中文摘要：

为了逐步完善挖掘机工作装置的自主操作,将驾驶员从日常繁重的体力劳动中解放出来,针对PC02挖掘机的工作装置,提出了基于行为的自主挖掘的模糊行为—状态流实现（BEFUSTAE）方法和Fuzzy Logic／Simulink／Stateflow的仿真实验模型.仿真实验实现了由基本动作对应的驱动事件使挖掘行为发生状态迁移的过程.实验表明：应用模糊逻辑来定义基本动作,减小了计算强度;在该仿真实验模型上实现自主操作算法,直观、可靠;借用、修改挖掘机驾驶人员的操作经验,效率明显提高.为实时工作时间（RTW）直接生成可执行代码奠定了基础.

英文摘要：

To gradually improve the autonomous manipulation and tough physical working condition on operators,a behavior-based BEFUSTAE （Behaviors of Fuzzy／Stateflow of Autonomous Excavation） algorithm;i.e.a simulating model using fuzzy logic and state flow,is developed for the working device of PC02 excavator.Through simulation experiments,the excavator behaviors are transited by the basic action-driven events.Accordingly,it is indicated that the application of fuzzy logic for action definition can reduce the computational workload.In addition,the autonomous manipulation algorithms via simulation experimental models are proven clear-cut,reliable and efficient with regard to operator experiences.Therefore,this approach sets a basis on direct generation of executable codes for RTW（Real Time Workshop）.