Energy-saving control method of silage harvester and silage harvester

Abstract

The embodiment of the invention discloses an energy-saving control method of a silage harvester and the silage harvester, and belongs to the technical field of equipment control. The silage harvester comprises a control handle, an engine and hydraulic equipment, and the energy-saving control method of the silage harvester comprises the steps that a received energy-saving mode request is responded, and whether an energy-saving mode of the silage harvester is a walking energy-saving mode or not is determined; under the condition that the energy-saving mode is the walking energy-saving mode, the real-time opening value of a control handle is determined; adjusting the real-time rotating speed of the engine to be a preset rotating speed according to the positive and negative values of the real-time opening value of the control handle; and under the condition that the real-time rotating speed of the engine is the preset rotating speed, the real-time rotating speed of the engine and the displacement current of the hydraulic equipment are updated based on the real-time opening value of the control handle and the output power of the engine. The silage harvester carries out power matching between the rotating speed of the engine and the hydraulic equipment in the running energy-saving mode, and the situation that the power of the silage harvester is excessive is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of equipment control, and in particular to an energy-saving control method of a forage harvester and a forage harvester. Background Art

[0002] A forage harvester is an agricultural machine used for multiple operations such as picking, stacking and returning forage to the field. With the rapid development of agricultural machinery manufacturing technology, hydraulically driven forage harvesters have been widely used. Usually, the forage harvester stops moving when the control handle is in the middle position, moves forward when the real-time opening value of the control handle is positive, and moves backward when the real-time opening value of the control handle is negative. In addition, the user can also adjust the engine speed through devices such as the throttle or speed switch, and then control the movement of the forage harvester according to the actual needs of the user.

[0003] However, when the forage harvester is in motion, the engine speed is adjusted based on the user's personal experience to achieve engine output power control. If the engine speed is not adjusted accurately, it is easy to have a large throttle and a small displacement of the hydraulic pump, which will lead to excess power of the forage harvester and low volumetric efficiency of the hydraulic pump when working in a small displacement range, resulting in excessive energy consumption of the forage harvester. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide an energy-saving control method for a forage harvester and a forage harvester. The control method for the forage harvester is used to solve the problem of excess power of the forage harvester in the prior art.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides an energy-saving control method for a forage harvester, the forage harvester comprising a control handle, an engine and a hydraulic device, the hydraulic device comprising a travel variable pump and a travel motor, the energy-saving control method for the forage harvester comprising:

[0006] S110, determining the real-time opening value of the control handle;

[0007] S120, adjusting the real-time speed of the engine to a preset speed according to the positive or negative value of the real-time opening value of the control handle;

[0008] S130, based on the real-time opening value of the control handle, updating the real-time speed of the engine, the displacement current of the travel variable pump and the displacement current of the travel motor;

[0009] S140, determining whether the output power of the engine corresponding to the real-time speed is less than a preset power threshold;

[0010] S150, when the output power corresponding to the real-time rotation speed is less than a preset power threshold, adjusting the displacement current of the travel motor to a first target current corresponding to a first target displacement according to a power curve of the travel motor, wherein the first target displacement is a displacement corresponding to a maximum volumetric efficiency of the travel motor;

[0011] S160, determining a target speed of the engine according to the first target displacement, and adjusting the real-time speed of the engine to the target speed.

[0012] In an embodiment of the present application, the target speed includes a first target speed and a second target speed;

[0013] S160, determining a target speed of the engine according to the first target displacement, and adjusting the real-time speed of the engine to the target speed, including:

[0014] S161, adjusting the engine speed to the first target speed according to the first target displacement, the real-time engine speed, the maximum displacement of the travel motor, and the efficiency value corresponding to the maximum displacement of the travel motor;

[0015] S162, when the real-time opening value of the control handle does not exceed the preset opening threshold, and the real-time operating parameter of the engine corresponding to the first target speed does not exceed the operating parameter threshold corresponding to the first target speed, the displacement current of the travel variable pump is adjusted to a second target current corresponding to the second target displacement, wherein the second target displacement is the displacement corresponding to the maximum volumetric efficiency of the travel variable pump, and the preset opening threshold is the opening of the control handle corresponding to the maximum displacement current of the hydraulic equipment;

[0016] S163, determining a second target speed of the engine according to the second target displacement, and adjusting the real-time speed of the engine to the second target speed.

[0017] In the embodiment of the present application, S130, based on the real-time opening value of the control handle, updates the real-time speed of the engine, the displacement current of the travel variable pump, and the displacement current of the travel motor, including:

[0018] S131, when the real-time opening value of the control handle does not exceed the preset opening threshold, the real-time speed of the engine is maintained at the preset speed, the displacement current of the travel motor is adjusted to the maximum displacement current, and the displacement current of the travel variable pump is adjusted according to the maximum displacement current of the travel variable pump, the minimum displacement current of the travel variable pump, the real-time opening value of the control handle and the preset opening threshold;

[0019] S132, when the real-time opening value of the control handle exceeds the preset opening threshold, the displacement current of the travel motor and the displacement current of the travel variable pump are adjusted to the maximum displacement current, and the real-time speed of the engine is updated according to the preset speed, the maximum speed of the engine, the real-time opening value of the control handle, the maximum opening value of the control handle and the preset opening threshold.

[0020] In the embodiment of the present application, the calculation formula of the first target speed is:

[0021]

[0022] Among them, Nmb1 is the first target speed, XZMD_Vzj is the first target displacement corresponding to the highest efficiency range on the power curve, Ni is the real-time speed of the engine output, XZMD_Vmax is the maximum displacement of the travel motor, XZMD_η is the efficiency value corresponding to the maximum displacement of the travel motor, and XZMD_ηzj is the highest efficiency on the power curve;

[0023] The calculation formula of the second target speed is:

[0024]

[0025] Among them, Nmb2 is the second target speed, Nmb1 is the first target speed, Ki is the real-time opening value of the control handle, K1 is the preset opening threshold, XZB_ηi is the volumetric efficiency value of the walking variable pump corresponding to the real-time opening value of the control handle, XZB_Vmin is the displacement corresponding to the minimum displacement current of the walking variable pump, XZB_Vmax is the displacement corresponding to the maximum displacement current of the walking variable pump, XZB_Imin is the minimum displacement current of the walking variable pump, XZB_Imax is the maximum displacement current of the walking variable pump, XZB_ηzj is the maximum volumetric efficiency value of the walking variable pump, and XZB_Vzj is the second target displacement.

[0026] In the embodiment of the present application, S160, after determining the target speed of the engine according to the first target displacement and adjusting the real-time speed of the engine to the target speed, further includes:

[0027] S1601, when the real-time operating parameter of the engine corresponding to the target speed does not exceed the operating parameter threshold corresponding to the target speed, obtaining the real-time fuel consumption and real-time driving speed of the forage harvester;

[0028] S1602, when the real-time fuel consumption is less than or equal to the original fuel consumption, determining the driving speed difference between the real-time driving speed and the original driving speed, wherein the original fuel consumption is the fuel consumption of the forage harvester corresponding to the real-time opening value of the control handle, and the original driving speed is the driving speed of the forage harvester corresponding to the real-time opening value of the control handle;

[0029] S1603: When the speed difference is greater than a preset speed threshold, update the target speed based on a preset speed interval value.

[0030] In the embodiment of the present application, the preset speed includes a minimum speed and an operating speed, and the operating speed is greater than the minimum speed;

[0031] S120, adjusting the real-time speed of the engine to a preset speed according to the positive or negative value of the real-time opening value of the control handle, including:

[0032] S121, when the real-time opening value of the control handle is not a positive value, adjusting the real-time speed of the engine to the minimum speed;

[0033] S122, when the real-time opening value of the control handle is a positive value, adjusting the real-time speed of the engine to the working speed.

[0034] In an embodiment of the present application, the forage harvester further comprises a cooling device;

[0035] S120, after adjusting the real-time speed of the engine to a preset speed according to the positive or negative value of the real-time opening value of the control handle, the method further includes:

[0036] S1201, when the displacement current of the cooling device is the highest displacement current, obtaining the real-time temperature of the cooling device and the real-time operating parameters of the engine corresponding to the real-time speed;

[0037] S1202, when the real-time temperature of the cooling device is not lower than a preset temperature threshold, and / or the real-time operating parameter exceeds an operating parameter threshold corresponding to the real-time speed, increasing the real-time speed of the engine based on a preset speed difference;

[0038] S1203, when the real-time temperature of the cooling device is lower than a preset temperature threshold and the real-time operating parameter does not exceed the operating parameter threshold corresponding to the real-time speed, reducing the displacement current of the cooling device based on a preset current difference.

[0039] In the embodiment of the present application, S1203, when the real-time temperature of the cooling device is lower than the preset temperature threshold and the real-time operating parameter does not exceed the operating parameter threshold corresponding to the real-time speed, after reducing the displacement current of the cooling device based on the preset current difference, it also includes;

[0040] S1204, calculating the temperature difference between the real-time temperature and the original temperature, wherein the original temperature is the temperature of the cooling device corresponding to the real-time opening value of the control handle;

[0041] S1205: When the temperature difference is greater than a preset temperature threshold, adjust the displacement current of the cooling device based on a preset current difference.

[0042] In the embodiment of the present application, after adjusting the real-time speed of the engine to a preset speed according to the positive or negative value of the real-time opening value of the control handle at S120, the method further includes:

[0043] S1206, obtaining the required power of the engine, and adjusting the power gear of the engine according to the power ratio of the required power at the real-time speed of the engine.

[0044] A second aspect of the present application provides a forage harvester, comprising:

[0045] A control device configured to implement the above-mentioned energy-saving control method for a forage harvester;

[0046] A hydraulic device configured to drive the forage harvester to travel and / or perform a forage harvesting operation;

[0047] an engine configured to drive a hydraulic device;

[0048] The control handle is configured to respond to user operations and adjust the real-time opening value.

[0049] The present application provides an energy-saving control method for a forage harvester, which includes a control handle, an engine and a hydraulic device. The energy-saving control method for the forage harvester includes: S110, determining the real-time opening value of the control handle; S120, adjusting the real-time speed of the engine to a preset speed according to the positive or negative real-time opening value of the control handle; S130, updating the real-time speed of the engine, the displacement current of the travel variable pump and the displacement current of the travel motor based on the real-time opening value of the control handle; S140, determining whether the output power of the engine corresponding to the real-time speed is less than a preset power threshold; S150, when the output power corresponding to the real-time speed is less than the preset power threshold, adjusting the displacement current of the travel motor to a first target current corresponding to a first target displacement according to the power curve of the travel motor, wherein the first target displacement is the displacement corresponding to the highest volumetric efficiency of the travel motor; S160, determining the target speed of the engine according to the first target displacement, and adjusting the real-time speed of the engine to the target speed. During the driving process, the forage harvester matches the engine speed with the hydraulic equipment, adjusts the engine speed in accordance with the handle opening value, and reduces the power consumption of the forage harvester. The hydraulic equipment operates in the high-efficiency zone, which makes the engine work in the low-energy consumption zone, thus avoiding the situation of excessive power of the forage harvester.

[0050] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0052] Figure 1 A schematic diagram of a process flow of a first energy-saving control method for a forage harvester according to an embodiment of the present application is schematically shown;

[0053] Figure 2 A schematic diagram of a flow chart of a second energy-saving control method for a forage harvester according to an embodiment of the present application is schematically shown;

[0054] Figure 3 A schematic diagram of a process flow of a third energy-saving control method for a forage harvester according to an embodiment of the present application is schematically shown;

[0055] Figure 4 A schematic diagram of a process flow of a fifth energy-saving control method for a forage harvester according to an embodiment of the present application is schematically shown;

[0056] Figure 5 The structural diagram of a forage harvester according to an embodiment of the present application is schematically shown.

[0057] Description of Reference Numerals

[0058] 200-silage harvester; 210-control device, 220-hydraulic equipment, 230-engine, 240-control handle, 250-travel drive mechanism, 260-cooling equipment, 270-transfer case; 221-travel variable pump, 222-travel motor, 223-cooling variable pump, 224-cooling motor. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0060] It should be noted that if the embodiments of the present application involve directional indications (such as forward and backward), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0061] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0062] Figure 1 The following schematically shows a flow chart of an energy-saving control method for a forage harvester according to an embodiment of the present application. Figure 1 As shown, the embodiment of the present application provides an energy-saving control method for a forage harvester, the forage harvester includes a control handle, an engine and a hydraulic device, the hydraulic device includes a travel variable pump and a travel motor, and the energy-saving control method for the forage harvester may include:

[0063] S110, determining the real-time opening value of the control handle.

[0064] In this embodiment, the forage harvester includes a control handle, an engine, hydraulic equipment and other equipment. The types of other equipment are set according to actual needs, and can be working equipment and cooling equipment, etc., which are not limited here. Determine the real-time opening value of the control handle in real time. For ease of understanding, in the embodiment of the present application, the user can push the operating lever of the control handle in a Z shape to adjust the real-time opening value of the control handle. When the operating lever of the control handle is in the middle position, the forage harvester stops moving. When the operating lever of the control handle is pushed along the right front, the real-time opening value of the control handle is positive, and the forage harvester moves forward. When the operating lever of the control handle is pushed along the left rear, the real-time opening value of the control handle is negative, and the forage harvester moves backward. The user can control the walking speed of the forage harvester by adjusting the real-time opening value of the control handle. When the energy-saving mode is the walking energy-saving mode, the real-time opening value of the control handle is determined.

[0065] S120, adjusting the real-time speed of the engine to a preset speed according to the positive or negative value of the real-time opening value of the control handle.

[0066] In this embodiment, the hydraulic equipment includes a travel motor, an operating motor, a travel variable pump and an operating variable pump. The forage harvester also includes a travel drive mechanism and an operating device, the travel drive mechanism is used to realize the travel of the forage harvester, and the operating device is used to perform the forage harvesting operation. The engine is connected to the travel drive mechanism in turn through the travel variable pump, and the engine is also connected to the operating device in turn through the operating variable pump and the operating motor.

[0067] When the forage harvester is traveling in the field or on the road, the engine only drives the travel drive mechanism and does not drive the working parts, that is, the forage harvester is traveling but does not perform the forage harvesting operation. According to the positive or negative real-time opening value of the control handle, the real-time speed of the engine is adjusted to the preset speed. Specifically, when the real-time opening value of the control handle is a positive value, the state of the forage harvester is determined to be forward driving, and the real-time speed of the engine can be increased to meet the driving speed requirement of the forage harvester. When the real-time opening value of the control handle is a negative value, the state of the forage harvester is determined to be one of transfer, reverse, stationary idling and unloading, and the real-time speed of the engine can be reduced so that the engine operates in a low energy consumption area.

[0068] S130, based on the real-time opening value of the control handle, updating the real-time speed of the engine, the displacement current of the travel variable pump and the displacement current of the travel motor;

[0069] When the real-time speed of the engine is the preset speed, the output power of the engine at the preset speed is obtained. Based on the real-time opening value of the control handle and the output power of the engine, the real-time speed of the engine and the displacement current of the hydraulic device are updated. Specifically, according to the real-time opening value of the control handle, it is determined whether the displacement current of the hydraulic device is increased to the maximum displacement current. When the displacement current of the hydraulic device is increased to the maximum displacement current, the speed of the engine is linearly increased. When the displacement current of the hydraulic device is not increased to the maximum displacement current, the speed of the engine remains unchanged, and the displacement current of the hydraulic device is linearly increased.

[0070] S140, determining whether the output power of the engine corresponding to the real-time rotation speed is less than a preset power threshold.

[0071] After adjusting the engine speed or the displacement current of the hydraulic device according to the real-time opening value of the control handle, determine whether the output power of the engine corresponding to the real-time speed is less than the preset power threshold. Determine whether the engine speed needs to be reduced according to the engine output power so that the engine works in a low energy consumption area. If the engine speed does not need to be reduced, the engine speed and the displacement current of the hydraulic device are maintained.

[0072] S150, when the output power corresponding to the real-time rotational speed is less than the preset power threshold, the displacement current of the walking motor is adjusted to the first target current corresponding to the first target displacement according to the power curve of the walking motor, wherein the first target displacement is the displacement corresponding to the highest volumetric efficiency of the walking motor.

[0073] When the real-time speed of the engine is the preset speed, the real-time speed of the engine, the displacement current of the travel variable pump and the displacement current of the travel motor are updated based on the real-time opening value of the control handle, that is, the real-time speed of the engine is updated to the speed corresponding to the real-time opening value of the control handle, and the displacement current of the travel variable pump and the displacement current of the travel motor are updated to the displacement current corresponding to the real-time opening value of the control handle. While maintaining the updated real-time speed of the engine, the displacement current of the travel variable pump and the displacement current of the travel motor, the output power of the engine is obtained, and it is determined whether the output power of the engine is less than the preset power threshold.

[0074] S160, determining a target speed of the engine according to the first target displacement, and adjusting the real-time speed of the engine to the target speed.

[0075] When the engine speed needs to be reduced, the target speed of the engine is determined according to the first target displacement, and the real-time speed of the engine is adjusted to the target speed, and then, on the premise of meeting the driving speed requirements, the hydraulic equipment is controlled to operate in the high-efficiency area, so that the engine works in the low-energy consumption area. During the driving process, the forage harvester performs power matching between the engine speed and the hydraulic equipment, adjusts the engine speed relative to the directly corresponding handle opening value, and reduces the overall power consumption of the forage harvester. The hydraulic equipment operates in the high-efficiency area, so that the engine works in the low-energy consumption area, thereby avoiding the situation of excess power of the forage harvester.

[0076] When the output power corresponding to the real-time speed is greater than or equal to the preset power threshold, the engine speed and the displacement current of the hydraulic equipment are kept unchanged. When the output power corresponding to the real-time speed is less than the preset power threshold, it is determined that the engine speed can be reduced, and the displacement current with the best efficiency on the power curve is queried according to the power curve of the travel motor. The displacement current of the travel motor is adjusted to the first target current corresponding to the first target displacement, wherein the first target displacement is the displacement corresponding to the highest volumetric efficiency of the travel motor; according to the first target displacement, the target speed of the engine is determined, and the real-time speed of the engine is reduced to the target speed.

[0077] Figure 2 The flowchart of the second energy-saving control method of the forage harvester according to the embodiment of the present application is schematically shown.

[0078] In an embodiment of the present application, the target speed includes a first target speed and a second target speed;

[0079] S160, determining a target speed of the engine according to the first target displacement, and adjusting the real-time speed of the engine to the target speed, including:

[0080] S161, adjusting the engine speed to the first target speed according to the first target displacement, the real-time engine speed, the maximum displacement of the travel motor and the efficiency value corresponding to the maximum displacement of the travel motor, wherein the preset opening threshold is the opening of the control handle corresponding to the maximum displacement current of the hydraulic equipment;

[0081] S162, when the real-time opening value of the control handle does not exceed the preset opening threshold, and the real-time operating parameter of the engine corresponding to the first target speed does not exceed the operating parameter threshold corresponding to the first target speed, adjusting the displacement current of the travel variable pump to a second target current corresponding to the second target displacement, wherein the second target displacement is the displacement corresponding to the maximum volumetric efficiency of the travel variable pump;

[0082] S163, determining a second target speed of the engine according to the second target displacement, and adjusting the real-time speed of the engine to the second target speed.

[0083] The preset opening threshold of the control handle is the opening of the control handle corresponding to the maximum displacement current of the hydraulic equipment, that is, when the real-time opening value of the control handle exceeds the preset opening threshold, the displacement current of the hydraulic equipment increases to the maximum displacement current and the displacement current of the hydraulic equipment cannot be further increased.

[0084] When the real-time opening value of the control handle does not exceed the preset opening threshold, the displacement current of the travel variable pump is kept unchanged, and the engine speed is adjusted to the first target speed according to the first target displacement, the real-time speed of the engine, the maximum displacement of the travel motor and the efficiency value corresponding to the maximum displacement of the travel motor.

[0085] In the embodiment of the present application, the first target speed calculation formula is:

[0086]

[0087] Among them, Nmb1 is the first target speed, XZMD_Vzj is the first target displacement corresponding to the highest efficiency range on the power curve, Ni is the real-time speed of the engine output, XZMD_Vmax is the maximum displacement of the travel motor, XZMD_η is the efficiency value corresponding to the maximum displacement of the travel motor, and XZMD_ηzj is the highest efficiency on the power curve.

[0088] When the real-time opening value of the control handle does not exceed the preset opening threshold, since the displacement current of the variable displacement pump can continue to increase, after adjusting the real-time speed of the engine to the first target speed, it is determined that the real-time operating parameters of the engine corresponding to the first target speed do not exceed the operating parameter threshold corresponding to the first target speed. When the real-time operating parameters of the engine corresponding to the first target speed do not exceed the operating parameter threshold corresponding to the first target speed, the displacement current of the variable displacement pump is adjusted to the second target current corresponding to the second target displacement, wherein the second target displacement is the displacement corresponding to the highest volumetric efficiency of the variable displacement pump. According to the second target displacement, the second target speed of the engine is determined, and the real-time speed of the engine is adjusted to the second target speed.

[0089] In the embodiment of the present application, the calculation formula of the second target speed is:

[0090]

[0091] Among them, Nmb2 is the second target speed, Nmb1 is the first target speed, Ki is the real-time opening value of the control handle, K1 is the preset opening threshold, XZB_ηi is the volumetric efficiency value of the walking variable pump corresponding to the real-time opening value of the control handle, XZB_Vmin is the displacement corresponding to the minimum displacement current of the walking variable pump, XZB_Vmax is the displacement corresponding to the maximum displacement current of the walking variable pump, XZB_Imin is the minimum displacement current of the walking variable pump, XZB_Imax is the maximum displacement current of the walking variable pump, XZB_ηzj is the maximum volumetric efficiency value of the walking variable pump, and XZB_Vzj is the second target displacement, that is, the maximum displacement corresponding to the maximum capacity efficiency of the walking variable pump.

[0092] It should be understood that when the real-time opening value of the control handle does not exceed the preset opening threshold, since the displacement current of the travel variable pump cannot continue to increase, the steps of adjusting the displacement current of the travel variable pump to the second target current corresponding to the second target displacement, determining the second target speed of the engine based on the second target displacement, and adjusting the real-time speed of the engine to the second target speed will not be executed.

[0093] Figure 3 The flowchart of the third energy-saving control method for a forage harvester according to an embodiment of the present application is schematically shown.

[0094] In the embodiment of the present application, S130, based on the real-time opening value of the control handle, updates the real-time speed of the engine, the displacement current of the travel variable pump, and the displacement current of the travel motor, including:

[0095] S131, when the real-time opening value of the control handle does not exceed the preset opening threshold, the real-time speed of the engine is maintained at the preset speed, the displacement current of the travel motor is adjusted to the maximum displacement current, and the displacement current of the travel variable pump is adjusted according to the maximum displacement current of the travel variable pump, the minimum displacement current of the travel variable pump, the real-time opening value of the control handle and the preset opening threshold;

[0096] S132, when the real-time opening value of the control handle exceeds the preset opening threshold, the displacement current of the travel motor and the displacement current of the travel variable pump are adjusted to the maximum displacement current, and the real-time speed of the engine is updated according to the preset speed, the maximum speed of the engine, the real-time opening value of the control handle, the maximum opening value of the control handle and the preset opening threshold.

[0097] When the real-time opening value of the control handle does not exceed the preset opening threshold, it is determined that the displacement current of the travel variable pump can continue to be higher, and then the real-time speed of the engine can be selected not to adjust. The real-time speed of the engine is maintained at the preset speed, the displacement current of the travel motor is adjusted to the maximum displacement current, and according to the maximum displacement current of the travel variable pump, the minimum displacement current of the travel variable pump, the real-time opening value of the control handle and the preset opening threshold, the displacement current of the travel variable pump is adjusted to (XZB_Imax-XZB_Imin)*Ki / K1, where XZB_Imin is the minimum displacement current of the travel variable pump, XZB_Imax is the maximum displacement current of the travel variable pump, Ki is the real-time opening value of the control handle, and K1 is the preset opening threshold.

[0098] When the real-time opening value of the control handle exceeds the preset opening threshold, the displacement current of the travel motor and the displacement current of the travel variable pump are adjusted to the maximum displacement current. Since the displacement current of the travel variable pump cannot continue to increase, according to the preset speed, the maximum speed of the engine, the real-time opening value of the control handle, the maximum opening value of the control handle and the preset opening threshold, the real-time speed of the engine is N1+(Nmax-N1)*(Ki-K1) / (Kmax-K1), where Nmax is the maximum speed of the engine, that is, the preset maximum speed, N1 is the preset speed of the engine, Ki is the real-time opening value of the control handle, Kmax is the maximum opening value of the control handle, and K1 is the preset opening threshold of the control handle.

[0099] In the embodiment of the present application, S160, after determining the target speed of the engine according to the first target displacement and adjusting the real-time speed of the engine to the target speed, further includes:

[0100] S1601, when the real-time operating parameter of the engine corresponding to the target speed does not exceed the operating parameter threshold corresponding to the target speed, obtaining the real-time fuel consumption and real-time driving speed of the forage harvester;

[0101] S1602, when the real-time fuel consumption is less than or equal to the original fuel consumption, determining the driving speed difference between the real-time driving speed and the original driving speed, wherein the original fuel consumption is the fuel consumption of the forage harvester corresponding to the real-time opening value of the control handle, and the original driving speed is the driving speed of the forage harvester corresponding to the real-time opening value of the control handle;

[0102] S1603: When the speed difference is greater than a preset speed threshold, update the target speed based on a preset speed interval value.

[0103] When the real-time operating parameters of the engine corresponding to the target speed do not exceed the operating parameter threshold corresponding to the target speed, the real-time fuel consumption and real-time driving speed of the forage harvester are obtained. When the forage harvester is in normal mode, the original fuel consumption is the fuel consumption of the forage harvester corresponding to the real-time opening value of the control handle. When the real-time fuel consumption is greater than the original fuel consumption, it is determined that adjusting the engine speed to the target speed will cause the fuel consumption of the forage harvester to increase, and the real-time engine speed is restored to the preset speed.

[0104] When the forage harvester is in normal mode, the original driving speed is the driving speed of the forage harvester corresponding to the real-time opening value of the control handle. When the real-time fuel consumption is less than the original fuel consumption, it is determined that the fuel consumption of the forage harvester is reduced after adjusting the engine speed to the target speed, and the driving speed difference between the real-time driving speed and the original driving speed is determined to determine whether the driving speed requirement of the forage harvester is met after the displacement current is adjusted to the first target current.

[0105] When the speed difference is greater than the preset speed threshold, the target speed is updated based on the preset speed interval value, so as to reduce the real-time speed of the engine while meeting the driving speed requirement. Specifically, when the speed difference is less than the preset speed threshold, it is determined that the adjusted target current meets the original driving speed requirement, and the real-time speed of the engine remains unchanged. When the current driving speed is greater than the original driving speed and the speed difference is greater than the preset speed threshold, the target speed is reduced based on the preset speed interval value. When the current driving speed is less than the original driving speed and the speed difference is greater than the preset speed threshold, the target speed is increased based on the preset speed interval value.

[0106] Figure 4 The flowchart of the fifth energy-saving control method for a forage harvester according to an embodiment of the present application is schematically shown.

[0107] In the embodiment of the present application, the preset speed includes a minimum speed and an operating speed, and the operating speed is greater than the minimum speed;

[0108] S120, adjusting the real-time speed of the engine to a preset speed according to the positive or negative value of the real-time opening value of the control handle, including:

[0109] S121, when the real-time opening value of the control handle is not a positive value, adjusting the real-time speed of the engine to the minimum speed;

[0110] S122, when the real-time opening value of the control handle is a positive value, adjusting the real-time speed of the engine to the working speed.

[0111] The real-time speed of the engine, i.e., the speed of the engine when the forage harvester is running, can pre-set the preset minimum speed and preset maximum speed of the engine. The preset minimum speed is the lowest speed allowed by the engine when the forage harvester is running, and the preset maximum speed is the highest speed allowed by the engine when the forage harvester is running. It should be understood that the values ​​of the preset minimum speed and the preset maximum speed are set according to actual needs and are not limited here. For ease of understanding, in the embodiment of the present application, the preset minimum speed is 1000rpm and the preset maximum speed is 2000rpm.

[0112] In this embodiment, the preset speed includes the minimum speed and the working speed, the minimum speed and the preset minimum speed of the engine. The working speed is greater than the minimum speed and less than or equal to the preset maximum speed.

[0113] When the real-time opening value of the control handle is not a positive value, the state of the forage harvester is determined to be one of transfer, reverse, stationary idling and unloading. After a preset time, the real-time speed of the engine is adjusted to the preset minimum speed so that the engine works in a low energy consumption area to avoid excess engine power. When the real-time opening value of the control handle is a positive value, it is determined that the forage harvester was previously traveling, and the real-time speed of the engine is adjusted to the working speed to meet the travel speed requirement, thereby reducing the real-time speed of the engine and avoiding excess engine output power.

[0114] In an embodiment of the present application, the forage harvester further comprises a cooling device;

[0115] S120, after adjusting the real-time speed of the engine to a preset speed according to the positive or negative value of the real-time opening value of the control handle, the method further includes:

[0116] S1201, when the displacement current of the cooling device is the highest displacement current, obtaining the real-time temperature of the cooling device and the real-time operating parameters of the engine corresponding to the real-time speed;

[0117] S1202, when the real-time temperature of the cooling device is not lower than a preset temperature threshold, and / or the real-time operating parameter exceeds an operating parameter threshold corresponding to the real-time speed, increasing the real-time speed of the engine based on a preset speed difference;

[0118] S1203, when the real-time temperature of the cooling device is lower than a preset temperature threshold and the real-time operating parameter does not exceed the operating parameter threshold corresponding to the real-time speed, reducing the displacement current of the cooling device based on a preset current difference.

[0119] After the real-time speed of the engine is adjusted to the preset speed, when the preset speed is the working speed and the preset speed is the minimum speed, the displacement current of the cooling device is adjusted to the maximum displacement current. When the displacement current of the cooling device is the maximum displacement current and the real-time speed of the engine is the preset speed, the real-time temperature of the cooling device and the real-time operating parameters of the engine corresponding to the real-time speed are obtained. It should be understood that the temperature parameter of the cooling device can be at least one of the engine coolant temperature, the charge air cooling system temperature and the hydraulic oil temperature, which is not limited here. The operating parameters of the engine can be at least one of the engine load rate, torque percentage and real-time power, which are not limited here.

[0120] When the real-time temperature of the cooling equipment is not lower than the preset temperature threshold, and / or the real-time operating parameter exceeds the operating parameter threshold corresponding to the real-time speed, the real-time speed of the engine is increased based on the preset speed difference. While meeting the power demand of the forage harvester and avoiding power shortage of the forage harvester, the real-time speed of the engine is gradually increased from the preset minimum speed, thereby reducing the power consumption of the forage harvester.

[0121] In this embodiment, the engine is connected to the cooling device through a hydraulic device, and the cooling device operates according to the engine speed. It is easy for the actual power of the cooling device to be greater than the required power, resulting in excess engine output power. When the real-time temperature of the cooling device is lower than the preset temperature threshold, and the real-time operating parameter does not exceed the operating parameter threshold corresponding to the real-time speed, it is determined that the actual power of the cooling device is greater than the required power. The real-time speed of the engine is kept unchanged, and the displacement current of the cooling device is reduced based on the preset current difference, thereby avoiding excess engine output power.

[0122] In the embodiment of the present application, S1203, when the real-time temperature of the cooling device is lower than the preset temperature threshold and the real-time operating parameter does not exceed the operating parameter threshold corresponding to the real-time speed, after reducing the displacement current of the cooling device based on the preset current difference, it also includes;

[0123] S1204, calculating the temperature difference between the real-time temperature and the original temperature, wherein the original temperature is the temperature of the cooling device corresponding to the real-time opening value of the control handle;

[0124] S1205: When the temperature difference is greater than a preset temperature threshold, adjust the displacement current of the cooling device based on a preset current difference.

[0125] After reducing the displacement current of the cooling device, the temperature difference between the real-time temperature and the original temperature is calculated to determine whether the displacement current of the cooling device needs to be adjusted, wherein the original temperature is the temperature of the cooling device corresponding to the real-time opening value of the control handle. When the temperature difference is greater than a preset temperature threshold, it is determined that adjusting the displacement current of the cooling device will affect the performance of the cooling device, and the displacement current of the cooling device is adjusted based on the preset current difference.

[0126] Specifically, when the real-time temperature is greater than the original temperature and the temperature difference is greater than the preset temperature threshold, the displacement current of the cooling device is reduced based on the preset current difference. When the real-time temperature is less than the original temperature and the temperature difference is greater than the preset temperature threshold, the displacement current of the cooling device is increased based on the preset current difference.

[0127] In the embodiment of the present application, after adjusting the real-time speed of the engine to a preset speed according to the positive or negative value of the real-time opening value of the control handle at S120, the method further includes:

[0128] S1206, obtaining the required power of the engine, and adjusting the power gear of the engine according to the power ratio of the required power at the real-time speed of the engine.

[0129] The sensor is used to detect the real-time pressure and / or real-time displacement of the hydraulic equipment, and the required power of the engine is obtained according to the real-time pressure and / or real-time displacement of the hydraulic equipment. The power gear of the engine is adjusted according to the power ratio of the required power at the real-time speed of the engine.

[0130] It should be understood that the engine can be preset with n power gears. For ease of understanding, in the embodiment of the present application, n is 10, that is, when the power gear of the engine is 1 to 10, the engine can output 100% of the power at the real-time speed. Assuming that the power gear of the engine is adjusted to 1 to 4 in the walking energy-saving mode, the engine can output 40% of the power at the real-time speed. Assuming that the power gear of the engine is adjusted to 1 to 7 in the walking energy-saving mode, the engine can output 70% of the power at the real-time speed. After the real-time speed of the engine is adjusted to the preset speed according to the positive or negative real-time opening value of the control handle, the step of obtaining the required power of the engine is to adjust the power gear of the engine so that the forage harvester can operate at the optimal working point even under the condition of poor silage harvest.

[0131] The present application provides an energy-saving control method for a forage harvester, which includes a control handle, an engine and a hydraulic device. The energy-saving control method for the forage harvester includes: S110, determining the real-time opening value of the control handle; S120, adjusting the real-time speed of the engine to a preset speed according to the positive or negative real-time opening value of the control handle; S130, updating the real-time speed of the engine, the displacement current of the travel variable pump and the displacement current of the travel motor based on the real-time opening value of the control handle; S140, determining whether the output power of the engine corresponding to the real-time speed is less than a preset power threshold; S150, when the output power corresponding to the real-time speed is less than the preset power threshold, adjusting the displacement current of the travel motor to a first target current corresponding to a first target displacement according to the power curve of the travel motor, wherein the first target displacement is the displacement corresponding to the highest volumetric efficiency of the travel motor; S160, determining the target speed of the engine according to the first target displacement, and adjusting the real-time speed of the engine to the target speed. During the driving process, the forage harvester matches the engine speed with the hydraulic equipment, adjusts the engine speed in accordance with the handle opening value, and reduces the power consumption of the forage harvester. The hydraulic equipment operates in the high-efficiency zone, which makes the engine work in the low-energy consumption zone, thus avoiding the situation of excessive power of the forage harvester.

[0132] The present application also provides a control device, including:

[0133] a memory configured to store instructions;

[0134] The processor is configured to call instructions from the memory and implement the energy-saving control method of the forage harvester when executing the instructions.

[0135] The processor includes a kernel, which calls the corresponding program unit from the memory. One or more kernels can be set to solve the problem of excess power of the forage harvester by adjusting kernel parameters.

[0136] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0137] Figure 5 The structure diagram of a forage harvester according to an embodiment of the present application is schematically shown. Figure 5 As shown, the embodiment of the present application provides a forage harvester 200, including:

[0138] The control device 210 is configured to implement the energy-saving control method of the forage harvester described above;

[0139] The hydraulic device 220 is configured to drive the forage harvester 200 to travel;

[0140] An engine 230 configured to drive the hydraulic device 220;

[0141] The control handle 240 is configured to adjust the real-time opening value in response to the user's operation.

[0142] The control handle 240 is connected to the engine 230 through the control device 210, and the control device 210 adjusts the speed of the engine 230 according to the detected real-time opening value of the control handle 240. It should be understood that the forage harvester 200 also includes other components and other equipment, and the types of other components and other equipment are set according to actual needs and are not limited here. For ease of understanding, the other components and other equipment in the embodiments of the present application include a travel drive mechanism 250, a cooling device 260, a transfer case 270 and working equipment. The type of the cooling device 260 is set according to actual needs, and can be a supercharged air cooler and a radiator, etc., which are not limited here.

[0143] In the embodiment of the present application, the hydraulic equipment 220 includes a travel variable pump 221, a travel motor 222, a cooling variable pump 223, a cooling motor 224, a working variable pump and a working motor. In the embodiment of the present application, the working equipment includes a feeding drive mechanism. It should be understood that the working equipment may also include a harvesting table drive mechanism, an exhaust fan, an elevator, an upper exhaust fan, a grain agitator, a peeling mechanism, a bract chopper, a field return machine and a harvesting table mechanism, etc., which are not limited here. When the forage harvester 200 is traveling in the field or on the road, the engine 230 does not drive the working equipment. The engine 230 is connected to the working equipment through a working variable pump and a working motor in turn. For ease of understanding, the working equipment, the working variable pump and the working motor are not shown in the figure.

[0144] The engine 230 is connected to the travel drive mechanism 250 through the transfer case 270, the travel variable pump 221 and the travel motor 222 in sequence, and the engine 230 is also connected to the cooling device 260 through the transfer case 270, the cooling variable pump 223 and the cooling motor 224 in sequence. Specifically, the real-time speed of the engine 230 and the displacement current of the hydraulic device 220 are linearly adjusted according to the real-time opening value of the control handle 240. The control device 210 in the present application also reduces the real-time speed of the engine 230 and / or the displacement current of the hydraulic device 220 according to the positive and negative real-time opening value and the power of the engine 230. The forage harvester 200 performs power matching between the engine 230 speed and the hydraulic device 220 during driving, and adjusts the engine 230 speed relative to the direct corresponding handle opening value, thereby reducing the whole machine power consumption of the forage harvester 200. The hydraulic device 220 operates in the high-efficiency area, so that the engine 230 works in the low-energy consumption area, thereby avoiding the situation of excessive power of the forage harvester 200.

[0145] An embodiment of the present application also provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable the machine to execute the above-mentioned energy-saving control method for the silage harvester.

[0146] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0147] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0148] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0149] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0150] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0151] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0152] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0153] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0154] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. An energy-saving control method for a silage harvester, characterized in that: The forage harvester includes a control handle, an engine and a hydraulic device, the hydraulic device includes a travel variable pump and a travel motor, and the energy-saving control method of the forage harvester includes: S110, determining the real-time opening value of the control handle; S120, adjusting the real-time speed of the engine to a preset speed according to the positive or negative value of the real-time opening value of the control handle; S130, updating the real-time speed of the engine, the displacement current of the travel variable pump, and the displacement current of the travel motor based on the real-time opening value of the control handle; S140, determining whether the output power of the engine corresponding to the real-time speed is less than a preset power threshold; S150, when the output power corresponding to the real-time rotation speed is less than a preset power threshold, adjusting the displacement current of the travel motor to a first target current corresponding to a first target displacement according to a power curve of the travel motor, wherein the first target displacement is a displacement corresponding to a maximum volumetric efficiency of the travel motor; S160: Determine a target speed of the engine according to the first target displacement, and adjust the real-time speed of the engine to the target speed.

2. The energy-saving control method for a forage harvester according to claim 1, characterized in that: The target speed includes a first target speed and a second target speed; The step S160, determining a target speed of the engine according to the first target displacement, and adjusting the real-time speed of the engine to the target speed, includes: S161, adjusting the speed of the engine to a first target speed according to the first target displacement, the real-time speed of the engine, the maximum displacement of the travel motor, and the efficiency value corresponding to the maximum displacement of the travel motor; S162, when the real-time opening value of the control handle does not exceed the preset opening threshold, and the real-time operating parameter of the engine corresponding to the first target speed does not exceed the operating parameter threshold corresponding to the first target speed, adjusting the displacement current of the travel variable pump to a second target current corresponding to the second target displacement, wherein the second target displacement is the displacement corresponding to the maximum volumetric efficiency of the travel variable pump, and the preset opening threshold is the opening of the control handle corresponding to the maximum displacement current of the hydraulic equipment; S163: Determine a second target speed of the engine according to the second target displacement, and adjust the real-time speed of the engine to the second target speed.

3. The energy-saving control method for a forage harvester according to claim 2, characterized in that: The S130, based on the real-time opening value of the control handle, updates the real-time speed of the engine, the displacement current of the travel variable pump, and the displacement current of the travel motor, including: S131, when the real-time opening value of the control handle does not exceed the preset opening threshold, the real-time speed of the engine is maintained at the preset speed, the displacement current of the travel motor is adjusted to the maximum displacement current, and the displacement current of the travel variable pump is adjusted according to the maximum displacement current of the travel variable pump, the minimum displacement current of the travel variable pump, the real-time opening value of the control handle and the preset opening threshold; S132, when the real-time opening value of the control handle exceeds the preset opening threshold, the displacement current of the travel motor and the displacement current of the travel variable pump are adjusted to the maximum displacement current, and the real-time speed of the engine is updated according to the preset speed, the maximum speed of the engine, the real-time opening value of the control handle, the maximum opening value of the control handle and the preset opening threshold.

4. The energy-saving control method for a forage harvester according to claim 2, characterized in that: The calculation formula of the first target speed is: Wherein, Nmb1 is the first target speed, XZMD_Vzj is the first target displacement corresponding to the highest efficiency range on the power curve, Ni is the real-time speed output by the engine, XZMD_Vmax is the maximum displacement of the travel motor, XZMD_η is the efficiency value corresponding to the maximum displacement of the travel motor, and XZMD_ηzj is the highest efficiency on the power curve; The calculation formula of the second target speed is: Among them, Nmb2 is the second target speed, Nmb1 is the first target speed, Ki is the real-time opening value of the control handle, K1 is the preset opening threshold, XZB_ηi is the volumetric efficiency value of the walking variable pump corresponding to the real-time opening value of the control handle, XZB_Vmin is the displacement corresponding to the minimum displacement current of the walking variable pump, XZB_Vmax is the displacement corresponding to the maximum displacement current of the walking variable pump, XZB_Imin is the minimum displacement current of the walking variable pump, XZB_Imax is the maximum displacement current of the walking variable pump, XZB_ηzj is the maximum volumetric efficiency value of the walking variable pump, and XZB_Vzj is the second target displacement.

5. The energy-saving control method for a forage harvester according to claim 1, characterized in that: After determining the target speed of the engine according to the first target displacement and adjusting the real-time speed of the engine to the target speed in S160, the method further includes: S1601, obtaining the real-time fuel consumption and real-time driving speed of the forage harvester when the real-time operating parameter of the engine corresponding to the target speed does not exceed the operating parameter threshold corresponding to the target speed; S1602, when the real-time fuel consumption is less than or equal to the original fuel consumption, determining the driving speed difference between the real-time driving speed and the original driving speed, wherein the original fuel consumption is the fuel consumption of the forage harvester corresponding to the real-time opening value of the control handle, and the original driving speed is the driving speed of the forage harvester corresponding to the real-time opening value of the control handle; S1603: When the speed difference is greater than a preset speed threshold, update the target speed based on a preset speed interval value.

6. The energy-saving control method for a forage harvester according to claim 1, characterized in that: The preset speed includes a minimum speed and a working speed, and the working speed is greater than the minimum speed; The step S120, adjusting the real-time speed of the engine to a preset speed according to the positive or negative value of the real-time opening value of the control handle, includes: S121, when the real-time opening value of the control handle is not a positive value, adjusting the real-time speed of the engine to a minimum speed; S122, when the real-time opening value of the control handle is a positive value, adjusting the real-time speed of the engine to the working speed.

7. The energy-saving control method for a forage harvester according to claim 1, characterized in that: The forage harvester also includes a cooling device; After adjusting the real-time speed of the engine to a preset speed according to the positive or negative value of the real-time opening value of the control handle in S120, the method further includes: S1201, when the displacement current of the cooling device is the highest displacement current, obtaining the real-time temperature of the cooling device and the real-time operating parameters of the engine corresponding to the real-time speed; S1202, when the real-time temperature of the cooling device is not lower than a preset temperature threshold, and / or the real-time operating parameter exceeds an operating parameter threshold corresponding to the real-time speed, increasing the real-time speed of the engine based on a preset speed difference; S1203, when the real-time temperature of the cooling device is lower than a preset temperature threshold and the real-time operating parameter does not exceed the operating parameter threshold corresponding to the real-time speed, reducing the displacement current of the cooling device based on a preset current difference.

8. The energy-saving control method for a forage harvester according to claim 7, characterized in that: The step S1203, after reducing the displacement current of the cooling device based on a preset current difference when the real-time temperature of the cooling device is lower than a preset temperature threshold and the real-time operating parameter does not exceed the operating parameter threshold corresponding to the real-time speed, further includes: S1204, calculating the temperature difference between the real-time temperature and the original temperature, wherein the original temperature is the temperature of the cooling device corresponding to the real-time opening value of the control handle; S1205: When the temperature difference is greater than a preset temperature threshold, adjust the displacement current of the cooling device based on a preset current difference.

9. The energy-saving control method for a forage harvester according to claim 1, characterized in that: After adjusting the real-time speed of the engine to a preset speed according to the positive or negative value of the real-time opening value of the control handle in S120, the method further includes: S1206, obtaining the required power of the engine, and adjusting the power gear of the engine according to the power ratio of the required power at the real-time speed of the engine.

10. A forage harvester, characterized in that: include: A control device configured to implement the energy-saving control method of the forage harvester according to any one of claims 1 to 9; A hydraulic device configured to drive the forage harvester to travel and / or perform forage harvesting operations; an engine configured to drive the hydraulic device; The control handle is configured to respond to user operations and adjust the real-time opening value.

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