Abstract: The hydraulic excavator's manipulators were modeled by applying French software of AMESim. The main model parameters were set, and the motion simulation of its integrative mechanics-electronics- hydraulics system was accomplished. Furthermore, the good tracking performance and automatic excavation were achieved by using PID controller for the hydraulic cylinders of its beam, stick and bucket, providing an effective method for the designers.

Key words: Hydraulic excavator, AMEsim, PID control