Energy Efficient and Redundant Steer-by-Wire for Articulated Non-road Mobile Machines
DOI:
https://doi.org/10.13052/ijfp1439-9776.2531Keywords:
Non-Road Mobile Machinery, Hazard Analysis, Functional Safety, Articulated Steering, Electro-hydrostatic Steering, Electro – hydrostatic ActuatorAbstract
The electrification of on-road vehicles has got momentum in recent years, but for Non-Road Mobile Machines there are still many barriers to cross. In order to completely eliminate the internal combustion engine or reduce its use, the energy loss in machines needs to be minimised at every possible section. One such part is the steering of heavy non-road mobile machines which has been unchanged to a large extent for decades, especially in articulated machines. The major cause of the industry being cautious in replacing the traditional steering system is its safety. As being a safety-critical system, it requires to comply with the highest safety standards. An articulated steered wheel loader has been selected as a case study in this article to first carry out a detailed hazard analysis to assess the machine performance levels required for steering. Two scenarios are selected for hazard analysis: 1. the wheel loader is on work site; 2. the wheel loader is travelling on road. To achieve the required performance level, the requirements of functional safety and safety integrity level of the steering are analysed. Based on corresponding standards and the required performance level for the steering, a new electro-hydrostatic-based steer-by-wire system is proposed. The proposed steering complies with safety standards for articulated steering and has the potential for energy saving. The simulation of the proposed system is carried out from an energy-efficiency point of view in MATLAB/Simulink. The proposed electro-hydrostatic steering system is compared to the traditional steering of a wheel loader in the Mevea digital twin environment and has been found to be substantially more energy efficient in the primary analysis. The simulations show that in conventional steering, 51% of energy is wasted in the steering valve alone, while in EHA (Electro-hydrostatic actuator) steering only 29% is wasted in the entire steering system.
Downloads
References
Singh, V. P., Huova, M., and Minav, T. (2023). Energy Efficient Steer-By-Wire in articulated non-road mobile machines: Analysis and proposal. In Proceedings of the 18th Scandinavian International Conference on Fluid Power, SICFP (Vol. 23, pp. 1–15).
European Commission. (2021). European Green Deal: Commission proposes transformation of EU economy and society to meet climate ambitions. Eur. Comm.
Lajunen, A., Suomela, J., Pippuri, J., Tammi, K., Lehmuspelto, T., and Sainio, P. (2016). Electric and hybrid electric non-road mobile machinery–present situation and future trends. World Electric Vehicle Journal, 8(1), 172–183.
Un-Noor, F., Wu, G., Perugu, H., Collier, S., Yoon, S., Barth, M., and Boriboonsomsin, K. (2022). Off-Road Construction and Agricultural Equipment Electrification: Review, Challenges, and Opportunities. Vehicles, 4(3), 780–807.
Pettersson, K., Heybroek, K., Mattsson, P., and Krus, P. (2017). A novel hydromechanical hybrid motion system for construction machines. International Journal of Fluid Power, 18(1), 17–28.
Altare, G., and Vacca, A. (2015). A design solution for efficient and compact electro-hydraulic actuators. Procedia Engineering, 106, 8–16.
Qu, S., Fassbender, D., Vacca, A., and Busquets, E. (2021). A cost-effective electro-hydraulic actuator solution with open circuit architecture. International Journal of Fluid Power, 22(2), 233–258.
Zhao, H., Wang, B., Zhang, G., and Feng, Y. (2019). Energy saving design and control of steering wheel system of steering by wire vehicle. IEEE Access, 7, 44307–44316.
Daher, N., and Ivantysynova, M. (2014). Energy analysis of an original steering technology that saves fuel and boosts efficiency. Energy conversion and management, 86, 1059–1068.
Rowduru, S., Kumar, N., and Partap Singh, V. (2022). Determination of Steering Actuator Mounting Points of a Load Haul Dump Machine for Optimum Performance. In Machines, Mechanism and Robotics (pp. 711–723). Springer, Singapore.
Danfoss. [Technical Information; General, Steering Components] BC00000096en-000501. [December 2019]. Danfoss. General, Steering Components (danfoss.com)
SFS-EN ISO 19014-1:2018:en (2018) Earth-moving machinery. Functional safety. Part 1: Methodology to determine safety-related parts of the control system and performance requirements. International Organization for Standardization.
SFS-EN ISO 5010:en (2019) Earth-moving machinery. Wheeled machines. Steering requirements. International Organization for Standardization.
Daher, N., Wang, C., and Ivantysynova, M. (2013, September). Novel energy-saving steer-by-wire system for articulated steering vehicles: A compact wheel loader case study. In 13th Scandinavian International Conference on Fluid Power; June 3–5; 2013; Linköping; Sweden (No. 92, pp. 541–552). Linköping University Electronic Press.
Wang, X., Yang, J., Quan, L., Zhang, X., and Wang, J. (2018). A novel high-efficiency wheel loader power steering system with fault-tolerant capability. IEEE Transactions on Vehicular Technology, 67(10), 9273–9283.
Wang, Y., Liu, X., Chen, J., Chen, W., Li, C., and Huo, D. (2022). Design and control performance optimization of dual-mode hydraulic steering system for wheel loader. Automation in Construction, 143, 104539.
Mevea Ltd. (2022, August 4). Mevea Real-Time Simulation Software | Digital Twins Techology. Mevea. https://mevea.com/solutions/software/.
SFS-EN ISO 12100:en (2010) Safety of machinery. General principles for design. Risk assessment and risk reduction. International Organization for Standardization.
SFS-EN ISO 26262-1:en (2019) Road vehicles. Functional safety. Part 1: Vocabulary. International Organization for Standardization.
SFS-EN ISO 4413:en (2010) Hydraulic fluid power – General rules and safety requirements for systems and their components. International Organization for Standardization.
Karlsson J. Analyzes of a wheel loader usage. In: Materials Proceedings today; (2010). p. 26 [Online]. Available: https://mdh.diva-portal.org/smash/record.jsf?pid%C2%BCdiva2%3A378714=&dswid=4871.
SFS-EN ISO 19014-5:2021:en (2021) Earth-moving machinery. Functional safety. Part 5: Tables of performance levels. International Organization for Standardization.
SFS-EN IEC 61508-4. (2010). Functional safety of electrical/electronic/ programmable electronic safety-related systems – Part 4: Definitions and abbreviations. International Electrotechnical Commission.
SFS-EN ISO 13849-1. (2015). Safety of machinery – Safety-related parts of control systems – Part 1: General principles for design. International Organization for Standardization.
SFS-EN IEC/TR 61508-0. (2010). Functional safety of electrical/electronic/programmable electronic safety-related systems – Part 0: Functional safety and IEC 61508. International Electrotechnical Commission.
Singh, V. P., Huova, M., and Minav, T. (2023, October). Simulation Study of a Fail-Safe Steer-by-Wire for Heavy Earth Moving Machinery. In Fluid Power Systems Technology (Vol. 87431, p. V001T01A073). American Society of Mechanical Engineers.
SFS-EN IEC/TR 61508-1. (2010). Functional safety of electrical/electronic/programmable electronic safety-related systems – Part 1: General requirements. International Electrotechnical Commission.
Minav, T. A., Laurila, L. I., and Pyrhönen, J. J. (2013). Analysis of electro-hydraulic lifting system’s energy efficiency with direct electric drive pump control. Automation in construction, 30, 144–150.
Singh, V. P., Pandey, A. K., and Dasgupta, K. (2021). Steady-state performance investigation of closed-circuit hydrostatic drive using variable displacement pump and variable displacement motor. Proceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering, 235(2), 249–258.
Schlosser, W. M. J. (1961). Mathematical model for displacement pumps and motors. Hydraulic power transmission, 7, 252–328.
Zakharov, V., and Minav, T. (2020). Analysis of field oriented control of permanent magnet synchronous motor for a valveless pump-controlled actuator. Multidisciplinary Digital Publishing Institute Proceedings, 64(1), 19.
Zakharov, V., and Minav, T. (2023). Analysis of Frequency adjustable control of Permanent Magnet Synchronous Motor for pump-controlled actuators. International Journal of Fluid Power, 125–140.
Kotta, Jomi. “Modeling of Patu-655 loader with a combination of Mevea and Simulink using Functional Mock-up Interface.” (2021).
Nikitina, Anna. “Flexible body tutorial for Mevea real-time simulation software.” (2018).
