A Multi-mode Electronic Load Sensing Control Scheme with Power Limitation and Pressure Cut-off for Mobile Machinery

In mobile machinery,hydro-mechanical pumps are increasingly replaced by electronically controlled pumps to improve the automation level,but diversified control functions(e.g.,power limitation and pressure cut-off)are integrated into the electronic controller only from the pump level,leading to the potential instability of the overall system.To solve this problem,a multi-mode electrohydraulic load sensing(MELS)control scheme is proposed especially considering the switching stability from the system level,which includes four working modes of flow control,load sensing,power limitation,and pressure control.Depending on the actual working requirements,the switching rules for the different modes and the switching direction(i.e.,the modes can be switched bilaterally or unilaterally)are defined.The priority of different modes is also defined,from high to low:pressure control,power limitation,load sensing,and flow control.When multiple switching rules are satisfied at the same time,the system switches to the control mode with the highest priority.In addition,the switching stability between flow control and pressure control modes is analyzed,and the controller parameters that guarantee the switching stability are obtained.A comparative study is carried out based on a test rig with a 2-ton hydraulic excavator.The results show that the MELS controller can achieve the control functions of proper flow supplement,power limitation,and pressure cut-off,which has good stability performance when switching between different control modes.This research proposes the MELS control method that realizes the stability of multi-mode switching of the hydraulic system of mobile machinery under different working conditions.

A Critical Review of Policies for Emission Reduction of Non-road Mobile Machinery

Increasing attention is being paid to the reduction of emissions from non-road mobile machinery,and many policies to promote the reduction have been established in countries and regions around the world,including the United States,Canada,the European Union,and China.This paper reviews these policies and analyzes two successful grant programs in the USA.Depending on the findings from the research,it is suggested that the Chinese government should tighten emission standards,introduce more financial subsidies,and strengthen supervision.

A review and evaluation of nonroad diesel mobile machinery emission control in China

China’s emission control for nonroad diesel mobile machinery(NDMM)must deal with a fast increase in stock as well as regulations that are two decades behind those for on-road vehicles.This study provides the first large-scale review and evaluation of China’s NDMM policies,along with emission measurements and an investigation on diesel fuel quality.The sulfur contents of the investigated diesel declined from 430 ppm(median value)in 2011 to6-8 ppm during the 2017-2018 period.The emission control of NO_(x)and PM greatly improved with the shift from the China II to China IV standards,as demonstrated by engine tests and field NO_(x)measurements.However,the NO_(x)emission factors for non-type-approved engines were approximately twice the limits of the China II standards.Emission compliance based on bench tests was not sufficient to control actual emissions because the field-measured NO_(x)emission factors of all machinery ranged from 24%to 225%greater than the respective emission limits for the engines.These circumstances adversely affected the effectiveness of the regulations and policies for China’s emission control of NDMM.Nevertheless,the policies on new and in-use NDMM,as well as diesel fuel quality,prevented NO_(x)and PM emissions amounting to 4.4 Tg and 297.8 Gg during the period 2008-2017,respectively.The emission management strategy contributed to enhancing the international competitiveness of China’s NDMM industries by promoting advanced technologies.For effective NDMM emission control in the future,portable testing and noncontact remote supervision should be strengthened;also,the issue of noncompliant diesel should be addressed through rigorous control measures and financial penalties.

Model-based trajectory tracking control for an electrohydraulic lifting system with valve compensation strategy

The natural frequency of the electrohydraulic system in mobile machinery is always very low,which brings difficulties to the controller design.To improve the tracking performance of the hydraulic system,mathematical modeling of the electrohydraulic lifting system and the rubber hose was accomplished according to an electrohydraulic lifting test rig built in the laboratory.Then,valve compensation strategy,including spool opening compensation (SOC) and dead zone compensation (DZC),was designed based on the flow-pressure characteristic of a closed-centered proportional valve.Comparative experiments on point-to-point trajectory tracking between a proportional controller with the proposed compensations and a traditional PI controller were conducted.Experiment results show that the maximal absolute values of the tracking error are reduced from 0.039 m to 0.019 m for the slow point-to-point motion trajectory and from 0.085 m to 0.054 m for the fast point-to-point motion trajectory with the proposed compensations.Moreover,tracking error of the proposed controller was analyzed and corresponding suggestions to reduce the tracking error were put forward.

Motion control of multi-actuator hydraulic systems for mobile machineries： Recent advancements and future trends

This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic perfor- mance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.

Valve-based compensation for controllability improvement of the energy-saving electrohydraulic flow matching system

The energy-saving electrohydraulic flow matching （EFM） system opens up an opportunity to minimize valve losses by fully opening the control valves, but the controllability is lost under overrunning load conditions. To address this issue, this paper proposes a valve-based compensator to improve the controllability of the energy-saving EFM system. The valve-based compensator consists of a static compensator and a differential dynamic compensator based on load conditions. The energy effi- ciency, the stability performance, and the damping characteristic are analyzed under different control parameters. A parameter selection method is used to improve the efficiency, ensure the stability performance, and obtain good dynamic behavior. A test rig with a 2-t hydraulic excavator is built, and experimental tests are carried out to validate the proposed valve-based compensator. The experimental results indicate that the controllability of the EFM system is improved, and the characteristic of high energy efficiency is obtained by the proposed compensator.