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Tatiana Minav

Aalto University, Engineering Desing and Production, Post-Doc

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VTT Technical Research centre of Finland

Lauri O. Luostarinen

University of Turku

Lappeenranta University of Technology

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Papers by Tatiana Minav

Storage of energy recovered from an industrial forklift

Automation in Construction, 2012

Opportunities of storing energy recovered from an electro-hydraulic forklift truck are studied. T... more Opportunities of storing energy recovered from an electro-hydraulic forklift truck are studied. The lifting system is controlled directly with an electric servo motor drive and a hydraulic pump capable of operating also as a hydraulic motor during potential energy recovery. The paper describes some of the energy storage devices available, and the analysis results for the proposed systems are compared from the energy efficiency point of view.

Sensorless Position Control For Electro-Hydraulic System–A technological status review

2018 Global Fluid Power Society PhD Symposium (GFPS), 2018

Physical sensors have traditionally been used to obtain position information. These sensors posse... more Physical sensors have traditionally been used to obtain position information. These sensors possess certain deficiencies, such as a dependency on the working environment. Nevertheless, by removing the position sensors as well as defining methods and algorithms, it will be possible to indirectly obtain data from other present sensors. This paper surveys studies on sensorless position control on electric motors and hydraulic systems by reviewing the offered methods, their advantages and disadvantages, and future trends. By understanding the sensorless techniques in electrical motors and hydraulic systems, the future trends of electro-hydraulic systems will have a vast potential for improvement.

Series Hybrid Mining Loader with Zonal Hydraulics

Presently, there is a four-year window to prepare engines for upcoming TIER V regulations through... more Presently, there is a four-year window to prepare engines for upcoming TIER V regulations through solutions for peak power shaving and downsizing of diesel engines. In particular, Non-road mobile machinery(NRMM) offer a promising and challenging field of application due to their duty cycles, which includes high and short power peaks and extreme working conditions. In this paper, a series hybrid electric powertrain for a mining loader is presented with the goal of reducing the fuel consumption. A full-scale mining loader powertrain prototype was built to exploit the benefits of a series hybrid electric powertrain at low traction requirements with a combination of decentralized e.g. zonal hydraulics. Corespondingly, this paper introduces the structure of the mining loader and initial mathematical model of the system of a Direct Driven hydraulics (DDH). In this research, an experimental test was conducted, and the initial results are presented in this paper.

Modified approach for global MPP finding under partial shading

2018 IEEE International Conference on the Science of Electrical Engineering in Israel (ICSEE), 2018

Today, despite the presence of well-developed and high efficient Maximum Power Point Trackers (MP... more Today, despite the presence of well-developed and high efficient Maximum Power Point Trackers (MPPT) in all PV stations, remains the problem of their proper functionality during partial shading. Existing MPPT algorithms use sequential search procedures, therefore, they may falsely operate during partial shading. The reason of this obstacle is numerous local maximums appearing in the P-I or P-V characteristic curves. This impedes conventional MPPT systems to find the global maximum (GM) and significantly restricts the ultimate electric output of PV plants.The present article proposes the improved algorithm for MPPT functionality. The method based on a photo-current estimation of each PV panel. Owing this information, submitted algorithm provides permanent assessment of the upper and the low limits of regulating parameter (a current or a voltage) between which its optimal value that ensures GM is located. Further, conventional MPPT entering the work can easily find the nearest maximum...

Experimental Investigation Of Direct Drive Hydraulic Units Implemented In A Mining Loader

2018 Global Fluid Power Society PhD Symposium (GFPS), 2018

The average mining loader is a diesel-hydraulic off- road mobile machine that is expected to rout... more The average mining loader is a diesel-hydraulic off- road mobile machine that is expected to routinely operate in enclosed areas. While traditional valve-controlled setups are common, there are other possible hydraulic systems that might grant benefits to such machines in addition to conventional hybridization. One avenue of improvement lies in electrification, which in itself is advantageous to underground mining machinery that would otherwise require extensive ventilation of their ICE exhaust. Electric power allows the application of direct pump control instead of conventional valve control, eliminating throttling losses. This is one possible method to achieve higher efficiencies when compared to conventional systems. This paper investigates the efficiency of a direct-driven hydraulic system for a mining loader, and compares it to a conventional load-sensing system that was previously installed in the same machine. The efficiency of the direct-driven system was determined to be su...

Influence of Hydraulics on Electric Drive Operational Characteristics in Pump-Controlled Actuators

Actuators

Transitioning from a valve- to pump-controlled system has been observed in working hydraulics to ... more Transitioning from a valve- to pump-controlled system has been observed in working hydraulics to reduce energy consumption and accelerate the response to decarbonization requirements in Non-road Mobile Machinery (NRMM). The utilization of an electric motor as a prime mover significantly enhances the chances of completing this task. While the concept of combining hydraulics with an electric motor is not new, the functionality of electro-hydraulics can be improved due to multidisciplinary domains, the impact of the electric drive and its control is usually underestimated. Thus, this study aims to evaluate the influence of hydraulics on electric drive operational characteristics in pump-controlled actuators. It utilizes an electro-hydraulic model and simulation study under various conditions, a stability analysis, and a Pulse Width Modulation (PWM) of the frequency converter (FC) evaluation on a selected variable speed pump-controlled actuator to demonstrate the influence of hydraulics...

Adaptive Control for Direct-Driven Hydraulic Drive

Powered by TCPDF (www.tcpdf.org) This material is protected by copyright and other intellectual p... more Powered by TCPDF (www.tcpdf.org) This material is protected by copyright and other intellectual property rights, and duplication or sale of all or part of any of the repository collections is not permitted, except that material may be duplicated by you for your research use or educational purposes in electronic or print form. You must obtain permission for any other use. Electronic or print copies may not be offered, whether for sale or otherwise to anyone who is not an authorised user. Filatov, Denis; Minav, Tatiana; Heikkinen, Jani

Position Soft-Sensing of Direct-Driven Hydraulic System Based on Back Propagation Neural Network

Actuators

Automated operations are widely used in harsh environments, in which position information is esse... more Automated operations are widely used in harsh environments, in which position information is essential. Although sensors can be equipped to obtain high-accuracy position information, they are quite expensive and unsuitable for harsh environment applications. Therefore, a position soft-sensing model based on a back propagation (BP) neural network is proposed for direct-driven hydraulics (DDH) to protect against harsh environmental conditions. The proposed model obtains a position by integrating velocity computed from the BP neural network, which trains the nonlinear relationship between multi-input (speed of the electric motor and pressures in two chambers of the cylinder) and single-output (the cylinder’s velocity). First, the model of a standalone crane with DDH was established and verified by experiment. Second, the data from batch simulation with the verified model was used for training and testing the BP neural network in the soft-sensing model. Finally, position estimation with...

On Faults and Diagnostics in Electrified Hydraulic Actuator Systems

2018 20th European Conference on Power Electronics and Applications (EPE'18 ECCE Europe), 2018

This paper presents an overview of fault modes and diagnostics techniques in electrified hydrauli... more This paper presents an overview of fault modes and diagnostics techniques in electrified hydraulic actuators. Electrified hydraulic actuators tend to be complex systems as they consist of several components including hydraulics, electric motors, and power electronic drives. Many actuator systems work in harsh environments which makes sensing, control, and diagnostics challenging. If any of the components of the electrified hydraulic system fails, then the entire system can either lose or shuts down. This is critical and costly for many applications such as industrial, mobile, and aerospace hydraulic systems. This paper aims to provide a broad review of the faults and diagnostics of the electrified hydraulic actuator systems.

Sensorless position estimation of simulated direct driven hydraulic actuators

In this study, sensorless position control of hydraulic cylinders is investigated. Direct driven ... more In this study, sensorless position control of hydraulic cylinders is investigated. Direct driven hydraulics units are utilized as a prime mover. Direct driven hydraulics is a valveless pump controlled hydraulic system that uses an electric motor to drive pumps for a single actuator. This brings energy saving and controllability advantages to traditional valve controlled hydraulics. Advantages and disadvantages of various types of position sensors, which are available on the market were investigated for hydraulic cylinder application. These sensors, while accurate, have been noted to be rather expensive and not suitable for harsh environment applications. Virtual sensors can provide an alternative to physical position sensors. Using only torque and speed data received from electric motor controller it is possible to simulate the position of a cylinder, provided that all relevant parameters are known. Simulation model of direct driven hydraulic system of a mining loader test platform ...

1 Eliminating Sizing Error in Direct-Driven Hydraulics

This paper investegates a realization of decentralized hydraulics for industrial applications and... more This paper investegates a realization of decentralized hydraulics for industrial applications and off-road machinery by means of direct-driven hydraulics (DDH). DDH consists of two pump/motor units driven by a servomotor. These units should be dimensioned to the match expected flows of the corresponding chamber in a differential cylinder. However, the sizing error between the available pump units causes an excess pressure rise in the chambers and degrades the system efficiency. Therefore, this paper investigates elimination of the sizing error with proposed solutions utilizing hydraulic accumulator and gear selection respectively. Created Matlab/Simulink models were utilized to investigate the system performance from an energy efficiency point of view. The results showed that both of the proposed solutions are viable approaches to improve the energy efficiency of the DDH setup. The proposed hydraulic solution was implemented in the DDH setup of a crane and measurements were performe...

Improving Efficiency of Micro Excavator With Decentralized Hydraulics

Full-scale Series Hybrid Mining Loader with Zonal Hydraulics

Multi-objective optimization design of a 30 kW Electro-hydrostatic Actuator

Electro-hydrostatic actuators (EHAs) combine the advantages of electric and hydraulic actuators, ... more Electro-hydrostatic actuators (EHAs) combine the advantages of electric and hydraulic actuators, and it is resulting in a preferable solution for the heavy load actuation in applications such as aircrafts, ships, construction machines, and machine tools. The required power level of the EHA is increasing because the EHA is being introduced to heavier vehicles such as submarines and heavy launch vehicles. Thus, a 30 kW EHA is under development for launch vehicles, which simultaneously require high dynamic performance, light weight, high efficiency, etc. However, the existing optimization design methods of EHA do not take in account all the requirements, especially the dynamic performance. Therefore, a dedicate multi-objective optimization design method is proposed for the preliminary design for the 30 kW EHA. In this study, firstly, the design requirements were analyzed for the launch vehicle application, and the objectives and the constraints of the optimization design were defined f...

Analysis of Field Oriented Control of Permanent Magnet Synchronous Motor for valveless pump-controlled actuator

Earlier research demonstrated that a pump-controlled hydraulic system combines the best propertie... more Earlier research demonstrated that a pump-controlled hydraulic system combines the best properties of traditional hydraulics and electric intelligence. Thus, the new system has been proposed as a replacement for conventional valve-controlled systems, to improve the energy efficiency in non-road mobile machinery in particularly. Such pump-controlled system can be realized via direct control of hydraulic pump/motor by varying speed of prime mover. Electric motors have higher efficiency in comparison with Combustion Camera Diesel Engines also less power consumption and local pollutions. These advantages allow to improve the system efficiency and decrease the energy expenses. A Permanent Magnet Synchronous Motor (PMSM) is the one of the most attractive option of electric motor due to its size, power, and efficiency. The efficiency of the electric motor can be increased by using vector control systems, which provide rotor magnetic flux control, which is proportional to the shafts speed. ...

Efficiency of Direct driven hydraulic setup in arctic conditions

ABSTRACT This paper focuses on investigation of directly driven hydraulic setup (DDH) for non-roa... more ABSTRACT This paper focuses on investigation of directly driven hydraulic setup (DDH) for non-road mobile machinery (NRMM) application in arctic conditions. The control of the system is implemented directly with a servo motor drive without conventional hydraulic control valves. Speed of the double-acting cylinder is determined by in-coming oil flow from the pump, out-coming flow to the hydraulic motor and angular speed of the electric motor. Efficiency measurements of DDH setup performed in different operating conditions (speed, payload, duty cycle) and environmental conditions (temperature, humidity). Influence of temperature on results is studied in range of +22 to -10 °C. Thermal images across the pump and electrical machine demonstrate relative efficiency of the components. Change in fluid temperature (delta T) across the pump indicates volumetric/friction loss within the pump and demonstrates its behavior during cold start-up. Sankey diagrams shows reduced pumping and system efficiency as heat generation results in energy consumption and heat load within the system during lifting.

Electric-drive-based control and electric energy regeneration in a hydraulic system

Tatiana Minav Electric-drive-based control and electric energy regeneration in a hydraulic system... more Tatiana Minav Electric-drive-based control and electric energy regeneration in a hydraulic system Over the recent years, development in mobile working machines has concentrated on reducing emissions owing to the tightening rules and needs to improve energy utilization and reduce power losses. This study focuses on energy utilization and regeneration in an electro-hydraulic forklift, which is a lifting equipment application. The study starts from the modelling and simulation of a hydraulic forklift. The energy regeneration from the potential energy of the load was studied. Also a flow-based electric motor speed control was suggested in this thesis instead of the throttle control method or the variable displacement pump control. Topics related to further development in the future are discussed. Finally, a summary and conclusions are presented. Lappeenranta, June 23, 2011 150 p. Acta Universitatis Lappeenrantaensis 436 Diss. Lappeenranta University of Technology ISBN 978-952-265-103-7,...

A study on thermal behavior of pump-controlled actuator

Proceedings of 15:th Scandinavian International Conference on Fluid Power, 15th Scandinavian International Conference on Fluid Power, Fluid Power in the Digital Age, SICFP’17, June 7-9 2017 - Linköping, Sweden, Dec 20, 2017

In this research, a time-proven concept from the aircraft industry supports development and appli... more In this research, a time-proven concept from the aircraft industry supports development and application of an electrohydraulic actuator (EHA) in stationary application. EHA allows to achieve high power density and high performance in a compact package as well as flexibility in system architecture for stationary applications. The electrohydraulic actuator can eliminate hoses, fittings, valves and fixtures and is easy to integrate into larger systems. Due to good energy efficiency, cooling usually is not required. However, a thermo-dynamic analysis clearly indicates that the electric machine is acting as a high temperature heat source, while the hydraulics of the actuator maintain relatively lower temperature. Therefore, this paper targets the simulation of the thermal behavior of a pump-controlled actuator by means of lumped parameter model in order to predict the operational temperature. The developed model is validated against measurements utilizing thermocouples under various operative conditions. Conclusions are drawn concerning thermal behavior and energy dissipation of the proposed pump-controlled actuator.

Energy Balance of Electro-Hydraulic Powertrain in a Micro Excavator

2018 Global Fluid Power Society PhD Symposium (GFPS), Jul 1, 2018

This paper presents the experimental results of the study performed with an electrified small siz... more This paper presents the experimental results of the study performed with an electrified small sized excavator, a 1.1tonne JCB Micro, equipped with conventional hydraulics. The highlighted points in this study are the overall energy balance of the electro-hydraulic powertrain of this excavator and the power losses in individual components. The measured energy balance of the electric motor powered system is compared with the simulation data obtained from a preliminary simulation model of the system. The empirical evidence and the results of the preliminary simulation model will be in future research utilized to discover and compare new alternatives for powertrain architectures.

Self-tuning parameter fuzzy PID controller for autonomous differential drive mobile robot

Conference: 2017 XX IEEE International Conference on Soft Computing and Measurements (SCM), 2017

The purpose of this study is to utilize the capabilities of a fuzzy PID controller for electric d... more The purpose of this study is to utilize the capabilities of a fuzzy PID controller for electric drives for a differential drive autonomous mobile robot trajectory application. The robot is powered by two non-identical electric motors. A self-tuning-parameter fuzzy PID controller is designed to control the rotation speed of the motors independently in order to achieve a straight trajectory of the motion despite the motor differences. Simulation of the robot drive system is carried out in a Matlab/Simulink environment. Simulations were used to evaluate performance of the fuzzy self-tuning parameter PID controllers in the time domain. Conclusions are drawn concerning the performance of the controller. Furthermore, expected challenges for the future development are discussed.

Storage of energy recovered from an industrial forklift

Automation in Construction, 2012

Opportunities of storing energy recovered from an electro-hydraulic forklift truck are studied. T... more Opportunities of storing energy recovered from an electro-hydraulic forklift truck are studied. The lifting system is controlled directly with an electric servo motor drive and a hydraulic pump capable of operating also as a hydraulic motor during potential energy recovery. The paper describes some of the energy storage devices available, and the analysis results for the proposed systems are compared from the energy efficiency point of view.

Sensorless Position Control For Electro-Hydraulic System–A technological status review

2018 Global Fluid Power Society PhD Symposium (GFPS), 2018

Physical sensors have traditionally been used to obtain position information. These sensors posse... more Physical sensors have traditionally been used to obtain position information. These sensors possess certain deficiencies, such as a dependency on the working environment. Nevertheless, by removing the position sensors as well as defining methods and algorithms, it will be possible to indirectly obtain data from other present sensors. This paper surveys studies on sensorless position control on electric motors and hydraulic systems by reviewing the offered methods, their advantages and disadvantages, and future trends. By understanding the sensorless techniques in electrical motors and hydraulic systems, the future trends of electro-hydraulic systems will have a vast potential for improvement.

Series Hybrid Mining Loader with Zonal Hydraulics

Presently, there is a four-year window to prepare engines for upcoming TIER V regulations through... more Presently, there is a four-year window to prepare engines for upcoming TIER V regulations through solutions for peak power shaving and downsizing of diesel engines. In particular, Non-road mobile machinery(NRMM) offer a promising and challenging field of application due to their duty cycles, which includes high and short power peaks and extreme working conditions. In this paper, a series hybrid electric powertrain for a mining loader is presented with the goal of reducing the fuel consumption. A full-scale mining loader powertrain prototype was built to exploit the benefits of a series hybrid electric powertrain at low traction requirements with a combination of decentralized e.g. zonal hydraulics. Corespondingly, this paper introduces the structure of the mining loader and initial mathematical model of the system of a Direct Driven hydraulics (DDH). In this research, an experimental test was conducted, and the initial results are presented in this paper.

Modified approach for global MPP finding under partial shading

2018 IEEE International Conference on the Science of Electrical Engineering in Israel (ICSEE), 2018

Today, despite the presence of well-developed and high efficient Maximum Power Point Trackers (MP... more Today, despite the presence of well-developed and high efficient Maximum Power Point Trackers (MPPT) in all PV stations, remains the problem of their proper functionality during partial shading. Existing MPPT algorithms use sequential search procedures, therefore, they may falsely operate during partial shading. The reason of this obstacle is numerous local maximums appearing in the P-I or P-V characteristic curves. This impedes conventional MPPT systems to find the global maximum (GM) and significantly restricts the ultimate electric output of PV plants.The present article proposes the improved algorithm for MPPT functionality. The method based on a photo-current estimation of each PV panel. Owing this information, submitted algorithm provides permanent assessment of the upper and the low limits of regulating parameter (a current or a voltage) between which its optimal value that ensures GM is located. Further, conventional MPPT entering the work can easily find the nearest maximum...

Experimental Investigation Of Direct Drive Hydraulic Units Implemented In A Mining Loader

2018 Global Fluid Power Society PhD Symposium (GFPS), 2018

The average mining loader is a diesel-hydraulic off- road mobile machine that is expected to rout... more The average mining loader is a diesel-hydraulic off- road mobile machine that is expected to routinely operate in enclosed areas. While traditional valve-controlled setups are common, there are other possible hydraulic systems that might grant benefits to such machines in addition to conventional hybridization. One avenue of improvement lies in electrification, which in itself is advantageous to underground mining machinery that would otherwise require extensive ventilation of their ICE exhaust. Electric power allows the application of direct pump control instead of conventional valve control, eliminating throttling losses. This is one possible method to achieve higher efficiencies when compared to conventional systems. This paper investigates the efficiency of a direct-driven hydraulic system for a mining loader, and compares it to a conventional load-sensing system that was previously installed in the same machine. The efficiency of the direct-driven system was determined to be su...

Influence of Hydraulics on Electric Drive Operational Characteristics in Pump-Controlled Actuators

Actuators

Transitioning from a valve- to pump-controlled system has been observed in working hydraulics to ... more Transitioning from a valve- to pump-controlled system has been observed in working hydraulics to reduce energy consumption and accelerate the response to decarbonization requirements in Non-road Mobile Machinery (NRMM). The utilization of an electric motor as a prime mover significantly enhances the chances of completing this task. While the concept of combining hydraulics with an electric motor is not new, the functionality of electro-hydraulics can be improved due to multidisciplinary domains, the impact of the electric drive and its control is usually underestimated. Thus, this study aims to evaluate the influence of hydraulics on electric drive operational characteristics in pump-controlled actuators. It utilizes an electro-hydraulic model and simulation study under various conditions, a stability analysis, and a Pulse Width Modulation (PWM) of the frequency converter (FC) evaluation on a selected variable speed pump-controlled actuator to demonstrate the influence of hydraulics...

Adaptive Control for Direct-Driven Hydraulic Drive

Powered by TCPDF (www.tcpdf.org) This material is protected by copyright and other intellectual p... more Powered by TCPDF (www.tcpdf.org) This material is protected by copyright and other intellectual property rights, and duplication or sale of all or part of any of the repository collections is not permitted, except that material may be duplicated by you for your research use or educational purposes in electronic or print form. You must obtain permission for any other use. Electronic or print copies may not be offered, whether for sale or otherwise to anyone who is not an authorised user. Filatov, Denis; Minav, Tatiana; Heikkinen, Jani

Position Soft-Sensing of Direct-Driven Hydraulic System Based on Back Propagation Neural Network

Actuators

Automated operations are widely used in harsh environments, in which position information is esse... more Automated operations are widely used in harsh environments, in which position information is essential. Although sensors can be equipped to obtain high-accuracy position information, they are quite expensive and unsuitable for harsh environment applications. Therefore, a position soft-sensing model based on a back propagation (BP) neural network is proposed for direct-driven hydraulics (DDH) to protect against harsh environmental conditions. The proposed model obtains a position by integrating velocity computed from the BP neural network, which trains the nonlinear relationship between multi-input (speed of the electric motor and pressures in two chambers of the cylinder) and single-output (the cylinder’s velocity). First, the model of a standalone crane with DDH was established and verified by experiment. Second, the data from batch simulation with the verified model was used for training and testing the BP neural network in the soft-sensing model. Finally, position estimation with...

On Faults and Diagnostics in Electrified Hydraulic Actuator Systems

2018 20th European Conference on Power Electronics and Applications (EPE'18 ECCE Europe), 2018

This paper presents an overview of fault modes and diagnostics techniques in electrified hydrauli... more This paper presents an overview of fault modes and diagnostics techniques in electrified hydraulic actuators. Electrified hydraulic actuators tend to be complex systems as they consist of several components including hydraulics, electric motors, and power electronic drives. Many actuator systems work in harsh environments which makes sensing, control, and diagnostics challenging. If any of the components of the electrified hydraulic system fails, then the entire system can either lose or shuts down. This is critical and costly for many applications such as industrial, mobile, and aerospace hydraulic systems. This paper aims to provide a broad review of the faults and diagnostics of the electrified hydraulic actuator systems.

Sensorless position estimation of simulated direct driven hydraulic actuators

In this study, sensorless position control of hydraulic cylinders is investigated. Direct driven ... more In this study, sensorless position control of hydraulic cylinders is investigated. Direct driven hydraulics units are utilized as a prime mover. Direct driven hydraulics is a valveless pump controlled hydraulic system that uses an electric motor to drive pumps for a single actuator. This brings energy saving and controllability advantages to traditional valve controlled hydraulics. Advantages and disadvantages of various types of position sensors, which are available on the market were investigated for hydraulic cylinder application. These sensors, while accurate, have been noted to be rather expensive and not suitable for harsh environment applications. Virtual sensors can provide an alternative to physical position sensors. Using only torque and speed data received from electric motor controller it is possible to simulate the position of a cylinder, provided that all relevant parameters are known. Simulation model of direct driven hydraulic system of a mining loader test platform ...

1 Eliminating Sizing Error in Direct-Driven Hydraulics

This paper investegates a realization of decentralized hydraulics for industrial applications and... more This paper investegates a realization of decentralized hydraulics for industrial applications and off-road machinery by means of direct-driven hydraulics (DDH). DDH consists of two pump/motor units driven by a servomotor. These units should be dimensioned to the match expected flows of the corresponding chamber in a differential cylinder. However, the sizing error between the available pump units causes an excess pressure rise in the chambers and degrades the system efficiency. Therefore, this paper investigates elimination of the sizing error with proposed solutions utilizing hydraulic accumulator and gear selection respectively. Created Matlab/Simulink models were utilized to investigate the system performance from an energy efficiency point of view. The results showed that both of the proposed solutions are viable approaches to improve the energy efficiency of the DDH setup. The proposed hydraulic solution was implemented in the DDH setup of a crane and measurements were performe...

Improving Efficiency of Micro Excavator With Decentralized Hydraulics

Full-scale Series Hybrid Mining Loader with Zonal Hydraulics

Multi-objective optimization design of a 30 kW Electro-hydrostatic Actuator

Electro-hydrostatic actuators (EHAs) combine the advantages of electric and hydraulic actuators, ... more Electro-hydrostatic actuators (EHAs) combine the advantages of electric and hydraulic actuators, and it is resulting in a preferable solution for the heavy load actuation in applications such as aircrafts, ships, construction machines, and machine tools. The required power level of the EHA is increasing because the EHA is being introduced to heavier vehicles such as submarines and heavy launch vehicles. Thus, a 30 kW EHA is under development for launch vehicles, which simultaneously require high dynamic performance, light weight, high efficiency, etc. However, the existing optimization design methods of EHA do not take in account all the requirements, especially the dynamic performance. Therefore, a dedicate multi-objective optimization design method is proposed for the preliminary design for the 30 kW EHA. In this study, firstly, the design requirements were analyzed for the launch vehicle application, and the objectives and the constraints of the optimization design were defined f...

Analysis of Field Oriented Control of Permanent Magnet Synchronous Motor for valveless pump-controlled actuator

Earlier research demonstrated that a pump-controlled hydraulic system combines the best propertie... more Earlier research demonstrated that a pump-controlled hydraulic system combines the best properties of traditional hydraulics and electric intelligence. Thus, the new system has been proposed as a replacement for conventional valve-controlled systems, to improve the energy efficiency in non-road mobile machinery in particularly. Such pump-controlled system can be realized via direct control of hydraulic pump/motor by varying speed of prime mover. Electric motors have higher efficiency in comparison with Combustion Camera Diesel Engines also less power consumption and local pollutions. These advantages allow to improve the system efficiency and decrease the energy expenses. A Permanent Magnet Synchronous Motor (PMSM) is the one of the most attractive option of electric motor due to its size, power, and efficiency. The efficiency of the electric motor can be increased by using vector control systems, which provide rotor magnetic flux control, which is proportional to the shafts speed. ...

Efficiency of Direct driven hydraulic setup in arctic conditions

ABSTRACT This paper focuses on investigation of directly driven hydraulic setup (DDH) for non-roa... more ABSTRACT This paper focuses on investigation of directly driven hydraulic setup (DDH) for non-road mobile machinery (NRMM) application in arctic conditions. The control of the system is implemented directly with a servo motor drive without conventional hydraulic control valves. Speed of the double-acting cylinder is determined by in-coming oil flow from the pump, out-coming flow to the hydraulic motor and angular speed of the electric motor. Efficiency measurements of DDH setup performed in different operating conditions (speed, payload, duty cycle) and environmental conditions (temperature, humidity). Influence of temperature on results is studied in range of +22 to -10 °C. Thermal images across the pump and electrical machine demonstrate relative efficiency of the components. Change in fluid temperature (delta T) across the pump indicates volumetric/friction loss within the pump and demonstrates its behavior during cold start-up. Sankey diagrams shows reduced pumping and system efficiency as heat generation results in energy consumption and heat load within the system during lifting.

Electric-drive-based control and electric energy regeneration in a hydraulic system

Tatiana Minav Electric-drive-based control and electric energy regeneration in a hydraulic system... more Tatiana Minav Electric-drive-based control and electric energy regeneration in a hydraulic system Over the recent years, development in mobile working machines has concentrated on reducing emissions owing to the tightening rules and needs to improve energy utilization and reduce power losses. This study focuses on energy utilization and regeneration in an electro-hydraulic forklift, which is a lifting equipment application. The study starts from the modelling and simulation of a hydraulic forklift. The energy regeneration from the potential energy of the load was studied. Also a flow-based electric motor speed control was suggested in this thesis instead of the throttle control method or the variable displacement pump control. Topics related to further development in the future are discussed. Finally, a summary and conclusions are presented. Lappeenranta, June 23, 2011 150 p. Acta Universitatis Lappeenrantaensis 436 Diss. Lappeenranta University of Technology ISBN 978-952-265-103-7,...

A study on thermal behavior of pump-controlled actuator

Proceedings of 15:th Scandinavian International Conference on Fluid Power, 15th Scandinavian International Conference on Fluid Power, Fluid Power in the Digital Age, SICFP’17, June 7-9 2017 - Linköping, Sweden, Dec 20, 2017

In this research, a time-proven concept from the aircraft industry supports development and appli... more In this research, a time-proven concept from the aircraft industry supports development and application of an electrohydraulic actuator (EHA) in stationary application. EHA allows to achieve high power density and high performance in a compact package as well as flexibility in system architecture for stationary applications. The electrohydraulic actuator can eliminate hoses, fittings, valves and fixtures and is easy to integrate into larger systems. Due to good energy efficiency, cooling usually is not required. However, a thermo-dynamic analysis clearly indicates that the electric machine is acting as a high temperature heat source, while the hydraulics of the actuator maintain relatively lower temperature. Therefore, this paper targets the simulation of the thermal behavior of a pump-controlled actuator by means of lumped parameter model in order to predict the operational temperature. The developed model is validated against measurements utilizing thermocouples under various operative conditions. Conclusions are drawn concerning thermal behavior and energy dissipation of the proposed pump-controlled actuator.

Energy Balance of Electro-Hydraulic Powertrain in a Micro Excavator

2018 Global Fluid Power Society PhD Symposium (GFPS), Jul 1, 2018

This paper presents the experimental results of the study performed with an electrified small siz... more This paper presents the experimental results of the study performed with an electrified small sized excavator, a 1.1tonne JCB Micro, equipped with conventional hydraulics. The highlighted points in this study are the overall energy balance of the electro-hydraulic powertrain of this excavator and the power losses in individual components. The measured energy balance of the electric motor powered system is compared with the simulation data obtained from a preliminary simulation model of the system. The empirical evidence and the results of the preliminary simulation model will be in future research utilized to discover and compare new alternatives for powertrain architectures.

Self-tuning parameter fuzzy PID controller for autonomous differential drive mobile robot

Conference: 2017 XX IEEE International Conference on Soft Computing and Measurements (SCM), 2017

The purpose of this study is to utilize the capabilities of a fuzzy PID controller for electric d... more The purpose of this study is to utilize the capabilities of a fuzzy PID controller for electric drives for a differential drive autonomous mobile robot trajectory application. The robot is powered by two non-identical electric motors. A self-tuning-parameter fuzzy PID controller is designed to control the rotation speed of the motors independently in order to achieve a straight trajectory of the motion despite the motor differences. Simulation of the robot drive system is carried out in a Matlab/Simulink environment. Simulations were used to evaluate performance of the fuzzy self-tuning parameter PID controllers in the time domain. Conclusions are drawn concerning the performance of the controller. Furthermore, expected challenges for the future development are discussed.