| Energy and Mechanical Engineering |
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| Energy management strategy for torque coupling based hydraulic hybrid excavator |
| XIAO Yang1，2, GUAN Cheng1, WANG Fei1 |
| 1.Institute of Mechanical Design, Zhejiang University, Hangzhou 310027, China；2.United Automotive Electronic Systems Limited Company, Shanghai 201206, China |
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Abstract An online energy management strategy based on Lagrange multiplier method was proposed in order to generate the optimal energy management for torque coupling based hydraulic hybrid excavator (HHE) system. The system cost function and terminal constraints were formulated, and the load data collected from actual excavator was used as system input. Then the optimization problem was solved using Lagrange multiplier (LM) method to generate the optimal equivalent weight and optimal offline energy management strategy. For real time implementation, an LM based interval sampling moving window method for equivalent weight estimation, as well as an accumulator state of charge (SOC) based modification function, were applied to generate the online adaptive energy management strategy. Results show that the proposed energy management strategy can be used in real time, and is adaptive to the working conditions and accumulator SOC. The online strategy can achieve the same level of fuel economy (18.1%) as deterministic offline optimization．
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Published: 31 March 2016
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扭矩耦合式油液混合动力挖掘机能量管理
为了优化扭矩耦合式油液混合动力挖掘机(HHE)系统的能量管理策略,提出基于拉格朗日乘数法的在线能量优化管理策略.基于最优控制理论,定义系统节能优化目标函数与约束.以实际采集的挖掘机作业工况作为负载输入,利用拉格朗日乘数法对目标函数进行快速求解,得到最优权值以及离线优化能量管理策略.为了对能量管理策略进行实时应用,使用间隔采样移动窗口法来估计权值,引入基于蓄能器能量状态（SOC）的修正函数,得到对蓄能器SOC具有自适应性的在线自适应能量管理策略.结果表明,提出的在线自适应能量管理策略可以被实时应用,通过选取合适的修正敏感系数后,能够对蓄能器SOC进行边界约束,并达到与离线优化相近的节能表现（18.1%）.
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