Hydraulic excavators, which are used in some construction fields, are necessary for achieving energy savings and high productivity. Some excavators use a static compensator as the torque controller (referred to as a PQ controller) to maintain productivity. However, energy saving technologies complicate this system. Therefore, it may be difficult under certain conditions, such as low temperatures, to maintain both devices using the static compensator. As shown in previous studies, a PID controller with a double integral element has been used as the torque controller in the excavator (that is, it is used as the dynamic compensator). The hydraulic excavator modifies the system even if it performs only one motion. The system change is caused by changes in the pump pressure, which are based on the switching of hydraulic circuits. Therefore, changes in the internal state (changes in pressure) can be described as system events. In this paper, the event-driven torque controller of a hydraulic excavator is newly proposed. Moreover, the generalized minimum variance control method is applied to selected control parameters based on the closed-loop data for some conditions. Furthermore, the effectiveness of the proposed method is verified experimentally using the hydraulic excavator.
