工程机械传统操控方法多采用集成的多路手动换向阀，通过各连杆杆件和软轴操纵机构，将要实现的一系列操纵功能分散在多个操纵杆上进行。该方法需要的操纵杆较多，操纵力大，很大程度上影响了作业质量和效率。采用多路电液比例换向阀和具有多自由度操控功能的操控器，可以实现单手多自由度的控制，实现对多个液压执行元件动作的集中比例控制，不仅大大减少了操纵杆的数量，提高了操纵性能，同时还可实现远距离操控，在一些特殊环境下能够有效地保护作业人员的安全。 本论文旨在开发一种具有上述功能特点的三轴操纵控制器。该操控器可以通过手柄在三维空间不同方向上产生的位移量，经传感电路和信号处理电路输出三组与手柄位移成比例的模拟电压信号，经比例放大器对多路电液比例换向阀上的六个比例电磁铁进行控制，从而实现单手柄集中控制多个液压执行机构的动作。论文在对电液比例控制系统深入研究的基础上，以人机工程学为基本准则，提出一种三轴操纵杆设计方案及传感信号处理单元的设计方案。 文中详细阐述了三轴操纵杆的机械结构组成原理、典型机构的设计方法、关键零部件的尺寸计算以及传感元件的选取和电路分析；应用CATIA和开目CAD软件分别设计了操纵杆的三维模型图和机械工程图，并且加工出了实物样机。信号处理单元硬件电路以单片机C8051F330为核心，进行了信号采集电路、单片机电路、信号处理放大电路及D/A转换电路的设计；软件部分用C51语言完成了主程序、A/D转换子程序、手柄中位标定、数据处理子程序及D/A转换子程序的设计。在调试中利用软件程序对手柄在各轴上动作的极限值进行了标定。 经过整机调试和功能测试，表明本文提出的三轴操控器设计方案正确可行，其主要功能得以实现，输出信号满足设计要求；操控器在X、Y轴上的线性度较好，Z轴上的线性度经过软件修正，有了明显的改善。

The traditional manipulative method of Construction Machinery mostly adopts to the integrated multi-channel manual conversion valves, through various connecting rods member and the flexible shaft control mechanism, a series of operation function which is going to realize were dispersesed on many control handles. The method needs more joysticks, the operating force is great, affected the quality and efficiency of operations to a large extent. Uses the multi-channel Electro-hydraulic proportional conversion valve and the operation control devices with multi-degrees of freedom, may realize the single-handed control of multi-degree of freedom, realizes to centralized control the movement of many hydraulic actuator proportionality, not only reduced the quantity of joysticks greatly, enhanced the handling quality, meanwhile may realize the remote handing, which can protect the operating personnel's safety effectively under some special environment. The research paper is for the purpose of developing one kind of three-axis operation controller with the above function characteristic. It can outputs three groups of analog voltage signa in proportion to the handle’s displacement, through the handle’s displacement quantity produced in different direction of the three-dimensional space, processed by Sensing circuit and Signal processing circuit, to control six proportion electro-magnet of the multi-channel Electro-hydraulic proportional valve via the proportional amplifier, thus realizes collective control many hydraulic actuator’s movement by one joystick. The paper proposes one design proposal of the three-axis operation controller and the Signal processing circuit, on the basis of intensive studying the Electro-hydraulic proportional control system, taked the man-machine engineering as the basic criterion. It was detailedly described that the composition principle mechanical structure of the three-axis operation controller, the design method of the typical mechanism,the dimensioning of the critical components,the selection of sensing element and circuit analysis in this paper,designed respectively Three-dimensional model and mechanical engineering drawings by using CATIA and KMCAD,and physical prototype. The core of hardware circuit of signal processing unit is MCU C8051F330, it consist of designments of the signal collection circuit,the microcontroller circuit,the amplification circuit of signal processing and the A/D conversion circuit. software parts complete designments of the main program,the A/D conversion subroutine,the data processing subroutine,the D/A conversion subroutine,the demarcation of handle median by using C51 language.In debugging,limit value of handle movement in each axis was demarcated by using the software program. After the complete machine debugging and the function test, indicated that the design proposal of the three-axis operation controller was correctly feasible in this paper, its main function has been realized and the output satisfies the design request; The linearity was good on X axis and Y axis of the joystick, and the linearity of Z axis has been obviously improved ,modified by the software.