【正文】 71 1．【20】Sung—Keun Kim，Jeffery S．Russell．Framework for an intelligent43．。 bit in the system39。 improve the mechanical operating performance, reduced vibration and noise, eliminate public hazards, better design and equipment cab. Hydraulic excavator control system is posed by the engine, hydraulic pumps, multivalve and actuator (hydraulic cylinders, hydraulic motors and other power system control system. Excavator hydraulic control system is flow control, negative flow control and load sensing systems the load sensing system for its energysaving, high efficiency and lifelong significant advantages to really develop in Europe in the 1980s, widely used in modern construction machinery. load sensing system is a pressure poor feedback, closedloop system in the flow of instruction under the conditions of pump load pressure servo control load sensing system according to the type of control can be divided into a pump controlled load sensing system and the valveregulated load sensing system。 to adapt to different working conditions, not only can provide diesel engine The power can also provide electrical power。 focus on the power transmission system improvements to achieve energy efficient and expanding range of applications to achieve standardization, ponent to improve the reliability of the parts and the whole machine。 The adjustment control of the electronic integrated hydraulic control unit is designed according to mon standards, their functions and specific tasks determined by the microprocessor control center and control. Usually microprocessor can store multiple sets of functions in the control scheme to adapt to the different structure and function of the control requirements, and transform the functions of the machine just swap the appropriate enforcement agency, select the appropriate form of control. Excavator working hydraulic system is a plex electrohydraulic system of a typical construction machinery, the variability of the mechanical structure parameters, the hydraulic system of highly nonlinear, and the whole system there are a large number of uncertain amount (uncertain parameters and uncertain nonlinear model), makes the movement of the hydraulic excavator control has bee a difficult task. Hydraulic excavator boom, arm and bucket symmetrical three hydraulic cylinders hydraulic cylinders used to control the proportional valve or servo valve more than equal to the orifice area gradient valve. Therefore, with symmetrical valve to control the asymmetric hydraulic cylinder, resulting in the inconsistency of the characteristics of the hydraulic cylinder piston in both directions. This directly affects the trajectory control method and accuracy。當液壓泵的輸出流量不足時必須使各操作閥的輸出流量按比例地下降，即保持對各操作閥的操作量之間的比例(分流比)不變。這就需要采用可變節(jié)流口兩端壓差的壓力補償。但是在對具有優(yōu)先式壓力補償的系統(tǒng)進行復合操作時，有可能產生優(yōu)先級低的執(zhí)行器停止工作的情況。多執(zhí)行器負載敏感系統(tǒng)的分流控制方法16 J包括：(1)基于優(yōu)先式壓力補償的分流控制優(yōu)先式壓力補償的概念在1 969年由J．D．A11 ell提出