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Optimal Control for the Series-Parallel Displacement Controlled Hydraulic Hybrid Excavator

[+] Author Affiliations
Joshua Zimmerman, Rohit Hippalgaonkar, Monika Ivantysynova

Purdue University, West Lafayette, IN

Paper No. DSCC2011-5996, pp. 129-136; 8 pages
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5475-4
  • Copyright © 2011 by ASME


In this paper a hydraulic hybrid system architecture for multi-actuator displacement controlled systems is analyzed. In particular the problem of optimal control for a hybrid excavator with four actuators is solved. The system states and controls are identified and classified into those which are cycle defined and those which are free to vary during the duty cycle. A state space model is derived for the hybrid system using the free states and controls and an outline of the algorithm used to apply dynamic programming to the system is described. The optimal controls and states for an aggressive truck loading cycle of the excavator are compared with suboptimal controls and states obtained using a rule based control strategy. Finally a comparison is made for the simulated fuel consumption of the system using optimal and suboptimal controls. A comparison is also made between the fuel consumption of the hybrid and non-hybrid excavators.

Copyright © 2011 by ASME



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