Construction machines are heavy-duty equipment and a major contributor to the environmental pollution. By using only electric motors instead of an internal combustion engine, the problems of low engine efficiency and air pollution can be solved. This paper proposed a novel energy management strategy for a PEM fuel cell excavator with a supercapacitor/battery hybrid power source. The fuel cell is the main power supply for most of the excavator workload while the battery/supercapacitor is the energy storage device, which supplies additional required power and recovers energy. The whole system model was built in a co-simulation environment, which is a combination of MATLAB/Simulink and AMESim software, where the fuel cell, battery, supercapacitor model, and the energy management algorithm were developed in a Simulink environment while the excavator model was designed in an AMESim environment. In this work, the energy management strategy was designed to concurrently account for power supply performance from the hybrid power sources as well as from fuel cells, and battery lifespan. The control design was proposed to distribute the power demand optimally from the excavator to the hybrid power sources in different working conditions. The simulation results were presented to demonstrate the good performance of the system. The effectiveness of the proposed energy management strategy was validated. Compared with the conventional strategies where the task requirements cannot be achieved or system stability cannot be accomplished, the proposed algorithms perfectly satisfied the working conditions.

The paper proposes an adaptive fuzzy position control for a 3-DOF hydraulic manipulator with large payload variation. The hydraulic manipulator uses electrohydraulic actuators as primary torque generators to enhance carrying payload of the manipulator. The proposed control combines backstepping sliding mode control, fuzzy logic system (FLS), and a nonlinear disturbance observer. The backstepping sliding mode control includes a sliding mode control for manipulator dynamics and a PI control for actuator dynamics. The fuzzy logic system is utilized to adjust the control gain and robust gain of the sliding mode control (SMC) based on the output of the nonlinear disturbance observer to compensate the payload. The Lyapunov approach and backstepping technique are used to prove the stability and robustness of the whole system. Some simulations are implemented, and the results are compared to other controllers to exhibit the effectiveness of the proposed control.

By replacing conventional supplies such as fossil fuels or internal combustion engines (ICEs), this paper presents a new configuration of hybrid power sources (HPS) based on the integration of a proton-exchange membrane fuel cell (PEMFC) with batteries (BATs) and supercapacitors (SCs) for hydraulic excavators (HEs). In contrast to conventional architectures, the PEMFC in this study functions as the main power supply, whereas the integrated BAT–SC is considered as an auxiliary buffer. Regarding shortcomings existing in the previous approaches, an innovative energy management strategy (EMS) was designed using a new mapping fuzzy logic control (MFLC) for appropriate power distribution. Comparisons between the proposed strategy with available approaches are conducted to satisfy several driving cycles with different load demands and verify the strategy’s effectiveness. Based on the simulation results, the efficiency of the PEMFC when using the MFLS algorithm increased up to 47% in comparison with the conventional proposed EMS and other approaches. With the proposed strategy, the HPS can be guaranteed to not only sufficiently support power to the system even when the endurance process or high peak power is required, but also extend the lifespan of the devices and achieves high efficiency.