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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

A data-driven mobility–energy typology framework for New York State

Exploring multidimensional aspects of differences in technology adoption, travel, and vehicle ownership across settlement types can help inform energy-efficient and affordable mobility system goals. Concurrently, mapping key enablers, barriers, and risks for successfully meeting ambitious goals and targets (e.g. by geography, age, income, education, population density) offer important explanatory power as to context-specific challenges and opportunities. This paper explores how a highly geographically resolved understanding of social, economic, techno-infrastructural, environmental, and governance (SET EG) factors shape variations in technology adoption and associated mobility and energy outcomes in diverse communities of New York State, in terms of electric vehicle adoption rates, alternative commute mode choices, vehicles per household, and vehicle fuel economy. Results indicate the range of two to three times higher adoption rates for electric vehicles by more highly educated, wealthier, “Core Urban” populations relative to the other identified typologies, given the labels “Rural”, “Suburban”, and “Urban” populations. Additionally, commute mode choice is closely linked with population and employment density—more than 89% of Core Urbanites use transit or active modes, compared with just 26% and 18% of Suburban and Rural residents, respectively. Household vehicle ownership varies from approximately 1.9 vehicles per household in Rural areas to only 0.6 in Core Urban settings. Findings on differences among the four settlement types, which go beyond simply rural to urban contexts, suggest an important need to explore how best to manage and anticipate very different types of services that may be supportive in achieving energy-efficient and affordable mobility systems statewide.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2025

Impacts and emerging research opportunities in Vehicle-Grid Integration for transportation: A review

This review provides a comprehensive examination of Vehicle-Grid Integration (VGI) technologies and their impacts on transportation systems, with a particular emphasis on the transportation-energy nexus. It systematically explores how VGI affects key transportation applications such as charging infrastructure planning, electric vehicle (EV) routing, smart charging coordination, shared mobility, and dynamic pricing. By synthesizing recent literature from both transportation and energy systems perspectives, this study highlights how advanced methodologies, such as reinforcement learning, game theory, and optimization techniques, are used to model the complex interactions between EVs, mobility patterns, and distributed energy systems. Furthermore, the review also identifies critical challenges, including behavioral factors, data limitations, and system scalability. Drawing on these insights, the paper outlines emerging research opportunities to support the design of integrated, resilient, and user-centric VGI solutions that advance sustainable mobility and energy system efficiency.

Charging coordination↗
DOE OSTI2021

Livewire Data Platform: A Catalog of Transportation and Mobility Data

A two-page fact sheet on the capabilities and core services of the Livewire Data Platform, a growing catalog of transportation and mobility-related data that empowers researchers and community planners to easily and securely share and preserve data that support projects and decision making.

Livewire, EEMS, energy-efficient mobility systems,↗
DOE OSTI2022

Mobility Energy Productivity Evaluation of Prediction-Based Vehicle Powertrain Control Combined with Optimal Traffic Management

Transportation vehicle and network system efficiency can be defined in two ways: 1) reduction of travel times across all the vehicles in the system, and 2) reduction in total energy consumed by all the vehicles in the system. The mechanisms to realize these efficiencies are treated as independent (i.e., vehicle and network domains) and, when combined, they have not been adequately studied to date. This research aims to integrate previously developed and published research on Predictive Optimal Energy Management Strategies (POEMS) and Intelligent Traffic Systems (ITS), to address the need for quantifying improvement in system efficiency resulting from simultaneous vehicle and network optimization. POEMS and ITS are partially independent methods which do not require each other to function but whose individual effectiveness may be affected by the presence of the other. In order to evaluate the system level efficiency improvements, the Mobility Energy Productivity (MEP) metric is used. MEP specifically measures the connectedness of a system while accounting for time and energy externalities of modes that provide mobility in a given location. A SUMO model is developed to reflect real traffic patterns in Fort Collins, Colorado and data is collected by a probe SUMO vehicle which is validated against data collected on a real vehicle driving the same routes through the city. Individual vehicle and system level efficiencies are calculated using SUMO outputs for scenarios which integrate POEMS and ITS independently as well as jointly. Results from application of POEMS and ITS show improvement in energy consumption and travel times respectively when compared to the respective baseline scenarios. Our conclusion is that there are promising synergistic benefits to travel time and energy efficiency when POEMS and ITS are combined.

ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2020

Mobility, Energy, and Electric Vehicle Typology for New York State

Mobility patterns, technology adoption and associated energy outcomes vary tremendously across settlement types. This paper explores how a highly geographically resolved exploration of the social, economic, techno-infrastructural and environmental domains of New York State is key to understanding observed variations in transportation technology adoption and associated mobility and energy outcomes. Current socioeconomic and mobility data sets at the census block group level are integrated in a hierarchical clustering approach to show how variations in mobility and energy outcomes are shaped by these domains - which may enhance progress on investments, or effectively inform planning and other decisions for state-wide goals. The clustering produces four settlement types to predict dependent variables of electric vehicle (EV) adoption rates, commute mode, vehicle fuel economy, and vehicles per household. This typology shows EV adoption rates among the core urban population, which is wealthy and highly-educated, are high - 3 EVs/1000 vehicles versus 1 EV/1000 vehicles among the urban working class. Commuting mode is closely linked with population and employment density - more than 90% of core urbanites use transit or active modes, compared with only 22% of suburbanites and 17% of rural residents. Household vehicle ownership also varies, with 2 vehicles per household in rural areas and only 0.5 in core urban settings. Important findings on differences among the rural, suburban, urban, and urban core settlement types suggest a need to explore how best to manage and anticipate very different types of services that may be supportive in achieving energy-efficient and affordable mobility systems state-wide.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2023

Emerging Trends in Freight [Slides]

Freight transportation accounts for only 5% of the vehicles on U.S. roads, but 10% of vehicle miles of travel and 27% of on-road energy use. With rail and water, freight accounts for 28% of U.S. transportation energy and emissions. Trucking is the primary mode for transporting goods, but rail is a significant mode for longer shipments. Economic, technological, and operational trends pose both challenges and opportunities to meet U.S. demand for goods movement as well as national decarbonization goals. This presentation provides a systems perspective for energy efficiency freight mobility and an overview of available NREL analytical tools to address these challenges.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
DOE OSTI2020

Evaluating Energy Efficiency Opportunities from Connected and Automated Vehicle Deployments Coupled with Shared Mobility in California

Connected and Automated Vehicles (CAVs) can be considered to be a disruptive transportation technology, with the potential to significantly improve overall transportation system efficiency; however, CAVs may increase induce vehicle miles traveled (VMT) and bring on greater energy consumption. Further, shared mobility is another disruptive transportation event that is reshaping our travel patterns. The primary goal of this project was to extensively collect data from vehicles and associated infrastructure equipped with CAV technologies from both real-world experiments and simulation studies mainly deployed in California, and develop a comprehensive framework for evaluating energy efficiency opportunities from large-scale (e.g., statewide) introduction of CAVs and a wide deployment of shared mobility systems in a variety of scenarios. To quantify the combined impact of CAV and shared mobility on travel behavior, traffic performance, and energy efficiency, a unique mesoscopic simulation-based model was developed for mobility and energy efficiency evaluation considering these disruptive transportation technologies. As a complement to existing studies on nationwide evaluation of CAVs’ energy impacts, this project was focused on data collection efforts and CAV applications under congested traffic environments that are frequently experienced on a massive scale across the major metropolitan areas in California. Extensive real-world data collection supplemented with simulation studies were conducted to cover a variety of CAV and shared mobility scenarios, particularly on scenarios less-explored in the existing research. Another key component of this project was to consider the interaction between different CAV technologies and shared mobility models, and the compound effect on energy efficiency. A comprehensive modeling suite was developed to quantify the impact of new mobility technologies on travel behavior and traffic performance. The developed modeling framework includes an energy intensity module, mode choice module and activity generation module that are integrated into an agent-based BEAM simulation platform to perform impact analysis based on a variety of scenarios. In addition, the RouteE model has been upgraded to incorporate the impact of CAVs on traffic flow, VMT and energy intensity, using micro-simulation data collected from both freeways and urban arterials. A novel fundamental influencing factor (FIF) mode choice model was developed to link CAV and shared mobility components with travel behaviors, and adapted into the BEAM-centered model framework. A statewide energy inventory was constructed under various CAV technology deployment scenarios by incorporating datasets and models for predicting vehicle market share and vehicle usage, which are tightly associated with the penetration of shared mobility systems. Based applying this modeling suite to a calibrated network in Riverside California, it was found that cooperative automated driving in general will improve mobility, but automated vehicles, even when deployed in a shared autonomous fleet, will likely bring an increase of VMT (up to 36%) due to mode shifts and deadheading. Ride-hailing vehicles typically have better energy efficiency and a higher share of electric vehicles, which helps offset the negative impact from VMT increases when estimating the system-level energy consumption. In general, simulation results show a 6% increase in energy consumption for the scenarios with an increasing shift to ride-hailing modes. The statewide analysis based on the National Household Travel Survey (NHTS) sample data is consistent with the findings from the Riverside network and validate the developed clustering-prediction modeling methodology. The outcomes from this project will help close the knowledge gap on recognizing the potential performance and energy impacts of a broad deployment of CAV and shared mobility technologies across a wide range of roadway infrastructure with varying levels of congestion. Results from this project: 1) will support policymakers in steering CAV development and deployment towards an energy favorable direction; 2) reduce uncertainties in estimating energy saving opportunities from new mobility technologies and services; 3) increase the confidence of CAV technology investors both on the infrastructure side (i.e., transportation agencies) and on the vehicle side (i.e., OEMs); and 4) expedite the deployment of energy-efficient CAV and shared mobility applications.

33 ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2020

Transforming Energy through Sustainable Mobility: Expanding Energy-Efficient Mobility Options

As the nation's premier facility for energy-efficient transportation research and development solutions, NREL blazes new trails with a whole-system approach that combines vehicle, building, and infrastructure connectivity and automation to optimize mobility and increase energy efficiency. NREL also explores new options for high-performance engines to maximize energy efficiency and on-road vehicle performance, while minimizing emissions, enhancing energy security, increasing U.S. jobs, and lowering drivers' costs.

ADVANCED PROPULSION SYSTEMS,DIRECT ENERGY CONVERSI↗
DOE OSTI2023

Mobility Energy Productivity and Equity: E-Bike Impacts for Low-Income Essential Workers in Denver

New mobility technologies such as electrified and shared mobility, combined with polices and incentive programs, are emerging to help address sustainability and equity issues in transportation planning. However, it can be difficult to understand the impacts of novel mobility trends and emerging modes on energy-efficient access. This is owing to a lack of (1) open-source tools enabling rapid data collection, and (2) open-source metrics that consider multimodal, multiactivity access and mobility within the contexts of sustainability and equity. Here, this paper addresses the topic of improving evaluation of transportation modes and incentive programs by integrating an open-source platform for tracking human travel data—the Open Platform for Agile Trip Heuristics (OpenPATH)—with a mobility metric that quantifies the efficiency of a region’s transportation system: Mobility Energy Productivity (MEP). Integration is demonstrated in the context of pilot programs in Colorado, where low-income essential workers were provided with electric bikes (e-bikes). OpenPATH-informed MEP calculations showed that several locations in downtown Denver provided comparable time-, cost-, and energy-efficient access to opportunities using e-bikes compared with driving. Additionally, providing e-bikes to low-income essential workers was found to be meaningful, as they utilized e-bikes the most to commute, despite driving still being their most utilized mode and the mode with highest MEP scores in Denver. We show how data collected from open-source tools coupled with robust metrics such as MEP can help evaluate the impacts of emerging mobility options. This could support developing policies to incentivize novel modes to achieve greater levels of sustainable, equitable, and efficient access.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
DOE OSTI2023

Evaluating Connected and Automated Vehicles in Co-Simulation Environment of Traffic Microsimulation and Vehicle Dynamics

Connected and automated vehicles (CAVs) have the potential to improve many aspects of the current transportation systems such as safety, mobility, and energy efficiency. In order to evaluate the benefits and impacts of a CAV, the CAV control algorithm is typically implemented on vehicles simulated in a traffic microsimulation environment. However, traffic microsimulation usually lacks detailed vehicle and powertrain dynamics, making it challenging to fully understand how a CAV control algorithm will perform and respond on an actual vehicle. Whether the same benefits measured in the simulation will also be observed in real-world remains an open question. One potential approach to fill in this gap is to conduct a co-simulation of traffic microsimulation with detailed vehicle and powertrain dynamics models, often developed in MATLAB Simulink. However, current microsimulation tools such as VISSIM and SUMO do not have a ready-to-use interface for co-simulation with vehicle dynamics and Simulink. Also, even if such an interface exists, it will be tool-specific, making it challenging to shift from one tool to another or test CAV controls in different tools. There are needs for tool-agnostic co-simulation as different microsimulation tools have their pros and cons, and researchers often need to use different tools based on the purposes of the simulation, project needs, and applications. In this work, Flexible Interface for X-in-the-loop Simulation (FIXS) is developed that can support the co-simulation of microsimulation, CAV control algorithm, and vehicle dynamics model in Simulink. Enabled by the FIXS, the benefit and performance of a CAV control algorithm can be better understood with the consideration of vehicle responses and dynamics. The connection to VISSIM and SUMO is handled internally by the interface, and users can easily switch tools by changing a configuration file. The co-simulation capability is demonstrated for a VISSIM eco-approach and departure CAV scenario and a SUMO cooperative merging scenario for both a passenger CAV and a class 8 heavy-duty connected and automated trucks.

Shao, Yunli↗
DOE OSTI2020

A High-Efficient Solution for Electro-Hydraulic Actuators with Energy Regeneration Capability

This paper proposes a cost-effective, robustly practical solution for a high-efficient electro-hydraulic actuator (EHA) for linear drives. The solution addresses the challenges of high costs and limited efficiency that limit the application of EHA for the electrification of many off-road vehicles. Based on a variable-speed electric motor and a low-cost technology for a fixed-displacement pump, the proposed solution is suitable for a compact implementation and it is capable of energy regeneration under overrunning load conditions. Two different architectures—an open circuit and a closed circuit one—are considered to determine the most practical and efficient configuration as well as the control features. Both architectures minimize throttling losses associated with the conventional regulation of hydraulic actuators. Actuator velocities below the minimum and beyond the maximum allowable pump flow rate are achieved in both architectures using a proportional valve that bypasses the pump flow. The paper describes the design methodology as well as the simulation and experimental activities performed to verify the control strategies as well as energy efficiency. Considering an EHA system of about 20 kW, a complete efficiency map of the system is determined for all the possible four quadrants of operation thus including both resistive and overrunning loads, where energy recuperation is implemented. Simulation and experimental results show that the energy efficiency of the hydraulic systems can reach 84.7% in resistive phases. In assistive phases, the hydraulic system can recover up to 81.8% of the actuator energy. Here, the comparison between open-circuit and closed-circuit structures shows the advantages of the former in terms of energy efficiency. The proposed solution is suitable for electrified hydraulic actuation systems, in both industrial and mobile applications. With the advantages of the low cost of the hydraulic unit and high energy efficiency, it is particularly suitable for mobile applications such as construction machines, that are recently experiencing a significant electrification trend.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2023

A Multi-Dimensional Benefit Assessment of Automated Mobility Platforms (AMP) for Large Facilities: Mobility, Energy, Equity, and Facility Management & Design

The goal of the automated mobility platforms (AMPs) initiative is to raise the bar of service regarding equity and sustainability for public mobility systems that are crucial to large facilities, and doing so using electrified, energy efficient technology. Using airports as an example, the rapid growth in air travel demand has led to facility expansions and congested terminals, which directly impacts equity (e.g., increased challenges for Passengers with Reduced Mobility [PRMs]) and sustainability - both of which are important metrics often overlooked during the engineering design process. Therefore, to evaluate systems and inform critical near- and long-term decisions more effectively, a holistic evaluation framework is proposed focused on four key areas: (1) mobility, with emphasis on travel time and accessibility within an airport, (2) environment, focused on energy consumption and greenhouse gas (GHG) emissions associated with intra-airport mobility, (3) equity, specifically to the PRM community, but with an eye to the whole of society, and (4) built environment, or the fundamental changes in building design enabled by different mobility systems for larger and more flexible, functional, and energy-efficient structures. Below, AMPs are defined, and each metric is discussed further, all with a focus on airport mobility.

ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2022

Runtime Systems for Energy Efficiency in Advanced Computing Systems

As heterogeneous systems become increasingly popular for both mobile and high-performance computing, conventional efficiency techniques such as dynamic voltage and frequency scaling (DVFS) fail to account for the tightly coupled and varied nature of systems on a chip (SoCs). In this work, we explore the impact of system unaware DVFS techniques on a mobile SoC under three benchmark suites: Chai, Rodinia, and Antutu. We then analyze performance trends across the suites to identify a set of consistent operating points that optimally balance power and performance across the system. The consistent operating points are then constructed into a dependency graph which can be leveraged to produce a more effective, SoC-wide governor.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2026

Human Factors and Technologies Design to Improve User Acceptance of Pooled Rideshare for Increasing Transportation System Energy Efficiency

This multi-year project delivered a comprehensive, human-factors-driven framework to understand, model, and improve pooled rideshare (PR) adoption in the United States. Through three large-scale national survey studies involving more than 16,000 participants across multiple cities and demographic groups, the research established one of the most extensive datasets to date on user perceptions, behavioral barriers, and service expectations related to pooled rideshare. These data revealed key human factors barriers of user acceptance of PR and suggested potential actionable experience optimizations that could lead to increased PR usage. This foundational knowledge guided the development of novel human-factors models and behavioral choice models that quantify how psychological, demographic, and trip-level factors influence willingness to pool. Building on these empirical insights, the project developed advanced behavioral modeling tools, including mixed logit and integrated choice and latent variable models, to capture both observable and latent influences on PR adoption. These models significantly improved the ability to predict riders’ acceptance of pooled trips, explaining choice heterogeneity through latent constructs such as safety, service experience, privacy concerns, time sensitivity, and environmental attitudes. Together, these models provide a robust analytical foundation for designing PR systems that more effectively meet user needs. The project translated human-factors insights and behavioral models into actionable technology innovations by extending POLARIS—an agent-based, activity-based travel simulation platform—into a fully functional pooled rideshare simulation environment. New PR modules, acceptance models, and regional scenarios were implemented for Greenville, SC and Austin, TX, enabling high-fidelity validation of algorithmic strategies under realistic demand and traffic conditions. The simulation platform supported the development and evaluation of adaptive discount-based assignment algorithms, enhanced willingness-to-pay formulations, demographic-aware incentive mechanisms, and a proactive joint assignment and repositioning strategy. Simulation results demonstrated substantial gains in pooling uptake, average vehicle occupancy, energy efficiency, and fleet profitability. In Greenville, pooling adoption more than doubled, while reductions in vehicle-miles traveled and energy consumption were significant. In Austin, pooling improvements were achieved with minimal service-quality trade-offs, and profitability increased across all fleet sizes. Through this research, we developed a comprehensive understanding of the human factors barriers that limit user acceptance of pooled rideshare services. These insights enabled the design of human-factors-aware pooled rideshare technologies that more effectively address user concerns and improve adoption rates. By integrating these models into an advanced agent-based simulation framework, we demonstrated that higher adoption of pooled rideshare can lead to measurable improvements in energy efficiency and system performance. Together, these contributions establish a validated pathway from human-centered analysis to technology development and energy-saving outcomes, supporting national goals for more sustainable and efficient mobility systems.

Jia, Yunyi↗
DOE OSTI2024

Vehicle and Mobility Technologies 2024 Annual Impact Report

Research and development at the National Renewable Energy Laboratory supports the U.S. Department of Energy's Vehicle Technologies Office in advancing efficient and sustainable transportation technologies that will improve energy efficiency, fuel economy, and mobility energy productivity, and will enable America to achieve a resilient, secure, clean, and affordable transportation future.

ADVANCED PROPULSION SYSTEMS,ENERGY PLANNING, POLIC↗
NASA NTRS1991

NASA advanced aeronautics design solar powered remotely piloted vehicle

Environmental problems such as the depletion of the ozone layer and air pollution demand a change in traditional means of propulsion that is sensitive to the ecology. Solar powered propulsion is a favorable alternative that is both ecologically harmless as well as cost effective. Integration of solar energy into designs ranging from futuristic vehicles to heating is beneficial to society. The design and construction of a Multi-Purpose Remotely Piloted Vehicle (MPRPV) seeks to verify the feasibility of utilizing solar propulsion as a primary fuel source. This task has been a year long effort by a group of ten students, divided into five teams, each dealing with different aspects of the design. The aircraft was designed to take-off, climb to the design altitude, fly in a sustained figure-eight flight path, and cruise for approximately one hour. This mission requires flight at Reynolds numbers between 150,000 and 200,000 and demands special considerations in the aerodynamic design in order to achieve flight in this regime. Optimal performance requires a light weight configuration with both structural integrity and maximum power availability. The structure design and choice of solar cells for the propulsion was governed by the weight, efficiency, and cost considerations. The final design is a MPRPV weighting 35 N which cruises 7 m/s at the design altitude of 50 m. The configuration includes a wing composed of balsa and foam NACA 6409 airfoil sections and carbon fiber spars, a tail of similar construction, and a truss structure fuselage. The propulsion system consists of 98 10 percent efficient solar cells donated by Mobil Solar, a NiCad battery for energy storage, and a folding propeller regulated by a lightweight and efficient control system. The airfoils and propeller chosen for the design were research and tested during the design process.

Elario, David S.↗
NASA NTRS1991

Solar powered multipurpose remotely powered aircraft

Environmental problems such as the depletion of the ozone layer and air pollution demand a change in traditional means of propulsion that is sensitive to the ecology. Solar-powered propulsion is a favorable alternative that is both ecologically harmless as well as cost effective. Integration of solar energy into designs ranging from futuristic vehicles to heating is, therefore, beneficial to society. The design and construction of a Multipurpose Remotely Piloted Vehicle (MPRPV) seeks to verify the feasibility of using solar propulsion as a primary fuel source. This task has been a year-long effort by a group of eight students, divided into four teams, each dealing with different aspects of the design. The aircraft was designed to take off, climb to the design altitude, fly in a sustained figure-eight flight path, and cruise for approximately one hour. This mission requires flight at Reynolds numbers between 150,000 and 200,000 and demands special considerations in the aerodynamic design to achieve flight in this regime. Optimal performance requires a lightweight configuration with both structural integrity and maximum power availability. The structural design and choice of solar cells for the propulsion were governed by weight, efficiency, and cost considerations. The final design is an MPRPV weighing 35 N that cruises at 7 m/s at the design altitude of 50 m. The configuration includes a wing composed of balsa and foam NACA 6409 airfoil sections and carbon fiber spars, a tail of similar construction, and a truss structure fuselage. The propulsion system consists of 98 12.5 percent-efficient solar cells donated by Mobil Solar, a NiCad battery for energy storage, and a folding propeller regulated by a lightweight and efficient control system. The airfoils and propeller chosen for the design were researched and tested during the design process.

Source record↗
DOE OSTI2024

Precise Motion Control of Hybrid Hydraulic Electric Architecture (HHEA)

Off-highway heavy-duty vehicles have been long-standing users of hydraulic systems for power transmission and control. However, traditional hydraulic systems suffer from significant energy losses which lead to increased operating costs and a larger carbon footprint due to higher CO2 emissions. Improving the efficiency of these mobile machines is crucial not only for reducing their environmental impact but also for saving billions of dollars in operating costs. Currently, the state-of-the-art Load Sensing Architecture uses throttling valves for control, which significantly reduces its efficiency and does not recuperate energy from over-running loads. Researchers have developed several architectures such as Common Pressure Rail systems, Displacement Control, STEAM, and Electrohydraulic Architecture to improve the efficiency of off-road mobile machines. However, each of these architectures has its drawbacks. To increase system efficiency and take advantage of electrification benefits, our research group has developed a novel Hybrid Hydraulic-Electric Architecture (HHEA). The HHEA can significantly improve efficiency, decrease the size of electrical components, and maintain control performance. This new architecture has the potential to revolutionize the off-highway mobile machine industry and lead to a more sustainable future. The HHEA uses a set of common pressure rails to provide the majority of power to the actuators via power-dense hydraulics and uses electric motors for precise control and power modulation. In the context of off-road mobile machines, energy savings are undoubtedly important but it is equally important to consider the machines’ ability to perform tasks with precision and accuracy according to given commands. Therefore, precise motion control is of utmost importance to maintain the utility of Hybrid Hydraulic-Electric Architecture (HHEA). The HHEA presents a unique challenge to motion control due to the discrete pressure changes that occur when the system switches between selected pressure rails. These changes are made to minimize system inefficiencies or to keep the system within the torque capability of the electric motor. Hence, it is important to solve the motion control challenges for HHEA. This thesis aims at developing an effective motion control strategy for HHEA. The dissertation presents a two-tiered control strategy for HHEA, comprising a high-level and a low-level controller. The primary responsibility of the high- level controller is to optimize energy efficiency by making informed pressure rail selections. On the other hand, the low-level controller is focused on achieving precise motion control of the HHEA, which is crucial for realizing the desired reference trajectories. To achieve this, the low-level controller utilizes a passivity-based backstepping integral controller as the nominal control, which handles the motion control between two pressure rail switches. Additionally, a separate least norm controller is utilized as a transition controller to manage motion control during pressure rail transitions. The effectiveness of the combined control strategy is demonstrated through experiments conducted on two hardware-in-the-loop testbeds. Furthermore, the HHEA is installed on the boom and stick actuators of a backhoe arm to build a Human-in-the-Loop system that a human operator can control. A real-time rail switching algorithm is developed to determine pressure rail switching based on present duty cycle information from the operator. Modifications have been made to the human-machine interface to achieve more intuitive control. Modifications include performing control in the task-oriented coordinates, incorporating pressure feedback to enhance control with physical interaction, and using velocity field control to simplify multi-degree-of-freedom tasks and to enable novice operators to perform them with reduced risk, improved efficiency, and productivity. The research in this dissertation makes significant contributions to the field of off-road mobile machine control, providing a novel and effective control strategy for the HHEA, and demonstrating the potential for simplified machine operation.

24 POWER TRANSMISSION AND DISTRIBUTION↗