The model structure of hydraulic excavator system is complex,the calculation is complicated and the analysis is time-consuming,which cannot meet the requirement of efficient operation.Aiming at the poor tracking performance of complex excavator model,Hammerstein model was adopted to realize the predictive control of hydraulic excavator.Through the theoretical derivation of hydraulic excavator system structure,the complicated hydraulic excavator model was simplified and the Hammerstein hydraulic excavator nonlinear model was established.Combined with the sequential quadratic programming algorithm,the nonlinear model was solved to realize the predictive control of the nonlinear model of hydraulic excavator.In MATLAB/Simulink environment,the control of slewing device,moving arm,bucket and bucket was simulated and analyzed.The results show that the actual positions of the rotary device,moving arm,bucket and bucket have little deviation from the expected positions,the lead pressure does not have too frequent impact,and the fluctuation range of cylinder pressure is small.It shows that the nonlinear predictive control model of hydraulic excavator has good tracking performance and high control stability.