Self-adaptive control method for walking direction of excavator

The invention belongs to control technologies of engineering machinery, particularly relates to a self-adaptive control method for the walking direction of an excavator. The self-adaptive control method is used for improving intuition and safety of walking operation of the excavator. A conventional walking control manner has the problems that the operation burden is increased due to the fact that the excavator can rotate by 360 degrees, the excavator can walk forwards and can walk backwards when a driver forwards steps or backwards treads a pedal to control walking, and the driver needs to test to judge the direction, and potential safety hazards exist front the point of operational safety. According to the self-adaptive control method for the walking direction of the excavator based on rotation angle measurement provided by the invention, time threshold values and rotation angle hysteresis are introduced into a control algorithm, so that the switching control for the walking direction under the special criti