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Low-Level Control of Hybrid Hydromechanical Transmissions for Heavy Mobile Working Machines
Linköping University, Department of Management and Engineering, Fluid and Mechatronic Systems. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-4400-2062
Linköping University, Department of Management and Engineering, Fluid and Mechatronic Systems. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-3877-8147
Linköping University, Department of Management and Engineering, Fluid and Mechatronic Systems. Linköping University, Faculty of Science & Engineering. Volvo Construction Equipment.
Linköping University, Department of Management and Engineering, Fluid and Mechatronic Systems. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-2315-0680
2019 (English)In: Energies, ISSN 1996-1073, E-ISSN 1996-1073, Vol. 12, no 9, article id 1683Article in journal (Refereed) Published
Abstract [en]

Fuel efficiency has become an increasingly important property of heavy mobile working machines. As a result, Hybrid Hydromechanical Transmissions (HMTs) are often considered for the propulsion of these vehicles. The introduction of hybrid HMTs does, however, come with a number of control-related challenges. To date, a great focus in the literature has been on high-level control aspects, concerning optimal utilization of the energy storage medium. In contrast, the main topic of this article is low-level control, with the focus on dynamic response and the ability to realize requested power flows accurately. A static decoupled Multiple-Input-Multiple-Output (MIMO) control strategy, based on a linear model of a general hybrid HMT, is proposed. The strategy is compared to a baseline approach in Hardware-In-the-Loop (HWIL) simulations of a reference wheel loader for two drive cycles. It was found that an important benefit of the decoupled control approach is that the static error caused by the system’s cross-couplings is minimized without introducing integrating elements. This feature, combined with the strategy’s general nature, motivates its use for multiple-mode transmissions in which the transmission configuration changes between the modes. 

Place, publisher, year, edition, pages
MDPI, 2019. Vol. 12, no 9, article id 1683
Keywords [en]
hydromechanical transmissions, hybridization, control, construction machinery; decoupled control, hardware-in-the-loop
National Category
Other Mechanical Engineering
Identifiers
URN: urn:nbn:se:liu:diva-157504DOI: 10.3390/en12091683ISI: 000469761700099OAI: oai:DiVA.org:liu-157504DiVA, id: diva2:1324924
Funder
Swedish Energy Agency, P39367-2
Note

Funding agencies: Swedish Energy Agency (Energimyndigheten) [P39367-2]

Available from: 2019-06-14 Created: 2019-06-14 Last updated: 2019-08-21Bibliographically approved
In thesis
1. Control of Hybrid Hydromechanical Transmissions
Open this publication in new window or tab >>Control of Hybrid Hydromechanical Transmissions
2019 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

This thesis deals with control aspects of complex hybrid hydromechanical transmissions for heavy mobile working machines. Control problems are identified and solved to facilitate the implementation and use of these systems.

Fuel prices and environmental concerns have increased the interest in hybrid hydromechanical transmissions for heavy mobile working machines. Hybridisation, the introduction of a secondary energy source in the transmission, offers attractive improvements in terms of both fuel efficiency and performance. These improvements are, in turn, enabled by software control. A complex transmission architecture has several components that need to interact in a stable manner. In addition, optimal utilisation of the added energy source is required to maximise fuel savings. Meanwhile, there is a strong trend towards automation, where many of the operator’s difficult control tasks need to be managed by computers. Sophisticated control strategies are therefore needed, along with a deeper understanding of dynamic properties.

Previous research on the control of hybrid hydromechanical transmissions has primarily focussed on on-road applications. The working conditions of heavy working machines place different requirements on the transmission, which is also reflected in the control strategy.

This thesis highlights the importance of fast response of the variable displacement pump/motors used in hybrid hydromechanical transmissions. Their central position in the interface between hydraulics and mechanics makes their dynamic performance a limiting factor both for the stability of the transmission control loops and in the realisation of smooth mode shifts in multiplemode transmissions. Dynamic models and control strategies for displacement actuators are derived and validated in simulation and experiments. A linear model for dynamic analysis of a general hybrid hydromechanical transmission for heavy working machines is derived and a powertrain control strategy based on decoupled control is proposed. The strategy is verified in simulations and experiments in hardware-in-the-loop simulations, and may be used in a working machine with or without a human operator.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2019. p. 106
Series
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 1992
National Category
Control Engineering Other Mechanical Engineering
Identifiers
urn:nbn:se:liu:diva-159771 (URN)10.3384/diss.diva-159771 (DOI)9789176850510 (ISBN)
Public defence
2019-09-20, ACAS, Building A, Linköping, 10:15 (English)
Opponent
Supervisors
Available from: 2019-08-21 Created: 2019-08-21 Last updated: 2019-09-05Bibliographically approved

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Larsson, L. ViktorEricson, LiselottUebel (Pettersson), KarlKrus, Petter

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