Defining the Design Space of Basic Hydraulic Drive Networks
DOI:
https://doi.org/10.13052/ijfp1439-9776.2633Keywords:
Hydraulic drive network, design space, system design, structural controllability, modelingAbstract
Hydraulic systems are widely used throughout industry to actuate and control applications where large forces are required. These applications include off-highway machinery like excavators, loaders, manufacturing machinery like presses, injection molding machinery and so forth. With a continuously increasing focus on electrification and reduced energy consumption, emissions and rare earth material usage, energy efficiency, reduced component sizes and limited component numbers become increasingly important. In this endeavor, the recently introduced concept of hydraulic drive networks appears especially feasible to consider in applications with two or more hydraulic actuators to be controlled. Key features of hydraulic drives networks are the sole use of displacement units as flow control elements, absence of traditional control valves, and short-circuiting of hydraulic actuator chambers, while maintaining the possibility of individual control of each actuator. A consequence of these features is that possible ways of connecting the flow ports of displacement units to those of the actuators increases exponentially with the number of actuators to be controlled, rendering the use of traditional hydraulic system design methods obsolete. A possible way to systematically characterize and identify feasible networks is by use of graph theory. However, at this stage, no standardized approaches and definitions exist for such systems. This paper considers the concept of hydraulic drive networks in the framework of graph theory and applies the concept of tree-graphs to define the design space of feasible hydraulic drive network architectures for any number actuators constituting a number of control volumes for which flow must be controllable. Identifying and distinguishing each architecture in the design space is vital in the process of hydraulic drive network design, for being able to compare and optimize architectures based on objectives such as size, cost, efficiency and so forth.
Downloads
References
D. Fassbender and V. Zakharov and T. Minav. Utilization of electric prime movers in hydraulic heavy-duty-mobile-machine implement systems. Automation in Construction, 132, 2021. https://doi.org/10.1016/j.autcon.2021.103964.
A. Lajunen, P. Sainio, L. Laurila, J. Pippuri-Mäkeläinen, and K. Tammi. Overview of powertrain electrification and future scenarios for non-road mobile machinery. Energies, vol. 11, no. 5, 2018. https://www.mdpi.com/1996-1073/11/5/1184.
L. Schmidt and K.V. Hansen. Electro-Hydraulic Variable-Speed Drive Networks—Idea, Perspectives, and Energy Saving Potentials. Energies, 15:1228, 2022. https://doi.org/10.3390/en15031228.
R. Hagan, E. Markey, J. Clancy, M. Keating, A. Donnelly, D. J. O’Connor, L. Morrison, and E. J. McGillicuddy. Non-road mobile machinery emissions and regulations: A review. Air, vol. 1, no. 1, pp. 14–36, 2023. https://www.mdpi.com/2813-4168/1/1/2.
Z. Quan, L. Quan, and J. Zhang. Review of energy efficient direct pump controlled cylinder electro-hydraulic technology. Renewable and Sustainable Energy Reviews, vol. 35, pp. 336–346, 2014. https://www.sciencedirect.com/science/article/pii/S1364032114002639.
H. Kauranne, T. Koitto, O. Calonius, T. Minav, and M. Pietola. Direct driven pump control of hydraulic cylinder for rapid vertical position control of heavy loads: Energy efficiency including effects of damping and load compensation. Proceedings of BATH/ASME 2018 Symposium on Fluid Power and Motion Control (FPMC 2018), 2018, p. V001T01A007. https://doi.org/10.1115/FPMC2018-8812.
E. Busquets. Advanced control algorithms for compact and highly efficient displacement-controlled multi-actuator and hydraulic hybrid systems. Purdue University, 2016. https://www.proquest.com/dissertations-theses/advanced-control-algorithms-compact-highly/docview/1848166438/se-2.
S. Habibi and A. Goldenberg. Design of a new high performance electrohydraulic actuator. Proceedings of 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399), 1999, pp. 227–232. https://doi.org/10.1109/AIM.1999.803171.
M. Egerstedt, S. Martini, M. Cao, K. Camlibel, and A. Bicchi. Interacting with networks: How does structure relate to controllability in single-leader, consensus networks? IEEE Control Systems Magazine, vol. 32, no. 4, pp. 66–73, 2012. https://doi.org/10.1109/MCS.2012.2195411.
L. Schmidt and M. van Binsbergen-Galán. Electro-Hydraulic Variable-Speed Drive Network Technology - First Experimental Validation. Energies, 17(13):3192, 2024. https://doi.org/10.3390/en17133192.
M. van Binsbergen-Galán, B. Videbæk, K.V., Hansen, and L. Schmidt. Experimental Investigation of Hydraulic Power Sharing Potential in a Dual Cylinder Electro-Hydraulic Variable-Speed Drive Network. Proceedings of the 2024 BATH/ASME Symposium on Fluid Power and Motion Control (FPMC 2024), 2024. https://doi.org/10.1115/FPMC2024-140322.
L. Schmidt, K.V., Hansen, B. Videbæk, and M. van Binsbergen-Galán. Experimental Validation of a State Decoupling Method Applied to a Dual Cylinder Electro-Hydraulic Variable-Speed Drive Network. Proceedings of the BATH/ASME Symposium on Fluid Power and Motion Control, 2024.
L. Schmidt, M. v. Binsbergen-Galan, R. Knöll, M. Riedmann, B. Schneider, and E. Heemskerk. Energy efficient excavator implement by electro-hydraulic/mechanical drive network. International Journal of Fluid Power, vol. 25, no. 04, p. 413–438, Dec. 2024. https://doi.org/10.13052/ijfp1439-9776.2541.
R. Kalman. On the general theory of control systems. Proceedings of the 1st International IFAC Congress on Automatic and Remote Control, vol. 1, no. 1, pp. 491–502, 1960, Moscow, USSR, 1960. https://doi.org/10.1016/S1474-6670(17)70094-8.
R. E. Kalman. Mathematical description of linear dynamical systems. Journal of the Society for Industrial and Applied Mathematics Series A Control, vol. 1, no. 2, pp. 152–192, 1963. https://doi.org/10.1137/0301010.
N. Biggs, E. Lloyd, and R. Wilson. Graph Theory, 1736–1936. Clarendon Press, 1976
P. Mladenovic. Combinatorics: A Problem-Based Approach. Springer, Cham, 2019. https://doi.org/10.1007/978-3-030-00831-4.
F. Harary and E. Palmer. Graphical Enumeration. Elsevier, 1973. https://doi.org/10.1016/C2013-0-10826-4.
A. Cayley. A theorem on trees. Quart. J. Math., vol. 23, pp. 376–378, 1878.
Y.-Y. Liu, J.-J. Slotine, and A.-L. Barabasi. Controllability of complex networks. Nature, vol. 473, pp. 167–173, 2011. https://doi.org/10.1038/nature10011.
A. Farrugia and I. Sciriha. Controllability of undirected graphs. Linear Algebra and its Applications, vol. 454, pp. 138–157, 2014. https://doi.org/10.1016/j.laa.2014.04.022.
L. Xiang, F. Chen, W. Ren, and G. Chen. Advances in network controllability. IEEE Circuits and Systems Magazine, vol. 19, no. 2, pp. 8–32, 2019. https://doi.org/10.1109/MCAS.2019.2909446.
A. Lombardi and M. Hornquist. Controllability analysis of networks. Phys. Rev. E, vol. 75, p. 056110, May 2007. https://doi.org/10.1103/PhysRevE.75.056110.
C.-T. Lin. Structural controllability. IEEE Transactions on Automatic Control, vol. 19, no. 3, pp. 201–208, 1974. https://doi.org/10.1109/TAC.1974.1100557.
R. Shields and J. Pearson. Structural controllability of multiinput linear systems. IEEE Transactions on Automatic Control, vol. 21, no. 2, pp. 203–212, 1976. https://doi.org/10.1109/TAC.1976.1101198.
A. Olshevsky. Minimal controllability problems. IEEE Transactions on Control of Network Systems, vol. 1, no. 3, pp. 249–258, 2014. https://doi.org/10.1109/TCNS.2014.2337974.
A. Olshevsky. Minimum input selection for structural controllability. Proceedings of the 2015 American Control Conference (ACC), 2015, pp. 2218–2223. https://doi.org/10.1109/ACC.2015.7171062.
S. Terasaki and K. Sato. Minimal controllability problems on linear structural descriptor systems. IEEE Transactions on Automatic Control, vol. 67, no. 5, pp. 2522–2528, 2022. https://doi.org/10.1109/TAC.2021.3079359.
