A control method, device and equipment of an excavator and a storage medium

Abstract

The application provides a control method and device of an excavator, electronic equipment and a storage medium, wherein the method comprises: determining that the excavator is in a compound action working condition of boom lifting and slewing, acquiring demand flow and correction parameters of a first main pump and a second main pump; the correction parameters comprise boom lifting pilot pressure, boom-to-slewing priority current, maximum displacement of the first main pump and set speed of an engine in a current gear; correcting the demand flow of the first main pump and the second main pump according to the correction parameters to obtain corrected demand flow of the two main pumps; and controlling the first main pump and the second main pump according to the corrected demand flow. Compared with the prior art, the application corrects the demand flow of the first main pump and the second main pump based on correction parameters, can ensure the speed of boom lifting action, and can reduce the total power of the two main pumps, thereby achieving the effect of reducing oil consumption.

Description

Technical Field

[0001] The present application relates to the technical field of excavator control, and in particular to a control method, device, electronic device, and storage medium for an excavator. Background Art

[0002] Currently, hydraulic excavators are the most widely used construction machinery, primarily in industries like construction and mining. In practice, they primarily perform tasks such as dumping and loading. The primary action in dumping and loading is the combined boom lift and swing motion. To ensure boom lift speed, precise control of the hydraulic pump flow and the swing valve spool current is required.

[0003] Under existing technology, when an excavator performs a combined boom lift and swing operation, the swing valve spool opening is typically limited to ensure sufficient oil supply to the boom spool, thereby maintaining the boom lifting speed. Assuming the swing pilot pressure remains constant, the spool current is limited only by the boom pilot pressure. If the boom pilot pressure remains unchanged, the spool control current remains unchanged, making it impossible to adjust the spool opening in real time based on changing operating conditions.

[0004] like Figure 1 The figure shows the oil supply routes of the two main pumps (pump 1 and pump 2) under the boom lifting and rotating conditions. Under the existing technology, when the excavator performs the boom lifting and rotating compound action, the two main pumps control the same current and the output flow is basically the same. However, in this compound action, the boom lifting speed must be guaranteed first. In addition to supplying the boom valve core, the pressure oil of pump 2 also supplies oil to the rotary valve core. At this time, excessive flow supplied by pump 2 may cause increased oil supply to the rotary valve core, resulting in a faster rotation speed but a slower boom lifting speed, which does not meet actual needs. At this time, the pressures of the two pumps are high, resulting in higher power of the two pumps. The engine needs to provide higher power, resulting in increased fuel consumption and poor fuel economy. Summary of the Invention

[0005] The purpose of this application is to provide a control method, device, electronic equipment and storage medium for an excavator.

[0006] In a first aspect, an embodiment of the present application provides a control method for an excavator, wherein the excavator includes a first main pump and a second main pump, wherein the first main pump is used to supply oil to a first boom valve core of the excavator, and the second main pump is used to supply oil to a second boom valve core and a rotary valve core of the excavator, the method comprising:

[0007] Determining that the excavator is in a boom-lift and swing-rotation combined motion condition, obtaining required flow rates and correction parameters for the first and second main pumps; the correction parameters include the boom-lift pilot pressure, the boom-to-swing priority current, the maximum displacement of the first main pump, and the set engine speed for the current gear;

[0008] The demand flow of the first main pump and the second main pump is corrected according to the correction parameter, to obtain corrected demand flow of the two main pumps.

[0009] The first main pump and the second main pump are controlled according to the corrected demand flow, respectively.

[0010] In a second aspect, the embodiments of the present application provide a control device of an excavator, the excavator comprising a first main pump and a second main pump, the first main pump being configured to supply oil to a first boom spool of the excavator, and the second main pump being configured to supply oil to a second boom spool and a swing spool of the excavator, the device comprising:

[0011] The acquisition module is configured to determine that the excavator is in a boom lifting and swing combined action working condition, and acquire demand flow of the first main pump and the second main pump and a correction parameter, wherein the correction parameter comprises a boom lifting pilot pressure, a boom-to-swing priority current, a maximum displacement of the first main pump, and a set speed of an engine in a current gear;

[0012] The correction module is configured to correct the demand flow of the first main pump and the second main pump according to the correction parameter, to obtain corrected demand flow of the two main pumps.

[0013] The control module is configured to control the first main pump and the second main pump according to the corrected demand flow, respectively.

[0014] In a third aspect, the embodiments of the present application provide an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of the first aspect of the present application when executing the computer program.

[0015] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, having stored thereon computer readable instructions executable by a processor to implement the method of the first aspect of the present application.

[0016] The control method and device of the excavator, the electronic equipment and the storage medium provided by the application, determine that the excavator is in a compound action working condition of boom lifting and rotation, obtain the demand flow of the first main pump and the second main pump and the correction parameter; the correction parameter includes the boom lifting pilot pressure, the boom-to-rotation priority current, the maximum displacement of the first main pump and the set speed of the engine in the current gear; the demand flow of the first main pump and the second main pump is corrected according to the correction parameter, and the corrected demand flow of the two main pumps is obtained; the first main pump and the second main pump are controlled according to the corrected demand flow. Compared with the prior art, the demand flow of the first main pump and the second main pump is corrected based on the boom lifting pilot pressure, the boom-to-rotation priority current, the maximum displacement of the first main pump and the set speed of the engine in the current gear, which can reduce the total power of the two main pumps while ensuring the speed of the boom lifting action, thereby achieving the effect of reducing oil consumption. BRIEF DESCRIPTION OF DRAWINGS

[0017] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of preferred embodiments, and are not meant to limit the present application. Furthermore, the same reference numerals in different drawings are intended to represent the same components throughout the several drawings. In the drawings:

[0018] Figure 1 A two-main-pump oil supply route schematic diagram of an excavator provided by the application is shown;

[0019] Figure 2 A flowchart of a control method of an excavator provided by the application is shown;

[0020] Figure 3 A flowchart of a specific control method of an excavator provided by the application is shown;

[0021] Figure 4 A schematic diagram of a control device of an excavator provided by the application is shown. DETAILED DESCRIPTION

[0022] Exemplary embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the present disclosure are shown. Like reference numerals can be used to refer to like elements throughout the several embodiments. It is to be understood that the present disclosure can assume various forms other than those shown and the present disclosure should not be limited to the specific embodiments set forth herein.

[0023] It should be noted that unless otherwise specified, technical terms or scientific terms used in the present application should be understood as their common meanings to those skilled in the art to which the present application belongs.

[0024] In addition, the terms "first" and "second" and the like are used to distinguish different objects, rather than to describe a particular order. Furthermore, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device including a series of steps or units is not limited to the listed steps or units, but can optionally further include steps or units not listed, or can optionally further include other steps or units inherent to such processes, methods, products, or devices.

[0025] For ease of understanding, first, the related technical terms in the present application are introduced as follows.

[0026] Pressure loss: the flowing liquid has viscosity, so the liquid will inevitably produce resistance when flowing in the pipeline. The liquid flowing in the hydraulic pipeline needs to consume a certain amount of energy to overcome the resistance, and this energy can be represented by pressure loss.

[0027] Throttling loss: when the liquid flows through the bends, joints and valve ports of the pipeline, the size and direction of the liquid flow will change sharply and form eddies, thereby producing flow resistance. The pressure loss caused thereby is called throttling loss.

[0028] Boom-to-slew (B2S) priority current: generally refers to the control current of the B2S priority valve, which increases the oil intake of the boom spool by limiting the oil intake of the slew spool to ensure the boom action speed. In the present application, the current is obtained according to the boom raising pilot pressure and the B2S limiting coefficient, which is a virtual intermediate variable. The slew spool opening can be limited by relevant strategies to achieve the same effect as the priority valve.

[0029] The embodiments of the present application provide a control method and device of an excavator, an electronic device and a computer readable storage medium, which are described below with reference to the accompanying drawings.

[0030] Please refer to Figure 2 which shows a flowchart of a control method of an excavator provided by the present application, as Figure 2 indicated, the control method of the excavator can include the following steps:

[0031] S101, determining that the excavator is in a boom-raising and slew-combined action working condition, obtaining the demand flow of the first main pump and the second main pump and the correction parameters; the correction parameters include the boom-raising pilot pressure, the boom-to-slew priority current, the maximum displacement of the first main pump and the set speed of the engine in the current gear;

[0032] S102, correcting the demand flow of the first main pump and the second main pump according to the correction parameters to obtain the corrected demand flow of the two main pumps;

[0033] S103 , controlling the first main pump and the second main pump respectively according to the corrected required flow rate.

[0034] like Figure 1 As shown, the excavator of the present application includes a first main pump (pump 1) and a second main pump (pump 2). When the excavator performs a combined action of boom lifting and rotating, the first main pump is used to supply oil to the first boom valve core (boom 1 valve core) of the excavator, and the second main pump is used to supply oil to the second boom valve core (boom 2 valve core) and the rotary valve core of the excavator.

[0035] In step S101, it is first necessary to detect whether the excavator is in the boom-lift and swing combined motion condition. If the excavator is not in this condition, the required flow rates of the first and second main pumps are calculated in the existing normal manner without correction. If the excavator is detected to be in this condition, the required flow rates of the first and second main pumps are calculated in the existing normal manner and then corrected using correction parameters.

[0036] Among them, the correction parameters include the boom lifting pilot pressure, the boom-to-slew (B2S) priority current, the maximum displacement of the first main pump and the set speed of the engine in the current gear.

[0037] Specifically, step S102 can be implemented as follows: according to the boom lifting pilot pressure and the boom rotation priority current, the flow compensation amount before correction is obtained; according to the required flow of the first main pump and the second main pump, the maximum displacement of the first main pump, the set speed of the engine at the current gear and the flow compensation amount before correction, the required flow of the first main pump and the second main pump after correction is obtained.

[0038] Specifically, the present application proposes a sub-pump control method, which introduces a flow compensation amount Qc under the boom lifting and rotating compound action. The dual pump flow compensation amount Qc before correction can be obtained by looking up the boom lifting pilot pressure and B2S priority current. According to the flow compensation amount Qc, the demand flow of the first main pump and the second main pump calculated under the current boom lifting and rotating compound action working condition is corrected, and finally the optimal demand flow of the two pumps under the compound action is obtained. The greater the boom pilot pressure and B2S priority current, the higher the flow compensation amount Qc. At the same time, the flow of the first main pump after correction is limited to not exceed the maximum allowable flow of the first main pump under the current working condition. Specifically, the corrected demand flow of the first main pump and the second main pump can be obtained by the following first formula:

[0039] Qp1=Q1+min(Qc,n*qmax / 1000-Q1);

[0040] Qp2=Q2-min(Qc,n*qmax / 1000-Q1);

[0041] Wherein, Qp1 and Qp2 are the corrected demand flow of the first and second main pumps respectively, unit L / min; n is the set speed of the engine under the current gear; qmax is the maximum displacement of the first main pump, unit cc / r; Q1 and Q2 are the demand flow of the first and second main pumps before correction respectively; Qc is the flow compensation before correction, min is the minimum function.

[0042] From the above formula one, it can be seen that the demand flow of the first main pump is increased after correction, and the demand flow of the second main pump is decreased after correction.

[0043] The throttling loss of the oil passing through the valve core can be expressed by the following formula two:

[0044]

[0045] In the formula, ξ is the local resistance coefficient (the specific value can be obtained by consulting the relevant manual), ρ is the density of the liquid, and v is the average flow rate of the liquid. From the above formula two, it can be seen that the pump flow can be reduced to reduce the oil flow rate and reduce the throttling loss passing through the valve core. The application reduces the output flow of the second main pump through pump control, which can reduce the flow of the second main pump to reduce the throttling loss generated by the valve core and the initial overflow loss of the swing motor while ensuring the speed of the boom lifting, and reducing the flow of the second main pump can also effectively reduce the outlet pressure of the second main pump and reduce the power of the second main pump. In addition, increasing the flow of the first main pump can improve the efficiency of the first main pump and more fully absorb the power provided by the engine to ensure the speed of the boom lifting action. The scheme increases the power of the first main pump, reduces the power of the second main pump, and finally reduces the total power of the two main pumps to achieve the effect of reducing fuel consumption.

[0046] In some embodiments of the application, after determining in step S101 that the excavator is in the combined action working condition of boom lifting and swing, the method can further include the following steps:

[0047] Detecting the pressure difference between the inlet and outlet of the swing motor;

[0048] When the pressure difference is greater than or equal to the preset threshold, controlling the swing valve core opening to gradually increase as the pressure difference decreases; when the pressure difference is less than the preset threshold, controlling the swing valve core opening not to change.

[0049] Specifically, the final rotary valve core current correction coefficient is obtained by looking up the rotary motor inlet and outlet oil port pressure difference and B2S priority current table, it is judged that the rotary initial stage is in when the rotary motor inlet and outlet oil port pressure difference is large, at this time, the rotary valve core current is limited to ensure more oil flow to the boom chamber, to ensure the boom lifting speed while reducing the rotary motor initial overflow loss, the rotary motor inlet and outlet oil port pressure difference gradually decreases during the speed-up process, with the gradual decrease of the pressure difference, the rotary valve core control current is slowly increased, that is, the rotary valve core opening is gradually increased, to ensure the supply of motor flow during the rotation process, to prevent the occurrence of air suction phenomenon, when the pressure difference is less than the preset threshold, it is judged that the rotary motor speed is stable, at this time, the rotary valve core control current is no longer changed, that is, the rotary valve core opening is no longer changed.

[0050] It is worth mentioning that the control parameter of gradually increasing the rotary valve core opening with the gradual decrease of the pressure difference can be set according to the actual situation, and is not limited by the application.

[0051] For the convenience of understanding, the application also provides a specific flow chart of a control method of an excavator as shown in the figure. Figure 3

[0052] The application aims at the problem that the rotary speed is fast and the boom lifting speed is slow when the boom lifting and rotation compound action is performed on the excavator, and the pump 1 and the pump 2 are controlled separately, and the rotary valve core current is controlled in real time according to the rotary motor chamber pressure difference and the B2S priority current. The scheme solves the problem that the boom lifting speed is slow under the compound action, improves the boom speed under the compound action, and can control the rotary valve core opening in real time according to the inlet and outlet oil port pressure difference and the B2S control current, to ensure the normal supply of the boom lifting speed and the rotary motor flow, improve the overall controllability of the excavator under the boom lifting and rotation working condition, and reduce the heat generation and oil consumption of the whole vehicle by reducing the throttling loss of pump 2 to the actuator and the rotary overflow loss.

[0053] The control method of the excavator provided by the application embodiment determines that the excavator is in the compound action working condition of boom lifting and rotation, obtains the demand flow and correction parameters of the first main pump and the second main pump; the correction parameters include the boom lifting pilot pressure, the boom-to-rotation priority current, the maximum displacement of the first main pump and the set speed of the engine under the current gear; the demand flow of the first main pump and the second main pump is corrected according to the correction parameters, to obtain the corrected demand flow of the two main pumps; and the first main pump and the second main pump are controlled according to the corrected demand flow. Compared with the prior art, the demand flow of the first main pump and the second main pump is corrected based on the boom lifting pilot pressure, the boom-to-rotation priority current, the maximum displacement of the first main pump and the set speed of the engine under the current gear, which can reduce the total power of the two main pumps while ensuring the speed of the boom lifting action, so as to achieve the effect of reducing oil consumption. ​

[0054] In the above embodiments, a control method of the excavator is provided, and the application further provides a control device of the excavator, which can be implemented by software, hardware or a combination of software and hardware. For example, the control device of the excavator can include integrated or separate functional modules or units to perform the corresponding steps in the above methods. Please refer to Figure 4 , which shows a schematic diagram of a control device of an excavator provided by some embodiments of the application. Since the device embodiments are basically similar to the method embodiments, they are described more simply, and the related parts can be referred to the part of the method embodiments. The device embodiments described below are only schematic.

[0055] As Figure 4 shown, the control device 10 of the excavator can include:

[0056] The acquisition module 101 is configured to determine that the excavator is in a boom-raising and swing-combined action working condition, and acquire a demand flow of the first main pump and the second main pump and a correction parameter. The correction parameter includes a boom-raising pilot pressure, a boom-to-swing priority current, a maximum displacement of the first main pump, and a set speed of an engine in a current gear.

[0057] The correction module 102 is configured to correct the demand flow of the first main pump and the second main pump according to the correction parameter, to obtain a corrected demand flow of the two main pumps.

[0058] The control module 103 is configured to control the first main pump and the second main pump according to the corrected demand flow, respectively.

[0059] In a possible implementation, the correction module 102 is specifically configured to:

[0060] obtain a flow compensation amount before correction according to the boom-raising pilot pressure and the boom-to-swing priority current.

[0061] obtain the corrected demand flow of the first main pump and the second main pump according to the demand flow of the first main pump and the second main pump, the maximum displacement of the first main pump, the set speed of the engine in the current gear, and the flow compensation amount before correction.

[0062] In a possible implementation, the correction module 102 is specifically configured to:

[0063] obtain the corrected demand flow of the first main pump and the second main pump according to the demand flow of the first main pump and the second main pump, the maximum displacement of the first main pump, the set speed of the engine in the current gear, and the flow compensation amount before correction, by the following formula:

[0064] Qp1 = Q1 + min(Qc, n*qmax / 1000 - Q1);

[0065] Qp2 = Q2 - min(Qc, n*qmax / 1000 - Q1);

[0066] wherein Qp1 and Qp2 are the corrected demand flow of the first and second main pumps respectively, unit L / min; n is the set speed of the engine at the current gear; qmax is the maximum displacement of the first main pump, unit cc / r; Q1 and Q2 are the demand flow of the first and second main pumps before correction respectively; Qc is the flow compensation before correction, and min is the minimum function.

[0067] In a possible implementation, the control module 103 is further configured to:

[0068] after the acquisition module determines that the excavator is in the combined action working condition of boom lifting and swing, detecting the pressure difference between the inlet and outlet of the swing motor;

[0069] when the pressure difference is greater than or equal to the preset threshold, controlling the swing valve core opening to gradually increase as the pressure difference decreases;

[0070] when the pressure difference is less than the preset threshold, controlling the swing valve core opening to no longer change.

[0071] The control device of the excavator provided in the embodiments of the present application determines that the excavator is in the combined action working condition of boom lifting and swing, acquires the demand flow and correction parameters of the first and second main pumps; the correction parameters include the boom lifting pilot pressure, the boom-to-swing priority current, the maximum displacement of the first main pump, and the set speed of the engine at the current gear; the demand flow of the first and second main pumps is corrected according to the correction parameters to obtain the corrected demand flow of the two main pumps; and the first and second main pumps are controlled according to the corrected demand flow. Compared with the prior art, the demand flow of the first and second main pumps is corrected based on the boom lifting pilot pressure, the boom-to-swing priority current, the maximum displacement of the first main pump, and the set speed of the engine at the current gear, which can ensure the speed of boom lifting action while reducing the total power of the two main pumps, thereby achieving the effect of reducing fuel consumption.

[0072] The embodiments of the present application also provide an electronic device corresponding to the control method of the excavator provided in the foregoing embodiments, which can be a mobile phone, a notebook computer, a tablet computer, a desktop computer, or the like, to execute the control method of the excavator.

[0073] The electronic device provided in the embodiments of the present application and the control method of the excavator provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the method adopted, run, or implemented by the electronic device.

[0074] The embodiment of the present application also provides a computer readable storage medium corresponding to the control method of the excavator provided by the preceding embodiment, and a computer program (i.e., a program product) is stored on the computer readable storage medium, and the computer program, when executed by a processor, performs the control method of the excavator provided by any of the preceding embodiments.

[0075] It should be noted that examples of the computer readable storage medium can also include, but are not limited to, a phase change memory (PRAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), other types of random access memory (RAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, or other optical, magnetic storage medium, which will not be described one by one here.

[0076] The computer readable storage medium provided by the above embodiments of the present application and the control method of the excavator provided by the embodiments of the present application are based on the same inventive concept, and have the same beneficial effects as the method adopted, executed or implemented by the application program stored therein.

[0077] It should be noted that the flowcharts and block diagrams in the drawings show the possible implementation architecture, function and operation of the system, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment or a part of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different order from that shown in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0078] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and description of the present application.

Claims

1. A control method of an excavator including a first main pump for supplying oil to a first boom spool of the excavator and a second main pump for supplying oil to a second boom spool and a swing spool of the excavator, characterized by, The method comprises: determining that the excavator is in a compound action working condition of boom lifting and slewing, obtaining demand flow and correction parameters of the first main pump and the second main pump; the correction parameters comprise boom lifting pilot pressure, boom-to-slewing priority current, maximum displacement of the first main pump, and set speed of the engine in the current gear; correcting the demand flow of the first main pump and the second main pump according to the correction parameters to obtain corrected demand flow of the two main pumps; controlling the first main pump and the second main pump respectively according to the corrected demand flow; wherein the correcting the demand flow of the first main pump and the second main pump according to the correction parameters to obtain corrected demand flow of the two main pumps comprises: obtaining a flow compensation before correction according to the boom lifting pilot pressure and the boom-to-slewing priority current; obtaining corrected demand flow of the first main pump and the second main pump through the following formula according to the demand flow of the first main pump and the second main pump, the maximum displacement of the first main pump, the set speed of the engine in the current gear, and the flow compensation before correction: Qp1=Q1+min(Qc,n*qmax / 1000-Q1); Qp2=Q2-min(Qc,n*qmax / 1000-Q1); wherein Qp1 and Qp2 are respectively corrected demand flow of the first main pump and the second main pump, unit L / min; n is the set speed of the engine in the current gear; qmax is the maximum displacement of the first main pump, unit cc / r; Q1 and Q2 are respectively demand flow of the first main pump and the second main pump before correction; Qc is the flow compensation before correction, and min is a minimum function.

2. The control method of the excavator according to claim 1, characterized by, After the excavator is determined to be in the compound action working condition of boom lifting and slewing, the method further comprises: detecting a pressure difference between inlet and outlet of a slewing motor; when the pressure difference is greater than or equal to a preset threshold, controlling the slewing valve core opening to gradually increase as the pressure difference decreases; when the pressure difference is less than the preset threshold, controlling the slewing valve core opening to stop changing.

3. A control device of an excavator including a first main pump for supplying oil to a first boom spool of the excavator and a second main pump for supplying oil to a second boom spool and a swing spool of the excavator, characterized by, The device comprises: an acquisition module configured to determine that the excavator is in a compound action working condition of boom lifting and slewing, and obtain demand flow and correction parameters of the first main pump and the second main pump; the correction parameters comprise boom lifting pilot pressure, boom-to-slewing priority current, maximum displacement of the first main pump, and set speed of the engine in the current gear; a correction module configured to correct the demand flow of the first main pump and the second main pump according to the correction parameters to obtain corrected demand flow of the two main pumps; a control module configured to control the first main pump and the second main pump respectively according to the corrected demand flow; the correction module is specifically configured to: obtain a flow compensation before correction according to the boom lifting pilot pressure and the boom-to-slewing priority current; obtain corrected demand flow of the first main pump and the second main pump through the following formula according to the demand flow of the first main pump and the second main pump, the maximum displacement of the first main pump, the set speed of the engine in the current gear, and the flow compensation before correction: Qp1=Q1+min(Qc,n*qmax / 1000-Q1); Qp2=Q2-min(Qc,n*qmax / 1000-Q1). Qp2 = Q2 - min(Qc, n*qmax / 1000 - Q1); Wherein, Qp1 and Qp2 are respectively the first main pump and the second main pump after the demand flow is corrected, unit L / min; n is the engine set speed under the current gear; qmax is the maximum displacement of the first main pump, unit cc / r; Q1 and Q2 are respectively the demand flow of the first main pump and the second main pump before correction; Qc is the flow compensation before correction, min is the minimum function.

4. The control device of the excavator according to claim 3, characterized by The control module is further used for: After the acquisition module determines that the excavator is in the compound action working condition of boom lifting plus rotation, detecting the pressure difference between the inlet and outlet of the rotation motor; When the pressure difference is greater than or equal to the preset threshold, controlling the rotation valve core opening to gradually increase with the decrease of the pressure difference; When the pressure difference is less than the preset threshold, controlling the rotation valve core opening not to change any more.

5. An electronic device comprising: Memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any one of claims 1-2 when executing the computer program.

6. A computer-readable storage medium, characterized in that, A computer readable medium having stored thereon computer readable instructions executable by a processor to implement the method of any one of claims 1-2.

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