Compact, energy-efficient electro-hydraulic architectures for multi-actuator control of mobile cranes
Komarov, Timofei (2026-06-29)
Väitöskirja
29.06.2026
Lappeenranta-Lahti University of Technology LUT
Acta Universitatis Lappeenrantaensis
School of Energy Systems
School of Energy Systems, Konetekniikka
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In reference to IEEE copyrighted material which is used with permission in this thesis, the IEEE does not endorse any of Lappeenranta-Lahti University of Technology LUT's products or services. Internal or personal use of this material is permitted. If interested in reprinting/republishing IEEE copyrighted material for advertising or promotional purposes or for creating new collective works for resale or redistribution, please go to http://www.ieee.org/publications_ standards/publications/rights/rights_link.html to learn how to obtain a License from RightsLink.
Julkaisun pysyvä osoite on
https://urn.fi/URN:ISBN:978-952-412-482-9
https://urn.fi/URN:ISBN:978-952-412-482-9
Kuvaus
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Tiivistelmä
In mobile machinery, conventional valve-controlled hydraulic systems are characterized by substantial throttling losses, limited energy recuperation, and high power demand. Direct-driven electro-hydraulic actuators represent a more energy-efficient alternative. However, their practical adoption is limited by the need for a dedicated electro-hydraulic converter (EHC) for each cylinder, which increases the system’s size, cost, and complexity. This dissertation addresses the implementation of electro-hydraulic actuation based on centralized or shared EHC architectures without compromising machine usability or productivity. The objective is to formulate and validate compact EHC-sharing actuation principles supported by architecture-aware control algorithms.
This research combines the design of actuation system architectures, an analysis of energy losses, dynamic simulations, and laboratory experiments on a log crane PATU 655. Two main approaches are formulated and evaluated. The first approach uses the unidirectional loading of the lift cylinder, enabling its single-chamber direct-driven actuation, while the remaining cylinders are supplied by the same EHC through directional control valves. Laboratory experiments demonstrate a significant reduction in energy consumption, with median savings of 53.83% during log loading and 62.05% during log unloading cycles compared to a reference valve-controlled load-sensing (LS) system without compromising operational productivity. The second approach introduces automatic sequential actuation of crane cylinders using a single EHC by switching connections between them. Experimental results confirm reduced energy consumption, with median savings of 62.6% during log loading and 49.8% during log unloading cycles compared to a reference LS system.
The results demonstrate that substantial energy reduction and multi-actuator operation in mobile cranes can be achieved using a single EHC. The identified limitations provide a basis for future research on practical machine implementation and on-field validation.
This research combines the design of actuation system architectures, an analysis of energy losses, dynamic simulations, and laboratory experiments on a log crane PATU 655. Two main approaches are formulated and evaluated. The first approach uses the unidirectional loading of the lift cylinder, enabling its single-chamber direct-driven actuation, while the remaining cylinders are supplied by the same EHC through directional control valves. Laboratory experiments demonstrate a significant reduction in energy consumption, with median savings of 53.83% during log loading and 62.05% during log unloading cycles compared to a reference valve-controlled load-sensing (LS) system without compromising operational productivity. The second approach introduces automatic sequential actuation of crane cylinders using a single EHC by switching connections between them. Experimental results confirm reduced energy consumption, with median savings of 62.6% during log loading and 49.8% during log unloading cycles compared to a reference LS system.
The results demonstrate that substantial energy reduction and multi-actuator operation in mobile cranes can be achieved using a single EHC. The identified limitations provide a basis for future research on practical machine implementation and on-field validation.
Kokoelmat
- Väitöskirjat [1215]