Abstract: Excavator's manipulators were modeled by applying the French AMESim software for realizing the dynamic simulation of the integrative mechanics-electronics- hydraulics system. A multi-discipline optimized design for the parameters of PID controller was made by using the optimization software Isight and AMEsim, improving the conventional design method. The results show that the tracking error of beam jack decrease 57.4%, that of stick jack 26.7%, and that of bucket jack 4.3% compared with those obtained by the original PID controller, indicating a great improvement and enabling an accurate dynamic tracking. Moreover, the design efficiency is improved as the adjusting time for determining PID control parameters is reduced compared to that needed by the conventional method.

Key words: Hydraulic excavator, Isight, AMEsim, PID control, Integrated optimization