Table 4 Driver function expressions.

From: Joint simulation and experimental verification of electromechanical-hydraulic of hydraulic excavator working device

Mobile subdrive

Function expression

Boom hydraulic cylinder and boom hydraulic cylinder piston rod

step(time,0,0,2,405) + step(time,8,0,10,-1181)+

step(time,16,0,18,1181)

Arm hydraulic cylinder and arm hydraulic cylinder piston rod

step(time,0,0,2,-731) + step(time,4,0,6,1490)+

step(time,12,0,14,-1490)

Bucket hydraulic cylinder and bucket hydraulic cylinder piston rod

step(time,0,0,2,-712) + step(time,2,0,4,1120)+

step(time,6,0,8,-548) + step(time,10,0,12,-373)+

step(time,14,0,16,-175)

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