Abstract
In this paper, a real-time simulation model of an excavator using Amesim was proposed, considered the operation of functional valves with the main control valve (MCV). The hydraulic system models including the pump and MCV have been developed. The kinematic and dynamic models of the manipulator have also been developed, to confirm the behavior of the excavator. The MCV model includes various functional valves such as the regenerative valves, holding valves, swing and boom priority valves, and regen-cut valves so that simulations similar to real excavators can be performed. Additionally, to obtain the real-time calculation performance, the parts with no major influence on the dynamic behavior were simplified, high frequency factors were removed, and parameters were optimized. The models were compared with each other through the numerical analysis with variable time-step and fixed time-step, and the results were verified by comparison with the results of the actual vehicle tests.