An excavator and a control method, device thereof

Abstract

The application discloses a kind of excavator and its control method, device, excavator includes engine and hydraulic system, hydraulic system includes hydraulic pump, engine provides power for hydraulic pump, and hydraulic pump output flow, to make the power output of hydraulic system, comprising: in the working process of excavator, the target pressure of hydraulic pump is acquired;According to target pressure, the target demand power of hydraulic pump is determined;Whether target demand power exceeds the rated power of engine is judged;If yes, then control hydraulic pump flow reduces or control engine speed increases, enough to effectively prevent engine from the situation of speed drop due to hydraulic pump pressure sudden increase.

Description

Technical Field

[0001] This invention relates to the field of excavator control technology, and in particular to an excavator and its control method and device. Background Technology

[0002] During operation, excavators may switch from low-load to high-load conditions. For example, when shaking soil, it is necessary to control the stick to switch between inward and outward tilting modes, or to switch from boom lowering mode to lifting mode. This will cause the hydraulic pump pressure to increase instantly, resulting in a significant increase in the power required by the hydraulic pump and causing the engine speed to drop too much.

[0003] Existing technologies lack the ability to predict sudden changes in hydraulic pump pressure. In the process of preventing engine speed drop, only the hydraulic pump flow is filtered, which assumes that the hydraulic pump pressure does not change significantly. It is impossible to predict engine speed drop caused by a sudden increase in hydraulic pump pressure, and therefore cannot prevent engine speed drop caused by a sudden increase in hydraulic pump pressure. Summary of the Invention

[0004] This invention provides an excavator and its control method and device to prevent the engine from dropping speed due to a sudden increase in hydraulic pump pressure.

[0005] According to one aspect of the present invention, a control method for an excavator is provided, the excavator including an engine and a hydraulic system, the hydraulic system including a hydraulic pump, the engine providing power to the hydraulic pump, the hydraulic pump outputting flow to cause the hydraulic system to output power, comprising:

[0006] During the operation of the excavator, the target pressure of the hydraulic pump is obtained;

[0007] The target power requirement of the hydraulic pump is determined based on the target pressure.

[0008] Determine whether the target power requirement exceeds the rated power of the engine;

[0009] If so, the flow rate of the hydraulic pump is reduced or the engine speed is increased.

[0010] Optionally, obtaining the target pressure of the hydraulic pump includes:

[0011] Obtain the handle opening signal;

[0012] The pilot pressure of the hydraulic pump is determined based on the handle opening signal;

[0013] The target pressure of the hydraulic pump is determined based on the pilot pressure.

[0014] Optionally, determining the target pressure of the hydraulic pump based on the pilot pressure includes:

[0015] Obtain the preset relationship between the pilot pressure and the target pressure;

[0016] Based on the preset relationship between the pilot pressure and the target pressure, the target pressure of the hydraulic pump is determined according to the pilot pressure.

[0017] Optionally, determining the target power requirement of the hydraulic pump based on the target pressure includes:

[0018] Obtain the power calculation formula for the hydraulic pump;

[0019] Based on the power calculation formula, the target power requirement of the hydraulic pump is determined according to the target pressure.

[0020] The power calculation formula is: W1 = Q * p; where W1 is the target power requirement of the hydraulic pump, Q is the flow rate of the hydraulic pump, and p is the target pressure of the hydraulic pump.

[0021] Optionally, before controlling the decrease in the flow rate of the hydraulic pump or the increase in the speed of the engine, the method further includes:

[0022] Obtain the handle opening signal;

[0023] The target operating condition is determined based on the handle opening signal and the target pressure of the hydraulic pump.

[0024] The hydraulic pump flow rate is reduced or the engine speed is increased according to the target operating condition.

[0025] Optionally, controlling the flow rate of the hydraulic pump to decrease or the speed of the engine to increase according to the target operating condition includes:

[0026] Obtain the efficiency influencing factors of the target working condition;

[0027] Determine whether the working efficiency influencing factor is greater than a preset influencing factor; if so, control the engine speed to increase.

[0028] If not, then control the flow rate of the hydraulic pump to decrease.

[0029] Optionally, if it is determined that the target power demand does not exceed the rated power of the engine, the hydraulic pump is controlled to operate at a preset flow rate and the engine speed is controlled to remain constant.

[0030] According to another aspect of the present invention, a control device for an excavator is provided, the excavator including an engine and a hydraulic system, the hydraulic system including a hydraulic pump, the engine providing power to the hydraulic pump, the hydraulic pump outputting flow to cause the hydraulic system to output power, comprising:

[0031] The target pressure acquisition module is used to acquire the target pressure of the hydraulic pump during the operation of the excavator;

[0032] A target power requirement determination module is used to determine the target power requirement of the hydraulic pump based on the target pressure.

[0033] A power determination module is used to determine whether the target power requirement exceeds the rated power of the engine;

[0034] The first control module is used to control the hydraulic pump flow rate to decrease or the engine speed to increase when the power judgment module determines that the target power demand exceeds the rated power of the engine.

[0035] According to another aspect of the present invention, an excavator is provided, comprising: an engine, a hydraulic system, and a vehicle controller;

[0036] The hydraulic system includes a hydraulic pump, the engine provides power to the hydraulic pump, and the hydraulic pump outputs flow so that the hydraulic system outputs power.

[0037] The vehicle controller is used to execute the excavator control method described above.

[0038] Optionally, the excavator further includes: a handle and a handle opening sensor;

[0039] The handle opening sensor is used to collect the handle opening signal and send the handle opening signal to the vehicle controller.

[0040] The excavator control method provided in this embodiment of the invention continuously acquires the target pressure of the hydraulic pump during the excavator's operation and determines the target power demand of the hydraulic pump in real time based on the target pressure. After determining the target power demand of the hydraulic pump, the target power demand of the hydraulic pump can be compared with the rated power of the engine. Thus, when the target power demand exceeds the rated power of the engine, it can be determined that the hydraulic pump operating at the target power demand will likely cause the engine to slow down. Therefore, the hydraulic pump flow rate can be reduced or the engine speed can be increased to reduce the target power demand of the hydraulic pump, effectively preventing the engine from slowing down due to a sudden increase in hydraulic pump pressure.

[0041] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a flowchart of a control method for an excavator provided in an embodiment of the present invention;

[0044] Figure 2 This is a flowchart of another excavator control method provided in an embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram of the structure of a control device for an excavator provided in an embodiment of the present invention. Detailed Implementation

[0046] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0047] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0048] This invention provides a control method for an excavator, wherein the excavator includes an engine and a hydraulic system, the hydraulic system includes a hydraulic pump, the engine provides power to the hydraulic pump, and the hydraulic pump outputs flow so that the hydraulic system outputs power. This excavator control method can prevent engine speed drop due to sudden increase in hydraulic pump pressure. This excavator control method can be executed by the excavator control device provided in this invention, which can be implemented in the form of software and / or hardware, and the excavator control device can be configured in the vehicle controller of the excavator.

[0049] Figure 1 A flowchart of a control method for an excavator provided in an embodiment of the present invention is shown below. Figure 1 As shown, the method includes:

[0050] S110. During the operation of the excavator, obtain the target pressure of the hydraulic pump.

[0051] Specifically, during the operation of an excavator, there will be situations where the operating conditions change from low load to high load. The higher load will require the hydraulic pump to match a larger pressure. According to the background technology, the sudden increase in hydraulic pump pressure will cause the power required by the hydraulic pump to increase significantly, resulting in excessive engine speed drop. Therefore, during the operation of the excavator, the target pressure of the hydraulic pump can be continuously obtained.

[0052] S120. Determine the target power requirement of the hydraulic pump based on the target pressure.

[0053] Specifically, the target power requirement of the hydraulic pump can be calculated based on the target pressure.

[0054] For example, when determining the target power requirement of a hydraulic pump based on the target pressure, the power calculation formula for the hydraulic pump can be obtained first. Then, based on the power calculation formula, the target power requirement of the hydraulic pump can be determined according to the target pressure. The power calculation formula is: W1 = Q * p; where W1 is the target power requirement of the hydraulic pump, Q is the flow rate of the hydraulic pump, and p is the target pressure of the hydraulic pump.

[0055] Specifically, the flow rate Q of the hydraulic pump can be understood as the current flow rate of the hydraulic pump. The flow rate Q can be pre-collected and stored for direct retrieval during use. By substituting the real-time collected target pressure p of the hydraulic pump into the power calculation formula, the target power requirement W1 of the hydraulic pump can be determined.

[0056] S130. Determine whether the target power requirement exceeds the engine's rated power; if so, proceed to step S140.

[0057] Specifically, after determining the target power requirement of the hydraulic pump, the target power requirement can be compared with the rated power of the engine to determine whether the target power requirement of the hydraulic pump is greater than the rated power of the engine. If the target power requirement of the hydraulic pump is greater than the rated power of the engine, it means that the hydraulic pump operating at the target power requirement will easily cause the engine to slow down. If the target power requirement of the hydraulic pump is less than or equal to the rated power of the engine, it means that the hydraulic pump operating at the target power requirement will not cause the engine to slow down. In this way, the engine speed drop situation can be predicted.

[0058] S140, Control the hydraulic pump flow rate to decrease or control the engine speed to increase.

[0059] Specifically, if the target power requirement of the hydraulic pump is determined to be greater than the rated power of the engine, the hydraulic pump flow rate is reduced or the engine speed is increased to reduce the target power requirement of the hydraulic pump, thereby preventing the engine from slowing down.

[0060] For example, if the target power demand of the hydraulic pump is less than or equal to the rated power of the engine, it means that the hydraulic pump will not cause the engine to slow down when it operates at the target power demand. In this case, the hydraulic pump can be controlled to run at a preset flow rate and the engine speed can be kept constant so that the hydraulic pump operates at the target power demand.

[0061] The excavator control method provided in this embodiment of the invention continuously acquires the target pressure of the hydraulic pump during the excavator's operation and determines the target power demand of the hydraulic pump in real time based on the target pressure. After determining the target power demand of the hydraulic pump, the target power demand of the hydraulic pump can be compared with the rated power of the engine. Thus, when the target power demand exceeds the rated power of the engine, it can be determined that the hydraulic pump operating at the target power demand will likely cause the engine to slow down. Therefore, the hydraulic pump flow rate can be reduced or the engine speed can be increased to reduce the target power demand of the hydraulic pump, effectively preventing the engine from slowing down due to a sudden increase in hydraulic pump pressure.

[0062] Optional, Figure 2 This is another excavator control method provided in the embodiments of the present invention, such as... Figure 2 As shown, the control method of this excavator includes:

[0063] S210. During the operation of the excavator, acquire the handle opening signal.

[0064] S220. Determine the pilot pressure of the hydraulic pump based on the handle opening signal.

[0065] S230. Determine the target pressure of the hydraulic pump based on the pilot pressure.

[0066] Specifically, the operator controls the excavator to perform various working conditions via a joystick, such as boom retraction, boom tilting, boom raising, boom lowering, bucket retraction, bucket tilting, and rotation. Different joystick opening degrees correspond to different actions, and thus different pilot pressures. Therefore, when obtaining the target pressure of the hydraulic pump, the joystick opening signal can be obtained first. Based on the joystick opening signal, the corresponding pilot pressure can be determined. According to the matching relationship between the pilot pressure and the target pressure of the hydraulic pump, the target pressure corresponding to the joystick opening signal can be determined based on the pilot pressure.

[0067] For example, when determining the target pressure of the hydraulic pump based on the pilot pressure, a preset relationship between the pilot pressure and the target pressure can be obtained first, and then the target pressure of the hydraulic pump can be determined based on the pilot pressure according to the preset relationship between the pilot pressure and the target pressure.

[0068] Specifically, before the excavator leaves the factory, its actual operating conditions can be simulated, and the pilot pressure and the target pressure of the hydraulic pump can be calibrated one-to-one through testing to establish a preset relationship between the pilot pressure and the target pressure. Alternatively, the functional relationship between the pilot pressure and the target pressure can be determined based on test data, and this functional relationship can be used as the preset relationship between the pilot pressure and the target pressure. In this way, during the actual operation of the excavator, after determining the pilot pressure, the target pressure of the hydraulic pump can be directly determined based on the preset relationship between the pilot pressure and the target pressure.

[0069] S240. Determine the target power requirement of the hydraulic pump based on the target pressure.

[0070] S250. Determine whether the target power demand exceeds the engine's rated power; if yes, proceed to step S260; if no, proceed to step S280.

[0071] S260. Determine the target operating condition based on the handle opening signal and the target pressure of the hydraulic pump.

[0072] S270, control the hydraulic pump flow rate to decrease or control the engine speed to increase according to the target operating conditions.

[0073] S280: Control the hydraulic pump to operate at a preset flow rate and control the engine speed to remain constant.

[0074] Specifically, before reducing the hydraulic pump flow or increasing the engine speed, the handle opening signal can be acquired to determine the target working condition the excavator will perform. Among the various working conditions of the excavator, some have a significant impact on its efficiency, while others have a smaller impact. The target working condition can be identified by combining the handle opening signal and the target hydraulic pump pressure, i.e., identifying whether it is a boom retraction, boom tilt, boom raising, boom lowering, bucket retraction, bucket tilting, or body rotation condition. After determining the target working condition, it can be first determined whether it belongs to a type of working condition that has a significant impact on the excavator's efficiency or a type that has a smaller impact. Based on the type of target working condition, the hydraulic pump flow can be reduced or the engine speed increased to ensure that the excavator's working efficiency is maintained while preventing engine speed loss.

[0075] If the target working condition significantly impacts the excavator's efficiency, the engine speed should be increased to ensure that the engine speed meets the hydraulic pump's power requirements when the pump operates at the target power, preventing engine speed drops and maintaining high excavator efficiency. Conversely, if the target working condition has a smaller impact on excavator efficiency, the hydraulic pump flow rate can be reduced. This ensures stable engine speed and power output, preventing engine speed drops without affecting excavator efficiency. For example, working conditions significantly impacting excavator efficiency include slewing, boom retraction, boom tilting, boom lowering, and boom raising.

[0076] For example, when controlling the hydraulic pump flow rate to decrease or the engine speed to increase based on the target working condition, the working efficiency influence factor of the target working condition can be obtained first, and it can be determined whether the working efficiency influence factor is greater than a preset influence factor. If it is determined that the working efficiency influence factor is greater than the preset influence factor, it indicates that the target working condition has a significant impact on the excavator's working efficiency, and the engine speed is increased. If the working efficiency influence factor is less than or equal to the preset influence factor, it indicates that the target working condition has a relatively small impact on the excavator's working efficiency, and the hydraulic pump flow rate can be decreased. The preset influence factor can be set according to design requirements, and this embodiment of the invention does not specifically limit it.

[0077] Based on the same inventive concept, embodiments of the present invention also provide a control device for an excavator. This control device is used to execute the excavator control method provided in any embodiment of the present invention. The excavator control device can be implemented by software and / or hardware. Therefore, the excavator control device provided in the embodiments of the present invention includes the technical features of the excavator control method provided in any embodiment of the present invention, and can achieve the beneficial effects of the excavator control method provided in any embodiment of the present invention. The similarities can be referred to the above description of the excavator control method provided in the embodiments of the present invention, and will not be repeated here.

[0078] Optional, Figure 3 This is a schematic diagram of the structure of a control device for an excavator provided in an embodiment of the present invention. The excavator includes an engine and a hydraulic system. The hydraulic system includes a hydraulic pump, the engine provides power to the hydraulic pump, and the hydraulic pump outputs flow rate to enable the hydraulic system to output power. Figure 3 As shown, the excavator's control device includes a target pressure acquisition module 100, used to acquire the target pressure of the hydraulic pump during the excavator's operation; a target power demand determination module 200, used to determine the target power demand of the hydraulic pump based on the target pressure; a power judgment module 300, used to determine whether the target power demand exceeds the engine's rated power; and a first control module 400, used to control the hydraulic pump flow rate to decrease or the engine speed to increase when the power judgment module determines that the target power demand exceeds the engine's rated power.

[0079] The excavator control method provided in this embodiment of the invention continuously acquires the target pressure of the hydraulic pump through a target pressure acquisition module during the excavator's operation, and determines the target power demand of the hydraulic pump in real time based on the target pressure through a target power demand determination module. After determining the target power demand of the hydraulic pump, the power judgment module compares the target power demand of the hydraulic pump with the rated power of the engine. Thus, when the target power demand exceeds the rated power of the engine, it can be determined that the hydraulic pump operating at the target power demand will likely cause the engine to slow down. Therefore, the first control module can control the hydraulic pump flow rate to decrease or control the engine speed to increase, thereby reducing the target power demand of the hydraulic pump and effectively preventing the engine from slowing down due to a sudden increase in hydraulic pump pressure.

[0080] Optionally, the target pressure acquisition module includes a first handle opening signal acquisition unit for acquiring a handle opening signal; a pilot pressure determination unit for determining the pilot pressure of the hydraulic pump based on the handle opening signal; and a target pressure determination unit for determining the target pressure of the hydraulic pump based on the pilot pressure.

[0081] Optionally, the target pressure determination unit includes a preset relationship acquisition subunit for acquiring a preset relationship between the pilot pressure and the target pressure; and a target pressure determination subunit for determining the target pressure of the hydraulic pump based on the preset relationship between the pilot pressure and the target pressure.

[0082] Optionally, the target power requirement determination module includes a power calculation formula acquisition unit for acquiring the power calculation formula of the hydraulic pump; and a target power requirement determination unit for determining the target power requirement of the hydraulic pump based on the power calculation formula and the target pressure. The power calculation formula is: W1 = Q * p; where W1 is the target power requirement of the hydraulic pump, Q is the flow rate of the hydraulic pump, and p is the target pressure of the hydraulic pump.

[0083] Optionally, the excavator's control device further includes: a handle opening signal acquisition module, used to acquire a handle opening signal before the first control module controls the hydraulic pump flow rate to decrease or controls the engine speed to increase; a target working condition determination module, used to determine the target working condition based on the handle opening signal and the target pressure of the hydraulic pump; and a first control unit, used to control the hydraulic pump flow rate to decrease or control the engine speed to increase based on the target working condition.

[0084] For example, when the target pressure acquisition module includes a first handle opening signal acquisition unit, the control device may not include a handle opening signal acquisition module, and the target working condition determination module may directly determine the target working condition based on the handle opening signal acquired by the first handle opening signal acquisition unit and the target pressure of the hydraulic pump.

[0085] Optionally, the first control unit includes a working efficiency influence factor acquisition subunit for acquiring the working efficiency influence factor of the target working condition; an influence factor judgment subunit for judging whether the working efficiency influence factor is greater than a preset influence factor; a speed control subunit for controlling the engine speed to increase when the influence factor judgment subunit determines that the working efficiency influence factor is greater than the preset influence factor; and a flow control subunit for controlling the hydraulic pump flow rate to decrease when the influence factor judgment subunit determines that the working efficiency influence factor is less than or equal to the preset influence factor.

[0086] Optionally, the excavator's control device may also include: a second control module, used to control the hydraulic pump to operate at a preset flow rate and control the engine speed to remain constant when the power judgment module determines that the target power demand is less than or equal to the engine's rated power.

[0087] Based on the same inventive concept, this embodiment of the invention also provides an excavator, which includes an engine, a hydraulic system, and a vehicle controller; the hydraulic system includes a hydraulic pump, the engine provides power to the hydraulic pump, and the hydraulic pump outputs flow so that the hydraulic system outputs power; the vehicle controller is used to execute the control method of the excavator provided in any embodiment of the invention. Therefore, the excavator provided in this embodiment of the invention includes the technical features of the control method of the excavator provided in any embodiment of the invention, and can achieve the beneficial effects of the control method of the excavator provided in any embodiment of the invention. The similarities can be referred to the above description of the control method of the excavator provided in the embodiments of the invention, and will not be repeated here.

[0088] Optionally, the excavator also includes a handle and a handle opening sensor; the handle opening sensor is used to collect handle opening signals, and the handle opening sensor can be electrically and / or communicatively connected to the vehicle controller, and can send the collected handle opening signals to the vehicle controller.

[0089] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0090] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A control method for an excavator, the excavator comprising an engine and a hydraulic system, the hydraulic system comprising a hydraulic pump, the engine providing power to the hydraulic pump, the hydraulic pump outputting flow to cause the hydraulic system to output power, characterized in that, include: During the operation of the excavator, the target pressure of the hydraulic pump is obtained; The target power requirement of the hydraulic pump is determined based on the target pressure. Determine whether the target power requirement exceeds the rated power of the engine; If so, then control the hydraulic pump flow rate to decrease or control the engine speed to increase; The method further includes, before controlling the flow rate of the hydraulic pump to decrease or the speed of the engine to increase, acquiring a handle opening signal; determining a target operating condition based on the handle opening signal and the target pressure of the hydraulic pump; and controlling the flow rate of the hydraulic pump to decrease or the speed of the engine to increase based on the target operating condition. Controlling the flow rate of the hydraulic pump to decrease or the speed of the engine to increase according to the target operating condition includes: obtaining the working efficiency influence factor of the target operating condition; determining whether the working efficiency influence factor is greater than a preset influence factor; if so, controlling the speed of the engine to increase; if not, controlling the flow rate of the hydraulic pump to decrease.

2. The excavator control method according to claim 1, characterized in that, Obtaining the target pressure of the hydraulic pump includes: Obtain the handle opening signal; The pilot pressure of the hydraulic pump is determined based on the handle opening signal; The target pressure of the hydraulic pump is determined based on the pilot pressure.

3. The excavator control method according to claim 2, characterized in that, Determining the target pressure of the hydraulic pump based on the pilot pressure includes: Obtain the preset relationship between the pilot pressure and the target pressure; Based on the preset relationship between the pilot pressure and the target pressure, the target pressure of the hydraulic pump is determined according to the pilot pressure.

4. The excavator control method according to claim 1, characterized in that, Determining the target power requirement of the hydraulic pump based on the target pressure includes: Obtain the power calculation formula for the hydraulic pump; Based on the power calculation formula, the target power requirement of the hydraulic pump is determined according to the target pressure. The power calculation formula is: W1=Q*p; where W1 is the target power requirement of the hydraulic pump, Q is the flow rate of the hydraulic pump, and p is the target pressure of the hydraulic pump.

5. The excavator control method according to claim 1, characterized in that, If it is determined that the target power requirement does not exceed the rated power of the engine, the hydraulic pump is controlled to operate at a preset flow rate and the engine speed is controlled to remain constant.

6. A control device for an excavator, the excavator comprising an engine and a hydraulic system, the hydraulic system comprising a hydraulic pump, the engine providing power to the hydraulic pump, the hydraulic pump outputting flow to cause the hydraulic system to output power, characterized in that, include: The target pressure acquisition module is used to acquire the target pressure of the hydraulic pump during the operation of the excavator; A target power requirement determination module is used to determine the target power requirement of the hydraulic pump based on the target pressure. A power determination module is used to determine whether the target power requirement exceeds the rated power of the engine; The first control module is used to control the hydraulic pump flow rate to decrease or the engine speed to increase when the power judgment module determines that the target power demand exceeds the rated power of the engine. The handle opening signal acquisition module is used to acquire the handle opening signal before the first control module controls the flow rate of the hydraulic pump to decrease or controls the speed of the engine to increase. The target operating condition determination module is used to determine the target operating condition based on the handle opening signal and the target pressure of the hydraulic pump. The first control unit is used to control the flow rate of the hydraulic pump to decrease or the speed of the engine to increase according to the target operating condition; The first control unit includes a subunit for obtaining efficiency influencing factors, a subunit for judging influencing factors, a speed control subunit, and a flow control subunit; The work efficiency influencing factor acquisition subunit is used to acquire the work efficiency influencing factor of the target working condition. The impact factor judgment subunit is used to determine whether the work efficiency impact factor is greater than the preset impact factor; The speed control subunit is used to control the engine speed to increase when the influence factor judgment subunit determines that the working efficiency influence factor is greater than the preset influence factor; The flow control subunit is used to control the flow rate of the hydraulic pump to decrease when the influence factor judgment subunit determines that the working efficiency influence factor is less than or equal to the preset influence factor.

7. An excavator, characterized in that, include: Engine, hydraulic system, and vehicle controller; The hydraulic system includes a hydraulic pump, the engine provides power to the hydraulic pump, and the hydraulic pump outputs flow so that the hydraulic system outputs power. The vehicle controller is used to execute the control method of the excavator according to any one of claims 1 to 5.

8. The excavator according to claim 7, characterized in that, It also includes the handle and handle opening sensor; The handle opening sensor is used to collect the handle opening signal and send the handle opening signal to the vehicle controller.

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