Development of Hardware In the Loop System (HILS) for Hydraulic Excavator

Hydraulic excavators have been popular devices in construction field because of its multi-workings and economic efficiency. The mathematical models of excavators have many nonlinearities because of nonlinear opening characteristics and dead zone of main control valve, oil temperature variation, etc. Actual test is needed when new component or control algorithm is developed but many restrictions exist. Hydraulic circuit of excavator is too complex to make models mathematically but dynamic equation of manipulator has made good progress in previous studies. Basic concept of HILS and AMESim model of hydraulic components is contained in this paper.