Transmission system control method and device for hybrid excavator

Abstract

This invention discloses a transmission system control method and device for a hybrid excavator. The transmission system includes an engine, an ISG motor, and a hydraulic pump coaxially connected. The output end of the hydraulic pump is connected to a hydraulic actuator via a hydraulic oil circuit. The control method includes: acquiring the current operating signal of the hydraulic actuator and performing a MAP lookup table to obtain the current power demand of the hydraulic actuator; repeating the following steps until the current output power of the hydraulic pump in the next iteration is less than the current power demand of the hydraulic actuator; acquiring the current control current and current output pressure of the hydraulic pump and the current speed of the engine, and calculating the current output power of the hydraulic pump; obtaining the target speed of the engine based on the current output power of the hydraulic pump and the current power demand of the hydraulic actuator; and adjusting the current speeds of the engine and ISG motor to the target speed based on PID closed-loop control. This invention has high fuel economy and operational stability.

Description

Technical Field

[0001] This invention relates to a transmission system control method and device for a hybrid excavator, belonging to the field of engineering machinery technology. Background Technology

[0002] Excavators have become one of the most important pieces of construction machinery and are widely used in modern production and daily life. Their overall power system mainly includes the engine system, hydraulic system, and slewing system. Currently, the commonly used power source system is the engine-hydraulic drive system. This system uses the engine to drive the hydraulic pump, and through the control valve group, the hydraulic oil drives the bucket, stick, boom, slewing system, and travel system.

[0003] To achieve energy savings, hybrid excavators incorporate ISG motors. The excavator is driven by a coaxial parallel connection of the engine and the ISG motor. The ISG motor can operate in two modes: auxiliary drive and power generation. The generated electricity charges the battery, which then powers excavator accessories such as the electric water pump, fan, and electric swing mechanism. Because of the coaxial parallel connection, the engine and motor maintain the same speed. The ISG motor provides auxiliary drive and offers better speed regulation performance compared to engine-only drive. However, the control method for this hybrid powertrain has been a major challenge. Existing technologies use constant speed control, keeping the engine at a relatively high speed corresponding to the maximum power of the hydraulic system and the maximum flow rate of the hydraulic pump. The drawback of this approach is that the engine operates at a fixed high speed for extended periods, resulting in a higher proportion of frictional work and increased fuel consumption. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a transmission system control method and device for a hybrid excavator, thereby solving the technical problem of high fuel consumption caused by existing control methods.

[0005] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0006] In a first aspect, the present invention provides a transmission system control method for a hybrid excavator, the transmission system comprising an engine, an ISG motor, and a hydraulic pump coaxially connected, the output end of the hydraulic pump being connected to a hydraulic actuator via a hydraulic oil circuit; the control method includes:

[0007] Obtain the current operating signal of the hydraulic actuator and perform a MAP lookup to obtain the current power requirement of the hydraulic actuator;

[0008] Repeat the following steps until the current output power of the hydraulic pump in the next iteration is less than the current power requirement of the hydraulic actuator:

[0009] Obtain the current control current and current output pressure of the hydraulic pump and the current speed of the engine, and calculate the current output power of the hydraulic pump;

[0010] The target speed of the engine is obtained based on the current output power of the hydraulic pump and the current power demand of the hydraulic actuator;

[0011] The current speed of the engine and the ISG motor is adjusted to the target speed based on PID closed-loop control.

[0012] Optionally, calculating the current output power of the hydraulic pump includes:

[0013] The current displacement V0 of the hydraulic pump is obtained by looking up the MAP table based on the current control current I0 of the hydraulic pump.

[0014] Calculate the current torque T0 of the hydraulic pump based on its current output pressure Pa0 and current displacement V0:

[0015]

[0016] In the formula, n is the efficiency constant of the hydraulic pump;

[0017] The power P0 of the hydraulic pump is calculated based on the current torque T0 of the hydraulic pump and the current speed v1 of the engine.

[0018]

[0019] In the formula, v0 is the current speed of the hydraulic pump.

[0020] Optionally, obtaining the target speed of the engine includes:

[0021] When the current output power of the hydraulic pump is less than the current required power of the hydraulic actuator, the target speed is set to the speed point that is greater than and closest to the current speed of the engine among the speed points corresponding to different high-efficiency economic zones.

[0022] When the current output power of the hydraulic pump is greater than the current required power of the hydraulic actuator, the target speed is set to the speed point that is less than and closest to the current speed of the engine among the speed points corresponding to different high-efficiency economic zones.

[0023] Optionally, adjusting the current speed of the engine and the ISG motor to the target speed based on PID closed-loop control includes:

[0024] Repeat the following steps:

[0025] Obtain the speed difference between the target speed and the current speed;

[0026] Calculate the PID control values ​​for the engine and the ISG motor based on the speed difference.

[0027] Obtain the feedforward control values ​​of the engine and the ISG motor;

[0028] The engine is controlled based on the feedforward control quantity and PID control quantity of the engine, and the ISG motor is controlled based on the feedforward control quantity and PID control quantity of the ISG motor.

[0029] The controlled rotational speeds of the engine and the ISG motor are obtained, and the controlled rotational speeds are taken as the current rotational speeds.

[0030] Secondly, the present invention provides a transmission system control device for a hybrid excavator, the transmission system comprising a coaxially connected engine, an ISG motor, and a hydraulic pump, the output end of the hydraulic pump being connected to a hydraulic actuator via a hydraulic oil circuit; the control device includes:

[0031] The power demand module is used to obtain the current operating signal of the hydraulic actuator and perform a MAP lookup table to obtain the current power demand of the hydraulic actuator.

[0032] An iterative calculation module is used to repeatedly execute the following steps until the current output power of the hydraulic pump in the next iteration is less than the current power requirement of the hydraulic actuator:

[0033] Obtain the current control current and current output pressure of the hydraulic pump and the current speed of the engine, and calculate the current output power of the hydraulic pump;

[0034] The target speed of the engine is obtained based on the current output power of the hydraulic pump and the current power demand of the hydraulic actuator;

[0035] The current speed of the engine and the ISG motor is adjusted to the target speed based on PID closed-loop control.

[0036] Optionally, calculating the current output power of the hydraulic pump includes:

[0037] The current displacement V0 of the hydraulic pump is obtained by looking up the MAP table based on the current control current I0 of the hydraulic pump.

[0038] Calculate the current torque T0 of the hydraulic pump based on its current output pressure Pa0 and current displacement V0:

[0039]

[0040] In the formula, n is the efficiency constant of the hydraulic pump;

[0041] The power P0 of the hydraulic pump is calculated based on the current torque T0 of the hydraulic pump and the current speed v1 of the engine.

[0042]

[0043] In the formula, v0 is the current speed of the hydraulic pump.

[0044] Optionally, obtaining the target speed of the engine includes:

[0045] When the current output power of the hydraulic pump is less than the current required power of the hydraulic actuator, the target speed is set to the speed point that is greater than and closest to the current speed of the engine among the speed points corresponding to different high-efficiency economic zones.

[0046] When the current output power of the hydraulic pump is greater than the current required power of the hydraulic actuator, the target speed is set to the speed point that is less than and closest to the current speed of the engine among the speed points corresponding to different high-efficiency economic zones.

[0047] Optionally, adjusting the current speed of the engine and the ISG motor to the target speed based on PID closed-loop control includes:

[0048] Repeat the following steps:

[0049] Obtain the speed difference between the target speed and the current speed;

[0050] Calculate the PID control values ​​for the engine and the ISG motor based on the speed difference.

[0051] Obtain the feedforward control values ​​of the engine and the ISG motor;

[0052] The engine is controlled based on the feedforward control quantity and PID control quantity of the engine, and the ISG motor is controlled based on the feedforward control quantity and PID control quantity of the ISG motor.

[0053] The controlled rotational speeds of the engine and the ISG motor are obtained, and the controlled rotational speeds are taken as the current rotational speeds.

[0054] Thirdly, the present invention provides an electronic device, including a processor and a storage medium;

[0055] The storage medium is used to store instructions;

[0056] The processor is configured to operate according to the instructions to perform the steps according to the method described above.

[0057] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0058] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0059] This invention provides a transmission system control method and device for a hybrid excavator, which can calculate the required flow rate of the hydraulic pump according to the driver's needs, and adjust the engine speed range in a timely manner, reduce engine friction work, and improve fuel efficiency; it performs dual closed-loop speed control on the engine speed and ISG motor, improving speed and torque response speed and control accuracy. Attached Figure Description

[0060] Figure 1 This is a flowchart of the transmission system control method for a hybrid excavator provided in an embodiment of the present invention;

[0061] Figure 2 This is a logic diagram of a PID closed-loop control engine and ISG motor provided in an embodiment of the present invention;

[0062] Figure 3 This is a schematic diagram of the transmission system of the hybrid excavator provided in an embodiment of the present invention;

[0063] The diagram is marked as follows:

[0064] 101-Engine, 102-ISG motor, 103-Hydraulic pump, 104-Hydraulic actuator

[0065] 201 - Pressure sensor, 202 - Speed ​​sensor, 203 - Current sensor

[0066] 301-Battery, 302-Controller, 303-Handle. Detailed Implementation

[0067] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0068] Example 1:

[0069] This invention provides a transmission system control method for a hybrid excavator. The transmission system includes an engine, an ISG motor, and a hydraulic pump coaxially connected, ensuring that the engine, ISG motor, and hydraulic pump rotate at the same speed. The output of the hydraulic pump is connected to a hydraulic actuator via a hydraulic oil circuit. Figure 1 As shown, the specific control methods include:

[0070] Step S1: Obtain the current operating signal of the hydraulic actuator and perform a MAP lookup to obtain the current power requirement of the hydraulic actuator.

[0071] The operator typically controls the excavator using two levers in each hand. Each action converts the lever signal into a CAN message signal. The left lever's forward / backward movement controls the boom's extension and retraction, while its left / right movement controls the swing. The right lever's forward / backward movement controls the bucket's unloading and digging actions, and its left / right movement controls the boom's lowering and raising actions. When the operator holds a lever in a specific position, it indicates that the hydraulic actuator's action is not yet complete, and the current power demand of the hydraulic actuator increases linearly.

[0072] Step S2: Repeat the following steps until the current output power of the hydraulic pump in the next iteration is less than the current power requirement of the hydraulic actuator:

[0073] Here, "the current output power of the hydraulic pump in the next iteration is less than the current required power of the hydraulic actuator" means that the current output power of the hydraulic pump in the current iteration is greater than and closest to the current required power of the hydraulic actuator. For example, at speed points of 1300rpm, 1400rpm, and 1500rpm, the ideal speed when the current output power of the hydraulic pump is equal to the current required power of the hydraulic actuator is 1350rpm. At this time, we can only choose 1400rpm and cannot continue to reduce it to 1300rpm.

[0074] Step S201: Obtain the current control current and current output pressure of the hydraulic pump and the current speed of the engine, and calculate the current output power of the hydraulic pump;

[0075] The calculation process includes:

[0076] (1) Obtain the current displacement V0 of the hydraulic pump by looking up the MAP table based on the current control current I0 of the hydraulic pump;

[0077] (2) Calculate the current torque T0 of the hydraulic pump based on the current output pressure Pa0 and current displacement V0:

[0078]

[0079] In the formula, n is the efficiency constant of the hydraulic pump;

[0080] (3) Calculate the power P0 of the hydraulic pump based on the current torque T0 of the hydraulic pump and the current speed v1 of the engine.

[0081]

[0082] In the formula, v0 is the current speed of the hydraulic pump.

[0083] Step S202: Obtain the target engine speed based on the current output power of the hydraulic pump and the current power demand of the hydraulic actuator;

[0084] Table 1: Engine Friction Work Analysis Table

[0085]

[0086] As shown in Table 1, this embodiment provides an engine friction work analysis table. The friction work analysis table is different for different engine models. This engine is in the high-efficiency economic zone at 1300rpm-1500rpm, with complete combustion, good fuel economy, high effective power ratio, and low specific fuel consumption. The difference in specific fuel consumption at different speeds mainly depends on the friction work of the engine at different speeds. When the engine speed is reduced from 1500rpm to 1400rpm, 4kw of friction work can be saved, which can save 1.39% of fuel. If the engine speed is reduced from 1500rpm to 1300rpm, about 8kw of friction work can be saved. If calculated based on an average power of 288kw, 2.78% of fuel can be saved. Therefore, to obtain the target speed of the engine, it is necessary to meet the following conditions: (1) the target speed is within the high-efficiency economic zone and (2) the speed point is as small as possible while meeting the current output power requirements of the hydraulic pump. Therefore, the acquisition process includes:

[0087] When the current output power of the hydraulic pump is less than the current required power of the hydraulic actuator, the target speed is set to the speed point that is greater than and closest to the current speed of the engine among the speed points corresponding to different high-efficiency economic zones.

[0088] When the current output power of the hydraulic pump is greater than the current required power of the hydraulic actuator, the target speed is set to the speed point that is less than and closest to the current engine speed among the speed points corresponding to different high-efficiency economic zones.

[0089] The engine's high-efficiency and economical range is between 1300rpm and 1500rpm. You can obtain the speed points by setting a gradient. If the gradient is set to 100rpm, the speed points will be 1300rpm, 1400rpm, and 1500rpm.

[0090] Step S203: Adjust the current speed of the engine and ISG motor to the target speed based on PID closed-loop control;

[0091] Since the current power demand of the hydraulic actuator changes in real time, PID closed-loop control is required to adjust the current speed of the engine and ISG motor to the target speed and stabilize it at the target speed.

[0092] like Figure 2 As shown, the specific process is as follows:

[0093] Repeat the following steps:

[0094] Obtain the speed difference between the target speed and the current speed;

[0095] Calculate the PID control values ​​for the engine and ISG motor respectively based on the speed difference;

[0096] Obtain the feedforward control values ​​for the engine and ISG motor;

[0097] The engine is controlled based on the engine's feedforward control quantity and PID control quantity, and the ISG motor is controlled based on the ISG motor's feedforward control quantity and PID control quantity.

[0098] The engine and ISG motor speeds are obtained after control, and the controlled speeds are taken as the current speeds.

[0099] Example 2:

[0100] like Figure 3 As shown, this embodiment of the invention provides a transmission system for a hybrid excavator, including an engine 101, an ISG motor 102, a hydraulic pump 103, a pressure sensor 201, a speed sensor 202, a current sensor 203, a battery 301, a controller 302, and a handle 303. The engine 101 and the ISG motor 102 are connected by a flexible coupling, and the ISG motor 102 and the hydraulic pump 103 are also connected by a flexible coupling. The battery 301 is also connected to the ISG motor 102 for charging and discharging. The output end of the hydraulic pump 103 is connected to a hydraulic actuator 104 through a hydraulic oil circuit. The speed sensor 202 is used to measure the engine speed; the pressure sensor 201 is used to measure the output pressure of the hydraulic pump; the current sensor 203 is used to detect the control current of the hydraulic pump; the handle 303 is used to acquire operation signals; the controller 302 receives sensor information and operation signals, and sends adjustment commands to the ISG motor 102 and the engine 101 based on the control method as described in Embodiment 1.

[0101] Example 3:

[0102] This invention provides a transmission system control device for a hybrid excavator. The transmission system includes an engine, an ISG motor, and a hydraulic pump coaxially connected, with the hydraulic pump output connected to a hydraulic actuator via a hydraulic oil circuit. The control device includes:

[0103] The power demand module is used to obtain the current operating signal of the hydraulic actuator and perform a MAP lookup to obtain the current power demand of the hydraulic actuator.

[0104] The iterative calculation module is used to repeatedly execute the following steps until the current output power of the hydraulic pump in the next iteration is less than the current power requirement of the hydraulic actuator:

[0105] Obtain the current control current and current output pressure of the hydraulic pump, as well as the current speed of the engine, and calculate the current output power of the hydraulic pump;

[0106] The target engine speed is obtained based on the current output power of the hydraulic pump and the current power demand of the hydraulic actuator;

[0107] The current speed of the engine and ISG motor is adjusted to the target speed based on PID closed-loop control.

[0108] Specifically, calculating the current output power of the hydraulic pump includes:

[0109] The current displacement V0 of the hydraulic pump is obtained by looking up the MAP table based on the current control current I0 of the hydraulic pump.

[0110] Calculate the current torque T0 of the hydraulic pump based on its current output pressure Pa0 and current displacement V0:

[0111]

[0112] In the formula, n is the efficiency constant of the hydraulic pump;

[0113] Calculate the power P0 of the hydraulic pump based on the current torque T0 of the hydraulic pump and the current speed v1 of the engine.

[0114]

[0115] In the formula, v0 is the current speed of the hydraulic pump.

[0116] Specifically, obtaining the target engine speed includes:

[0117] When the current output power of the hydraulic pump is less than the current required power of the hydraulic actuator, the target speed is set to the speed point that is greater than and closest to the current speed of the engine among the speed points corresponding to different high-efficiency economic zones.

[0118] When the current output power of the hydraulic pump is greater than the current required power of the hydraulic actuator, the target speed is set to the speed point that is less than and closest to the current engine speed among the speed points corresponding to different high-efficiency economic zones.

[0119] Specifically, adjusting the current speed of the engine and ISG motor to the target speed based on PID closed-loop control includes:

[0120] Repeat the following steps:

[0121] Obtain the speed difference between the target speed and the current speed;

[0122] Calculate the PID control values ​​for the engine and ISG motor respectively based on the speed difference;

[0123] Obtain the feedforward control values ​​for the engine and ISG motor;

[0124] The engine is controlled based on the engine's feedforward control quantity and PID control quantity, and the ISG motor is controlled based on the ISG motor's feedforward control quantity and PID control quantity.

[0125] The engine and ISG motor speeds are obtained after control, and the controlled speeds are taken as the current speeds.

[0126] Example 4:

[0127] Based on Embodiment 1, this embodiment of the invention provides an electronic device, including a processor and a storage medium;

[0128] Storage media are used to store instructions;

[0129] The processor is used to perform operations according to instructions to execute the steps according to the method described above.

[0130] Example 5:

[0131] Based on Embodiment 1, this embodiment of the invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the above-described method.

[0132] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0133] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0134] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0135] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0136] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A transmission system control method for a hybrid excavator, characterized in that, The transmission system includes a coaxially connected engine, an ISG motor, and a hydraulic pump, the output of which is connected to a hydraulic actuator via a hydraulic circuit; the control method includes: Obtain the current operating signal of the hydraulic actuator and perform a MAP lookup to obtain the current power requirement of the hydraulic actuator; Repeat the following steps until the current output power of the hydraulic pump in the next iteration is less than the current power requirement of the hydraulic actuator: Obtain the current control current and current output pressure of the hydraulic pump and the current speed of the engine, and calculate the current output power of the hydraulic pump; The target speed of the engine is obtained based on the current output power of the hydraulic pump and the current power demand of the hydraulic actuator; The current speed of the engine and the ISG motor is adjusted to the target speed based on PID closed-loop control; The calculation of the current output power of the hydraulic pump includes: Based on the current control current of the hydraulic pump Perform a MAP lookup to obtain the current displacement of the hydraulic pump. ; Based on the current output pressure of the hydraulic pump and current displacement Calculate the current torque of the hydraulic pump. : ; In the formula, This is the efficiency constant of the hydraulic pump; Based on the current torque of the hydraulic pump and the current speed of the engine Calculate the power of the hydraulic pump. ; ; In the formula, This represents the current speed of the hydraulic pump. The step of adjusting the current speed of the engine and the ISG motor to the target speed based on PID closed-loop control includes: Repeat the following steps: Obtain the speed difference between the target speed and the current speed; Calculate the PID control values ​​for the engine and the ISG motor based on the speed difference. Obtain the feedforward control values ​​of the engine and the ISG motor; The engine is controlled based on the feedforward control quantity and PID control quantity of the engine, and the ISG motor is controlled based on the feedforward control quantity and PID control quantity of the ISG motor. The controlled rotational speeds of the engine and the ISG motor are obtained, and the controlled rotational speeds are taken as the current rotational speeds.

2. The transmission system control method for a hybrid excavator according to claim 1, characterized in that, The process of obtaining the target speed of the engine includes: When the current output power of the hydraulic pump is less than the current required power of the hydraulic actuator, the target speed is set to the speed point that is greater than and closest to the current speed of the engine among the speed points corresponding to different high-efficiency economic zones. When the current output power of the hydraulic pump is greater than the current required power of the hydraulic actuator, the target speed is set to the speed point that is less than and closest to the current speed of the engine among the speed points corresponding to different high-efficiency economic zones.

3. A transmission system control device for a hybrid excavator, characterized in that, The transmission system includes a coaxially connected engine, an ISG motor, and a hydraulic pump, the output of which is connected to a hydraulic actuator via a hydraulic circuit; the control device includes: The power demand module is used to obtain the current operating signal of the hydraulic actuator and perform a MAP lookup table to obtain the current power demand of the hydraulic actuator. An iterative calculation module is used to repeatedly execute the following steps until the current output power of the hydraulic pump in the next iteration is less than the current power requirement of the hydraulic actuator: Obtain the current control current and current output pressure of the hydraulic pump and the current speed of the engine, and calculate the current output power of the hydraulic pump; The target speed of the engine is obtained based on the current output power of the hydraulic pump and the current power demand of the hydraulic actuator; The current speed of the engine and the ISG motor is adjusted to the target speed based on PID closed-loop control; The calculation of the current output power of the hydraulic pump includes: Based on the current control current of the hydraulic pump Perform a MAP lookup to obtain the current displacement of the hydraulic pump. ; Based on the current output pressure of the hydraulic pump and current displacement Calculate the current torque of the hydraulic pump. : ; In the formula, This is the efficiency constant of the hydraulic pump; Based on the current torque of the hydraulic pump and the current speed of the engine Calculate the power of the hydraulic pump. ; ; In the formula, This represents the current speed of the hydraulic pump. The step of adjusting the current speed of the engine and the ISG motor to the target speed based on PID closed-loop control includes: Repeat the following steps: Obtain the speed difference between the target speed and the current speed; Calculate the PID control values ​​for the engine and the ISG motor based on the speed difference. Obtain the feedforward control values ​​of the engine and the ISG motor; The engine is controlled based on the feedforward control quantity and PID control quantity of the engine, and the ISG motor is controlled based on the feedforward control quantity and PID control quantity of the ISG motor. The controlled rotational speeds of the engine and the ISG motor are obtained, and the controlled rotational speeds are taken as the current rotational speeds.

4. The transmission system control device for a hybrid excavator according to claim 3, characterized in that, The process of obtaining the target speed of the engine includes: When the current output power of the hydraulic pump is less than the current required power of the hydraulic actuator, the target speed is set to the speed point that is greater than and closest to the current speed of the engine among the speed points corresponding to different high-efficiency economic zones. When the current output power of the hydraulic pump is greater than the current required power of the hydraulic actuator, the target speed is set to the speed point that is less than and closest to the current speed of the engine among the speed points corresponding to different high-efficiency economic zones.

5. An electronic device, characterized in that, Including processor and storage media; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the steps of the method according to claim 1 or 2.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the method described in claim 1 or 2.

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