Excavator flat ground performance calibration method and flat ground control method

Abstract

The invention provides an excavator flat ground performance calibration method and a flat ground control method, and belongs to the technical field of operation machinery control, and the method comprises the following steps: calibrating flat ground nodding depth according to the opening proportion of a bucket rod adduction valve core, so as to change the flat ground nodding depth by adjusting the set current of a bucket rod solenoid valve. Calibrating flat ground switching impact according to the bucket rod electromagnetic valve current loading process and the bucket rod electromagnetic valve current closing loading process; and the flat ground switching impact is changed by adjusting the first calibration parameter. And the ground leveling speed is calibrated according to the main pump flow loading process, so that the ground leveling speed is changed by adjusting the second calibration parameter. According to the method, the leveling speed, the nodding depth and the switching impact amplitude of the excavator are adjusted according to the actual operation condition through specific calibration of the leveling performance of the excavator.

Description

Technical Field

[0001] The invention relates to a method for calibrating the leveling performance of an excavator and a method for controlling the leveling performance of an excavator, and belongs to the technical field of operating machinery control. Background Art

[0002] With the promotion of electronic control of excavators, the poor consistency of the solenoid valve itself has affected the performance of the whole vehicle after mass production. In addition, due to the different operating habits of customers, the single leveling performance set at the factory is difficult to meet the needs of all customers. Fully electronically controlled excavators have the function of calibrating the solenoid valve of the whole vehicle to ensure the consistency of leveling performance. However, both conventional models and fully electronically controlled models do not have customer-defined leveling performance options, and cannot meet the different needs of different customers for leveling performance. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a method for calibrating the leveling performance of an excavator, thereby solving the problem that the leveling performance of an existing fully-electrically controlled excavator cannot be adjusted.

[0004] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0005] In the first aspect, the present invention provides a method for calibrating the leveling performance of an excavator, comprising: a method for calibrating the leveling performance of an excavator, characterized in that it includes: calculating the opening ratio of a boom retraction valve core according to the pilot control oil circuit pressure of the boom retraction action during leveling operation and the boom retraction valve core pressure; wherein the boom retraction valve core pressure corresponds to a set current of a boom solenoid valve; calibrating the leveling nodding depth according to the boom retraction valve core opening ratio, so as to achieve a change in the leveling nodding depth by adjusting the set current of the boom solenoid valve.

[0006] Furthermore, the calculation formula of the opening ratio of the dipper arm inward valve core is: ; In the formula, is the ratio of the boom valve core opening when the boom is retracted. It is the pilot control oil circuit pressure for the boom retraction action. It is the pilot pressure to open the boom retraction valve core. It is the pilot pressure for the boom valve core to be fully opened. Set pressure for the stick retract spool.

[0007] Furthermore, it also includes: constructing a boom solenoid valve current loading process and a boom solenoid valve current closing loading process according to the boom solenoid valve set current and the first calibration parameter; calibrating the level ground switching impact according to the boom solenoid valve current loading process and the boom solenoid valve current closing loading process; so as to change the level ground switching impact by adjusting the first calibration parameter; wherein the first calibration parameter includes: the boom solenoid valve current loading rate and the boom solenoid valve current closing loading rate.

[0008] Furthermore, the current loading process of the boom solenoid valve is as follows: ; The current closing loading process of the arm solenoid valve is as follows: ; In the formula, This is the current loading process of the boom solenoid valve. For the stick solenoid valve current closing loading process, is the current loading rate of the boom solenoid valve, Set the current for the stick solenoid valve, is the solenoid valve current closing loading rate, It is the maximum current of the boom retraction solenoid valve.

[0009] Furthermore, it also includes: calculating the boom retraction target flow, boom raising target flow and rotation target flow on the main pump according to the boom raising action pilot control oil circuit pressure, the swing action pilot control oil circuit pressure and the boom retraction valve core opening ratio during leveling operation; constructing the main pump flow loading process according to the boom retraction target flow, boom raising target flow and swing target flow on the main pump, and the second calibration parameter; calibrating the leveling speed according to the main pump flow loading process, so as to change the leveling speed by adjusting the second calibration parameter; wherein the second calibration parameter characterizes the loading speed of the action flow on the main pump.

[0010] Furthermore, the main pump includes: a first main pump and a second main pump, and the rotary action is supplied with oil by the second main pump.

[0011] The second calibration parameters include: the loading rate of the boom retraction flow on the first main pump, the loading rate of the boom retraction flow on the second main pump, the loading rate of the boom rising flow on the first main pump, the loading rate of the boom rising flow on the second main pump, and the loading rate of the rotation flow on the second main pump.

[0012] The main pump flow loading process includes: a first main pump flow loading process and a second main pump flow loading process. The first main pump flow loading process is: ; The flow loading process of the second main pump is: ; In the formula, This is the flow loading process of the first main pump. For the flow loading process of the second main pump, is the loading speed of the arm retraction flow on the first main pump, The target flow rate of the arm retraction on the first main pump. is the loading speed of the boom rising flow on the first main pump, The target flow rate for the first main pump to raise the upper boom. is the loading rate of the arm retraction flow on the second main pump, The target flow rate of the second main pump upper boom retraction. is the loading rate of the boom rising flow on the second main pump, The target flow rate for the second main pump to raise the upper boom. is the flow loading rate of the second main pump, It is the target flow rate for the second main pump to rotate upward.

[0013] Further, the boom retraction target flow, boom raising target flow and swing target flow on the main pump are calculated according to the boom raising action pilot control oil circuit pressure, the swing action pilot control oil circuit pressure and the boom retraction valve core opening ratio during the leveling operation, including:

[0014] According to the boom raising action pilot control oil circuit pressure and the swing action pilot control oil circuit pressure during leveling operation, the boom raising valve core opening ratio and the swing valve core opening ratio are calculated using the following formula: ; ; In the formula, is the boom lift valve core opening ratio, It is the pilot control oil circuit pressure for the boom raising action. The pilot pressure for opening the boom lift valve core is It is the pilot pressure for fully opening the boom rising valve core; is the ratio of the rotary valve core opening, Pilot control oil pressure for rotary action. The pilot pressure for opening the rotary valve core is It is the pilot pressure for fully opening the rotary valve core;

[0015] The target flow rates of the first main pump and the second main pump are calculated according to the boom raising valve core opening ratio, the swing valve core opening ratio and the arm retracting valve core opening ratio, and the calculation formula is: ; ; In the formula, is the target flow rate of the first main pump, is the target flow rate of the second main pump, The maximum flow rate of the arm retracting, is the ratio of the boom valve core opening when the boom is retracted. is the maximum flow rate of boom rise, is the maximum rotary flow rate, The maximum flow rate of the main pump at the current speed;

[0016] Calculate the proportion of the arm retraction action, boom raising action and rotation action in the flow of the first main pump and the second main pump respectively. The calculation formula is: ; ; ; ; In the formula, It is the proportion of the arm retraction action in the flow of the first main pump. It is the proportion of the arm retraction action in the flow of the second main pump. is the proportion of boom raising action in the flow of the first main pump, is the proportion of boom raising action in the flow of the second main pump, is the proportion of the rotary action in the flow of the second main pump;

[0017] Calculate the target flow rates of the arm retraction action and the boom raising action on the first main pump and the second main pump respectively, and the target flow rate of the swing action on the second main pump. The calculation formula is: ; ; ; In the formula, The target flow rate of the boom retraction action on the first main pump; The target flow rate of the second main pump for the arm retraction action. is the target flow rate of the first main pump for the boom raising action, is the target flow rate of the second main pump for the boom raising action, It is the target flow rate of the swing action based on the flow rate of the second main pump.

[0018] Furthermore, it also includes: the state where the boom retraction action pilot control oil circuit pressure and the boom raising action pilot control oil circuit pressure both reach the corresponding valve core opening pilot pressure, while the swing action pilot control oil circuit pressure does not reach the swing valve core opening pilot pressure is calibrated as entering the conventional leveling mode; the state where the boom retraction action pilot control oil circuit pressure, the boom raising action pilot control oil circuit pressure and the swing action pilot control oil circuit pressure all reach the corresponding valve core opening pilot pressure is calibrated as entering the swing leveling mode.

[0019] In a second aspect, the present invention provides a method for controlling a land leveling of an excavator, wherein the land leveling performance of the excavator is calibrated by the method described in the first aspect, and the control method comprises:

[0020] Collecting the adjustment signal of the instrument level nodding depth calibration interface, and adjusting the setting current of the boom solenoid valve according to the adjustment signal of the level nodding depth calibration interface;

[0021] The adjusted arm solenoid valve setting current is written into the memory to obtain the corresponding level nodding depth.

[0022] Furthermore, it also includes:

[0023] Collecting an adjustment signal of a ground-switching impact calibration interface of an instrument, adjusting a first calibration parameter according to the adjustment signal of the ground-switching impact calibration interface, and writing the adjusted first calibration parameter into a storage to obtain a corresponding ground-switching impact;

[0024] and / or, collecting an adjustment signal of an instrument land speed calibration interface, adjusting a second calibration parameter according to the adjustment signal of the instrument land speed calibration interface, and writing the adjusted second calibration parameter into a storage to obtain a corresponding land speed;

[0025] Collecting the selected signal of the instrument mode selection interface, and controlling the states of the boom retraction action pilot control valve, the boom raising action pilot control valve and the swing action pilot control valve according to the selected signal;

[0026] In response to entering the normal leveling mode, the valve cores of the boom retraction action pilot control valve and the boom raising action pilot control valve are controlled to open, while the valve core of the swing action pilot control valve is not opened;

[0027] In response to entering the swing leveling mode, the valve cores of the boom retraction action pilot control valve, the boom raising action pilot control valve and the swing action pilot control valve are all opened.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] (1) The excavator leveling performance calibration method provided by the present invention realizes that the excavator leveling performance changes with the adjustment of the set current of the boom solenoid valve by associating the excavator leveling head depth with the boom inward valve core opening ratio. On this basis, the operator can flexibly adjust the excavator leveling head depth according to the actual leveling effect in the instrument leveling performance calibration interface;

[0030] (2) The excavator leveling performance calibration method provided by the present invention associates the excavator leveling switching impact with the bucket arm solenoid valve current loading rate and the bucket arm solenoid valve current closing loading rate, so that the excavator leveling switching impact changes with the adjustment of the bucket arm solenoid valve current loading rate and the bucket arm solenoid valve current closing loading rate. On this basis, the operator can flexibly adjust the leveling switching impact according to the actual leveling effect in the instrument leveling performance calibration interface;

[0031] (3) The excavator leveling performance calibration method provided by the present invention associates the excavator leveling speed with the loading speed of the action flow on the main pump, so that the excavator leveling speed changes with the adjustment of the loading speed of the action flow on the main pump. On this basis, the operator can flexibly adjust the leveling speed according to the actual leveling effect in the instrument leveling performance calibration interface. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a flow chart of the method for calibrating the leveling performance of an excavator provided in Example 1 of the present invention;

[0033] Figure 2 This is a schematic diagram of the instrument level ground performance selection interface in Example 3 of the present invention;

[0034] Figure 3 This is a schematic diagram of the instrument level ground performance calibration interface in Example 3 of the present invention;

[0035] Figure 4 This is a schematic diagram of the instrument level ground mode selection interface in Example 3 of the present invention. DETAILED DESCRIPTION

[0036] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than the content illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. The technical solutions 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. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments.

[0037] Example 1

[0038] This embodiment provides a method for calibrating the leveling performance of an excavator. Figure 1 As shown, the method includes: calibrating the flat nodding depth according to the boom retraction valve core opening ratio.

[0039] Specifically, the opening ratio of the boom retraction valve core is calculated based on the boom retraction action pilot control oil circuit pressure and the boom retraction valve core pressure during leveling operations, so that the leveling nodding depth can be changed by adjusting the set current of the boom solenoid valve.

[0040] It should be noted that the boom solenoid valve is used to respond to the driving current of the whole machine controller to control the opening of the boom valve core. The factory default setting of the boom solenoid valve is that the boom retraction valve core pressure corresponds to the set current of the boom solenoid valve.

[0041] When the excavator is operated to retract and level the ground, the hydraulic oil acts on the arm cylinder through the arm retraction valve core, and the arm solenoid valve adjusts the opening of the arm valve core to optimize the operating performance of the arm retraction action. When encountering a large load, the arm valve core return oil circuit can be controlled to fully open to reduce throttling and reduce energy consumption. However, when the load is small, it is necessary to reduce the opening of the arm valve core to improve the operating performance.

[0042] By establishing a connection between the boom retraction valve core pressure and the boom retraction valve core opening ratio, and then combining the correspondence between the boom retraction valve core pressure and the boom solenoid valve set current, it is possible to change the boom retraction valve core opening ratio by adjusting the boom solenoid valve set current, that is, to change the opening of the boom retraction valve core.

[0043] In some specific embodiments, the excavator leveling performance calibration method further includes: calibrating the leveling switching impact according to the boom solenoid valve current loading process and the boom solenoid valve current closing loading process.

[0044] Specifically, the arm solenoid valve current loading process and the arm solenoid valve current closing loading process are constructed according to the arm solenoid valve set current and the first calibration parameter, so that the flat ground switching impact can be changed by adjusting the first calibration parameter. Among them, the first calibration parameter includes: the arm solenoid valve current loading rate and the arm solenoid valve current closing loading rate.

[0045] By adjusting the stick solenoid valve current loading rate and the stick solenoid valve closing loading rate, the loading and closing speed of the stick solenoid valve current can be changed, that is, the amplitude of the flat ground switching impact can be changed.

[0046] In some specific embodiments, the excavator leveling performance calibration method further includes: calibrating the leveling speed according to the main pump flow loading process.

[0047] Specifically, the construction of the main pump flow loading process includes: firstly, calculating the arm retraction target flow, arm raising target flow and swing target flow on the main pump according to the boom raising action pilot control oil circuit pressure, swing action pilot control oil circuit pressure and the arm retraction valve core opening ratio during the leveling operation. Then, the main pump flow loading process is constructed according to the arm retraction target flow, arm raising target flow and swing target flow on the main pump, and the second calibration parameter representing the loading speed of the action flow on the main pump. In this way, the leveling speed can be changed by adjusting the loading speed of the action flow on the main pump.

[0048] By adjusting the loading speed of the action flow on the main pump, the loading process of different action flows can be changed, which also changes the loading speed of the overall action when leveling, that is, the leveling speed.

[0049] In some improved embodiments, the excavator leveling performance calibration method also includes calibration of the leveling mode.

[0050] Specifically, the leveling mode includes: a conventional leveling mode and a swing leveling mode; the state in which the boom retraction action pilot control oil circuit pressure and the boom raising action pilot control oil circuit pressure both reach the corresponding valve core opening pilot pressure, while the swing action pilot control oil circuit pressure does not reach the swing valve core opening pilot pressure is calibrated to enter the conventional leveling mode; the state in which the boom retraction action pilot control oil circuit pressure, the boom raising action pilot control oil circuit pressure and the swing action pilot control oil circuit pressure all reach the corresponding valve core opening pilot pressure is calibrated to enter the swing leveling mode.

[0051] Example 2

[0052] Based on Example 1, this example provides a method for calibrating the leveling performance of an excavator with dual main pumps, wherein the first main pump and the second main pump jointly supply oil for the boom retraction and arm raising actions, and only the second main pump supplies oil for the rotation action.

[0053] S1: Calibrate the level nodding depth according to the ratio of the boom retraction valve core opening.

[0054] In some specific embodiments, the calculation formula of the boom inward valve core opening ratio is: ;

[0055] In the formula, is the ratio of the boom valve core opening when the boom is retracted. It is the pilot control oil circuit pressure for the boom retraction action. It is the pilot pressure to open the boom retraction valve core. It is the pilot pressure for the boom valve core to be fully opened. It is the pressure of the boom retraction valve core.

[0056] S2: Calibrate the ground switching impact according to the arm solenoid valve current loading process and the arm solenoid valve current closing loading process.

[0057] In some specific embodiments, the current loading process of the boom solenoid valve is as follows: ;

[0058] The current closing loading process of the arm solenoid valve is as follows: ;

[0059] In the formula, This is the current loading process of the boom solenoid valve. For the stick solenoid valve current closing loading process, is the current loading rate of the boom solenoid valve, Set the current for the stick solenoid valve, is the solenoid valve current closing loading rate, It is the maximum current of the boom retraction solenoid valve.

[0060] S3: Calibrate the leveling speed according to the first main pump flow loading process and the second main pump flow loading process.

[0061] In some specific embodiments, the construction process of the first main pump flow rate loading process and the second main pump flow rate loading process includes:

[0062] S31: Calculate the boom raising valve core opening ratio and the swing valve core opening ratio according to the boom raising action pilot control oil circuit pressure and the swing action pilot control oil circuit pressure during the leveling operation.

[0063] Specifically, the boom lift valve core opening ratio and rotary valve core opening ratio The calculation formula is: ; ;

[0064] In the formula, It is the pilot control oil circuit pressure for the boom raising action. The pilot pressure for opening the boom lift valve core is It is the pilot pressure for fully opening the boom rising valve core; Pilot control oil pressure for rotary action. The pilot pressure for opening the rotary valve core is It is the pilot pressure for fully opening the rotary valve core.

[0065] S32: Calculate the target flow rate of the first main pump and the second main pump according to the boom lift valve core opening ratio, the swing valve core opening ratio and the arm retraction valve core opening ratio.

[0066] Specifically, the target flow rate of the first main pump is and the target flow rate of the second main pump The calculation formula is: ; ;

[0067] In the formula, This is the flow loading process of the first main pump. For the flow loading process of the second main pump, The maximum flow rate of the arm retracting, is the maximum flow rate of boom rise, is the maximum rotary flow rate, The maximum flow rate of the main pump at the current speed.

[0068] S33: Calculate the proportions of the arm retraction action, the boom raising action and the rotation action in the flow of the first main pump and the second main pump respectively.

[0069] Specifically, the proportion of the arm retraction action in the flow of the first main pump and the proportion of the flow rate of the second main pump , The proportion of boom raising action in the flow of the first main pump and the proportion of the flow rate of the second main pump , and the proportion of the rotary action in the flow of the second main pump The calculation formula is: ; ; ; .

[0070] S34: Calculate the target flow rates of the boom retraction action and the boom raising action on the first main pump and the second main pump respectively, and the target flow rate of the swing action on the second main pump.

[0071] Specifically, the target flow rate of the first main pump for the arm retraction action is and the target flow rate on the second main pump , Target flow rate of the boom raising action on the first main pump and the target flow rate on the second main pump , and the target flow rate of the swing action on the second main pump flow rate The calculation formula is: ; ; .

[0072] S35: Construct the main pump flow loading process according to the target flow of the boom retraction action and the arm raising action on the first main pump and the second main pump respectively, the target flow of the rotation action on the second main pump, and the second calibration parameter characterizing the loading speed of the action flow on the main pump.

[0073] Specifically, the second calibration parameters include: the loading rate of the arm retraction flow on the first main pump , Loading rate of the arm retraction flow on the second main pump , Flow loading rate of the boom rising on the first main pump , Loading rate of boom rising flow on the second main pump , the flow loading rate of the second main pump .

[0074] On this basis, the flow loading process of the first main pump is: ;

[0075] The flow loading process of the second main pump is: .

[0076] Example 3

[0077] This embodiment provides a method for controlling the leveling of an excavator. The leveling performance of the excavator is calibrated using the method described in Embodiment 1 or Embodiment 2. The control method includes at least one of the following three parts:

[0078] Part 1: Collect the adjustment signal of the instrument's level nodding depth calibration interface, and adjust the arm solenoid valve setting current according to the adjustment signal of the level nodding depth calibration interface; write the adjusted arm solenoid valve setting current into the storage to obtain the corresponding level nodding depth.

[0079] The second part: collecting the adjustment signal of the instrument's ground switching impact calibration interface, adjusting the first calibration parameter according to the adjustment signal of the ground switching impact calibration interface, and writing the adjusted first calibration parameter into the storage to obtain the corresponding ground switching impact.

[0080] Part 3: Collecting the adjustment signal of the instrument ground speed calibration interface, adjusting the second calibration parameter according to the adjustment signal of the instrument ground speed calibration interface, and writing the adjusted second calibration parameter into the storage to obtain the corresponding ground speed.

[0081] like Figure 2 As shown, the instrument leveling performance calibration interface provides three options: leveling speed, nodding depth, and switching impact.

[0082] like Figure 3 As shown, for the adjustment of the leveling speed, nodding depth, and switching impact amplitude provided by the instrument, the parameters are set to provide stepless adjustment from minimum to maximum according to the actual hydraulic system configuration, and the parameter values ​​corresponding to different input levels are different. After adjusting the parameters according to the actual performance of the leveling, click the parameter confirmation button to write the option parameters into the storage, complete the parameter adjustment calibration, and realize the user's stepless and free selection of calibration parameters of different dimensions.

[0083] In some improved embodiments, Figure 3 As shown, the levels of various options for initially set flat ground handling are displayed on the status bar by default, and users can switch to the default parameters with one click by clicking the Restore Default Parameters button below.

[0084] like Figure 4 As shown, in some specific embodiments, the control method further includes: collecting a selected signal of the instrument mode selection interface, and controlling the states of the boom retraction action pilot control valve, the boom raising action pilot control valve, and the swing action pilot control valve according to the selected signal;

[0085] In response to entering the normal leveling mode, the valve cores of the boom retraction action pilot control valve and the boom raising action pilot control valve are controlled to open, while the valve core of the swing action pilot control valve is not opened;

[0086] In response to entering the swing leveling mode, the valve cores of the boom retraction action pilot control valve, the boom raising action pilot control valve and the swing action pilot control valve are all opened.

[0087] It should be noted that leveling operation is a whole process, which requires consideration of the beginning and the process, as well as heavy loads and light loads, single leveling or switching. Therefore, the values ​​of the corresponding adjustment parameters cannot be fixed, and multiple parameter combinations may be required to achieve the calibration consistency goal, which requires flexible changes based on the actual leveling effect.

[0088] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for calibrating the leveling performance of an excavator, characterized in that: include: The opening ratio of the boom retraction valve core is calculated according to the pilot control oil circuit pressure of the boom retraction action during the leveling operation and the boom retraction valve core pressure; wherein the boom retraction valve core pressure corresponds to the set current of the boom solenoid valve; The depth of the flat nodding is calibrated according to the opening ratio of the inward valve core of the boom, so that the depth of the flat nodding can be changed by adjusting the set current of the boom solenoid valve.

2. The method for calibrating the leveling performance of an excavator according to claim 1, characterized in that: The calculation formula of the opening ratio of the dipper arm inward valve core is: ； In the formula, is the ratio of the boom valve core opening when the boom is retracted. It is the pilot control oil circuit pressure for the boom retraction action. It is the pilot pressure to open the boom retraction valve core. It is the pilot pressure for the boom valve core to be fully opened. It is the pressure of the boom retraction valve core.

3. The method for calibrating the leveling performance of an excavator according to claim 1, characterized in that: Also includes: Constructing a bucket arm solenoid valve current loading process and a bucket arm solenoid valve current closing loading process according to the bucket arm solenoid valve setting current and the first calibration parameter; Calibrate the ground switching impact according to the arm solenoid valve current loading process and the arm solenoid valve current closing loading process; so as to change the ground switching impact by adjusting the first calibration parameter; Among them, the first calibration parameter includes: the bucket arm solenoid valve current loading rate and the bucket arm solenoid valve current closing loading rate.

4. The method for calibrating the leveling performance of an excavator according to claim 3, characterized in that: The current loading process of the arm solenoid valve is as follows: ； The current closing loading process of the arm solenoid valve is as follows: ； In the formula, This is the current loading process of the boom solenoid valve. For the stick solenoid valve current closing loading process, is the current loading rate of the boom solenoid valve, Set the current for the stick solenoid valve, is the solenoid valve current closing loading rate, It is the maximum current of the boom retraction solenoid valve.

5. The method for calibrating the leveling performance of an excavator according to claim 1, characterized in that: Also includes: Calculate the arm retraction target flow rate, arm raising target flow rate and swing target flow rate on the main pump according to the boom raising action pilot control oil circuit pressure, swing action pilot control oil circuit pressure and the arm retraction valve core opening ratio during the leveling operation; The main pump flow loading process is constructed according to the main pump upper arm inward target flow, boom upward target flow and swing target flow, and the second calibration parameter; Calibrate the leveling speed according to the main pump flow loading process, so as to change the leveling speed by adjusting the second calibration parameter; The second calibration parameter represents the loading speed of the action flow on the main pump.

6. The method for calibrating the leveling performance of an excavator according to claim 5, characterized in that: The main pump comprises: a first main pump and a second main pump, the rotary action is supplied with oil by the second main pump; The second calibration parameters include: the loading rate of the arm retraction flow on the first main pump, the loading rate of the arm retraction flow on the second main pump, the loading rate of the boom rise flow on the first main pump, the loading rate of the boom rise flow on the second main pump, and the loading rate of the rotation flow on the second main pump; The main pump flow loading process includes: a first main pump flow loading process and a second main pump flow loading process; The flow loading process of the first main pump is: ； The flow loading process of the second main pump is: ； In the formula, This is the flow loading process of the first main pump. For the flow loading process of the second main pump, is the loading speed of the arm retraction flow on the first main pump, The target flow rate of the arm retraction on the first main pump. is the loading speed of the boom rising flow on the first main pump, The target flow rate for the first main pump to raise the upper boom. is the loading rate of the arm retraction flow on the second main pump, The target flow rate of the second main pump upper boom retraction. is the loading rate of the boom rising flow on the second main pump, The target flow rate for the second main pump to raise the upper boom. is the flow loading rate of the second main pump, It is the target flow rate for the second main pump to rotate upward.

7. The method for calibrating the leveling performance of an excavator according to claim 6, characterized in that: The method of calculating the arm retraction target flow rate, arm raising target flow rate and swing target flow rate on the main pump according to the boom raising action pilot control oil circuit pressure, swing action pilot control oil circuit pressure and the arm retraction valve core opening ratio during the leveling operation includes: According to the boom raising action pilot control oil circuit pressure and the swing action pilot control oil circuit pressure during leveling operation, the boom raising valve core opening ratio and the swing valve core opening ratio are calculated using the following formula: ； ； In the formula, is the boom lift valve core opening ratio, It is the pilot control oil circuit pressure for the boom raising action. It is the pilot pressure for opening the boom lifting valve core. It is the pilot pressure for fully opening the boom rising valve core; is the ratio of the rotary valve core opening, Pilot control oil pressure for rotary action. The pilot pressure for opening the rotary valve core is It is the pilot pressure for fully opening the rotary valve core; The target flow rates of the first main pump and the second main pump are calculated according to the boom raising valve core opening ratio, the swing valve core opening ratio and the arm retracting valve core opening ratio, and the calculation formula is: ； ； In the formula, is the target flow rate of the first main pump, is the target flow rate of the second main pump, The maximum flow rate of the arm retracting, is the ratio of the boom valve core opening when the boom is retracted. is the maximum flow rate of boom rise, is the maximum rotary flow rate, The maximum flow rate of the main pump at the current speed; Calculate the proportion of the arm retraction action, boom raising action and rotation action in the flow of the first main pump and the second main pump respectively. The calculation formula is: ； ； ； ； ； In the formula, It is the proportion of the arm retraction action in the flow of the first main pump. It is the proportion of the arm retraction action in the flow of the second main pump. is the proportion of boom raising action in the flow of the first main pump, is the proportion of the boom raising action in the flow of the second main pump, is the proportion of the rotary action in the flow of the second main pump; Calculate the target flow rates of the arm retraction action and the boom raising action on the first main pump and the second main pump respectively, and the target flow rate of the swing action on the second main pump. The calculation formula is: ； ； ； ； ； In the formula, The target flow rate of the boom retraction action on the first main pump; The target flow rate of the second main pump for the arm retraction action. is the target flow rate of the first main pump for the boom raising action, is the target flow rate of the second main pump for the boom raising action, It is the target flow rate of the swing action based on the flow rate of the second main pump.

8. The method for calibrating the leveling performance of an excavator according to any one of claims 1 to 7, characterized in that: Also includes: The state where the pilot control oil circuit pressure of the boom retraction action and the boom raising action both reach the corresponding valve core opening pilot pressure, while the pilot control oil circuit pressure of the swing action does not reach the swing valve core opening pilot pressure is calibrated as entering the conventional leveling mode; The state where the pilot control oil circuit pressure of the boom retraction action, the pilot control oil circuit pressure of the boom raising action and the pilot control oil circuit pressure of the swing action all reach the corresponding valve core opening pilot pressure is calibrated as entering the swing leveling mode.

9. A method for controlling the leveling of an excavator, characterized in that: The leveling performance of the excavator is calibrated by the method according to any one of claims 1 to 8, and the control method includes: Collecting the adjustment signal of the instrument level nodding depth calibration interface, and adjusting the setting current of the boom solenoid valve according to the adjustment signal of the level nodding depth calibration interface; The adjusted arm solenoid valve setting current is written into the memory to obtain the corresponding level nodding depth.

10. The excavator leveling control method according to claim 9, characterized in that: Also includes: Collecting an adjustment signal of a ground-switching impact calibration interface of an instrument, adjusting a first calibration parameter according to the adjustment signal of the ground-switching impact calibration interface, and writing the adjusted first calibration parameter into a storage to obtain a corresponding ground-switching impact; and / or, collecting an adjustment signal of an instrument land speed calibration interface, adjusting a second calibration parameter according to the adjustment signal of the instrument land speed calibration interface, and writing the adjusted second calibration parameter into a storage to obtain a corresponding land speed; Collecting the selected signal of the instrument mode selection interface, and controlling the states of the boom retraction action pilot control valve, the boom raising action pilot control valve and the swing action pilot control valve according to the selected signal; In response to entering the normal leveling mode, the valve cores of the boom retraction action pilot control valve and the boom raising action pilot control valve are controlled to open, while the valve core of the swing action pilot control valve is not opened; In response to entering the swing leveling mode, the valve cores of the boom retraction action pilot control valve, the boom raising action pilot control valve and the swing action pilot control valve are all opened.

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