displacement of HM can be
reported in Ref. [14] are used. Next, according to the maximum flow set at 40 mL/r since the working speed is 1500 rpm.
rate and the maximum rotational speed of the generator, we can As the hydraulic accumulator plays a very important role in the
choose the displacement of the hydraulic motor of 100 mL/r. And the AMGERS, it must be properly designed to offset the gap between the
other hydraulic components are chosen to ensure the operation of the load power and the generator power input. Its selection should consider
boom system. The specifications and setting parameters for the economics, weight saving, installation and controllability. A bladder
MGERS are listed in Table 2. accumulator has been chosen in this project because it responds fast
enough, which is important in the control of a hydraulic boom.
3.2.2. AMGERS The charge pressure and the working pressure are the key factors
After analyzing the load chart of power requirements in a working that have a direct effect on the energy recovery system.
cycle, as plotted in Fig. 2, as well as the control strategy, conclusions can If the pressure of the raw chamber of the boom cylinder and the gas
be drawn that the rating power of the generator could be downsized pressure in the hydraulic accumulator are too high, the lowering
from 25 kW to 5 kW, since it only provides the average power and the velocity cannot reach the maximum velocity of the boom at the
T. Lin et al. / Automation in Construction 19 (2010) 1016–1026 1021
lowering stage of the boom. If the pressure is too low, the deceleration For hybrid excavators, the key problem is to find storage space for the
is too low to stop the boom at the decelerating lowering stage. energy storage components. Hence, we should try to obtain the
Considering the working efficiency, the time for the lowering of the maximum energy density per volume. The change in its internal
boom in ERS must not be longer than that in the conventional control energy and the Boyle's law can be described as:
system. According to the pressure of the raw chamber of the boom
cylinder in actual working cycle plotted in Fig. 9, it can be recognized as: P2 V2 −P1 V1 V −rV1
E= = p2 2 ; ð4Þ
1−n 1−n
p1 ≤2:5 Mpa; ð2Þ
P1
r= ; ð5Þ
p2 ≥6 Mpa; ð3Þ P2
n n
Where p1 is the minimum pressure of the hydraulic accumulator P1 V1 = P2 V2 ð6Þ
and p2 is the maximum pressure of the hydraulic accumulator.
The main demerit of the hydraulic accumulator is that the energy Where V1 is the gas volume under the gas pressure P1, V2 is the gas
density is severely limited relative to other competing technologies. volume under the gas pressure P2, and n is Polytrophic exponent. In
1022 T. Lin et al. / Automation in Construction 19 (2010) 1016–1026
our research, n can be set at 1.4 because the time for the lowering of by differentiating the above equation with respect to the pressure
the boom is short. Therefore, the energy density per volume can be ratio as follows:
formulated with respect to the ratio of the maximum pressure to the
minimum pressure. dðEv Þ
= 0; ð8Þ
dr
1
r −r
n
Ev = p2 ; ð7Þ
1−n
Table 2
The specifications and setting parameters of the MGERS.
Parameters Values
Table 3 conventional control system, the MGERS and the AMGERS are
The specifications and parameters of the AMGERS. constructed by AMESim software that are shown in Figs. 10, 11 and
Parameters Values 12, which are converted to Simulink S-Functions. The S-Functions can
then be imported into Simulink and used within a Simulink system
Generator Rating power 5 kW
Maximum power 10 kW just like any other S-Functions. The control strategies based on Figs. 6,
Base speed 1500 rpm 7 and 8 are modeled in MATLAB.
Maximum speed 2000 rpm
Hydraulic motor Displacement 40 mL/r
5. Results of comparison and analysis
Capacitor Rating capacity 7.5 F
Working voltage 0–400 V
Hydraulic accumulator Gas rated volume 10 L The results of the MGERS and the AMGRS are presented and the
Initial gas pressure 2 Mpa comparison was made in this section. The conventional control
system is used for comparison. The following assumptions are set in
order to compare and analyze conveniently:
Accordingly, the maximum energy density based on the optimum
pressure ratio can be represented in the following form: • Boom cylinder has the same start/end point and displacements.
• If operation of the ERS is similar to the conventional control system
n
r = n1−n = 0:308; ð9Þ about sensing of the driver, we can say the control performance is
good.
On the basis of the control strategy, the pressure of the
accumulator is equal to the inlet pressure of the hydraulic motor, 5.1. Control performance
and in order to make the working points of the hydraulic motor and
the generator distribute in high efficiency area, the minimum working For a hydraulic excavator, control performance is a very important
pressure should be greater than some value. From the above character for the energy regeneration equipment. In order to show its
constraints, we can achieve the minimum working pressure, the control performance, we evaluate the performance by the equivalence
maximum working pressure and the initial gas pressure as follows: between the ERS and the conventional control system.
To investigate the effect of using MGERS in the HHE, the MGERS
p1 = 2:5 Mpa ð10Þ model has been tested with two control strategies. As shown in
Fig. 13, the boom speed controlled by MGERS under strategy 2
p1
p2 = = 8:11 Mpa ð11Þ oscillates very much at around 10 s. The reason is that when the
r joystick gives a down-moving command at 10 sec, the pressure of the
p0 = 0:8p1 = 2 Mpa ð12Þ hydraulic motor and the proportional directional valve is at a rather
low level. In the MGERS under the strategy 1, the proportional
directional valve orifice is fully open, and the boom velocity is
Then, the gas volume of the accumulator can be calculated. In the
controlled by adjusting the speed of the generator, hence, the boom
whole stage of the lowering of the boom, some of the oil is discharged
will drop suddenly with big oscillations, which can be seen in Fig. 13.
by the hydraulic motor:
The boom velocity oscillates very much during downward movement.
ΔV The reason for the oscillation is that the hydraulic motor and
ΔV0 = t = 2:1 L; ð13Þ
ttotal 1
generator have too small damping. Another reason might be that the MGERS under the strategy 1 without the orifice control is of no
dynamic responses of the hydraulic motor and generator are not quick concern.
enough to cancel these oscillations and the recovery time depends on In order to improve the performance, the paper proposes a
the time constant of the hydraulic motor and the generator. The boom strategy 2 that the valve orifice is still continuously controlled for the
velocity drop appears dramatic to the conventional control system MGERS. It has been proved that the drop is not a bit, but there is still
and it may influences the drivers' feeling of the performance, hence, an obvious oscillation. The recovery time is about 1 s, whereas only
Fig. 17. The rotational speed, torque and the regeneration power of the generator under
Fig. 14. The boom velocity curve under different control system (at time = 15 s, the MGERS with strategy 1.
FL = 10,000 N).
Fig. 18. The rotational speed, torque and the regeneration power of the generator under
Fig. 15. The joystick command sign. the AMGERS.
1026 T. Lin et al. / Automation in Construction 19 (2010) 1016–1026
Acknowledgement