Velocity and Position Combined Control of Hydraulic Excavator Swing System Based on Handle Integral

The position of the hydraulic excavator swing system is usually controlled by operator. As a result, the production efficiency and positioning precision is low. To solve this problem, a velocity and position combined control strategy based on handle integral was proposed. To be compatible with the handle operation mode used in mobile machines, the input signal of the desired position was derived from the integral of the angular velocity determined by the swing angle of the electric handle. In this method, the pressure and velocity feedback control were also applied to improve the positioning precision and smoothness. Firstly, an electro-hydraulic simulation model and an experiment system were developed. The results show that higher positioning precision can be achieved with different desired angular displacement. The positioning error is only 0.5°. The position overshoot, velocity and pressure fluctuation are all avoided, and the dynamic characteristics are improved obviously.