Constant-speed cruise control method and system for hydrostatic agricultural machinery and related equipment

Abstract

The invention relates to the technical field of agricultural automation, and discloses a hydrostatic agricultural machinery cruise control method and system and related equipment, and the method comprises the steps: receiving a target vehicle speed input by a user in response to a cruise control starting signal; if the current working condition mode is a road mode, the opening degree of a hydraulic pump is adjusted in real time through a first fuzzy PID controller, and the rotating speed of an engine is adjusted in real time through a second fuzzy PID controller, so that the vehicle speed reaches the target vehicle speed; and if the current working condition mode is the operation mode, the opening degree of the hydraulic pump is adjusted in real time through a third fuzzy PID controller, so that the vehicle speed reaches the target vehicle speed. Based on the real-time feedback of the vehicle speed, the operation parameters of the engine and the operation parameters of the hydraulic motor, the vehicle speed is controlled in real time through the fuzzy PID controller, closed-loop control over constant-speed cruise is achieved, and the driving safety is improved.

Description

Background Art

[0002] Hydrostatic technology is a technology that transmits power through hydraulic pressure and consists of a hydraulic pump and a hydraulic motor. The power is transmitted from the engine to the hydraulic pump, and the rotation of the hydraulic motor is driven by controlling the output flow of the hydraulic pump. The rotation of the hydraulic motor drives the operation of the mechanical transmission device, thereby controlling the speed of agricultural machinery. Hydrostatic technology is small in size and high in specific power, can achieve continuous change of transmission ratio and stepless speed change, and is especially suitable for agricultural machinery, becoming an essential function of agricultural machinery.

[0003] With the increasing requirements for the automation and intelligence of agricultural machinery, many users have put forward the demand for the cruise control function. Agricultural machinery equipped with the cruise control function can adjust the hydrostatic system according to different road surfaces and operating conditions, ensuring the stability and safety during the operation of agricultural machinery, significantly reducing the working intensity of the operator, and improving the operation efficiency and fuel economy. However, currently, hydrostatic-driven agricultural machinery lacks negative feedback control in the cruise control state, which will cause large fluctuations in vehicle speed and reduce driving safety. Summary of the Invention

[0004] In order to overcome the problem that hydrostatic-driven agricultural machinery lacks negative feedback control in the cruise control state, which will cause large fluctuations in vehicle speed and reduce driving safety, the present invention provides a cruise control method, system and related equipment for hydrostatic agricultural machinery.

[0005] In the first aspect, to solve the above technical problems, the present invention provides a cruise control method for hydrostatic agricultural machinery, including:

[0006] In response to a cruise control start signal, receiving the target vehicle speed input by the user;

[0007] If the current working condition mode is the highway mode, based on the actual vehicle speed, the first operating parameter real-time feedback by the engine and the second operating parameter real-time feedback by the hydraulic motor, the opening of the hydraulic pump is adjusted in real time through the first fuzzy PID controller, and the engine speed is adjusted in real time through the second fuzzy PID controller to make the vehicle speed reach the target vehicle speed;

[0008] If the current working condition mode is the operation mode, based on the actual vehicle speed, the third operating parameter real-time feedback by the engine and the fourth operating parameter real-time feedback by the hydraulic motor, the opening of the hydraulic pump is adjusted in real time through the third fuzzy PID controller to make the vehicle speed reach the target vehicle speed.

[0009] In the second aspect, the present invention provides a cruise control system for hydrostatic agricultural machinery, including:

[0010] A target vehicle speed receiving module, configured to receive the target vehicle speed input by the user in response to a cruise control start signal;

[0011] The first control module is configured to, if the current working condition mode is the highway mode, based on the actual vehicle speed, the first operating parameter real-time feedback by the engine, and the second operating parameter real-time feedback by the hydraulic motor, adjust the opening degree of the hydraulic pump in real time through the first fuzzy PID controller, and adjust the engine speed in real time through the second fuzzy PID controller, so that the vehicle speed reaches the target vehicle speed.

[0012] The second control module is configured to, if the current working condition mode is the operation mode, based on the actual vehicle speed, the third operating parameter real-time feedback by the engine, and the fourth operating parameter real-time feedback by the hydraulic motor, adjust the opening degree of the hydraulic pump in real time through the third fuzzy PID controller, so that the vehicle speed reaches the target vehicle speed.

[0013] In a third aspect, the present invention provides a computing device, including a memory, a processor, and a program stored on the memory and running on the processor. When the processor executes the program, the steps of the hydrostatic agricultural machinery constant speed cruise control method as described above are implemented.

[0014] In a fourth aspect, the present invention provides a hydrostatic agricultural machinery, including the computing device as described above. A computer-readable storage medium stores instructions. When the instructions run on a terminal device, the terminal device is enabled to execute the steps of the hydrostatic agricultural machinery constant speed cruise control method as described above.

[0015] The beneficial effects of the present invention are as follows: In response to the constant speed cruise start signal, the target vehicle speed input by the user is received. If in the highway mode, in cooperation with the actual vehicle speed, the first operating parameter and the second operating parameter of real-time feedback, the opening degree of the hydraulic pump is adjusted through the first fuzzy PID control, and the engine speed is adjusted through the second fuzzy PID controller. If in the operation mode, in cooperation with the actual vehicle speed, the first operating parameter and the second operating parameter, the opening degree of the hydraulic pump is adjusted through the third fuzzy PID control. Based on the real-time feedback of the vehicle speed, the operating parameters of the engine, and the operating parameters of the hydraulic motor, the vehicle speed is controlled in real time through the fuzzy PID controller, realizing the closed-loop control of the constant speed cruise and improving the driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be further described below with reference to the drawings and embodiments.

[0017] Figure 1 It is a flow chart of the hydrostatic agricultural machinery constant speed cruise control method according to an embodiment of the present invention;

[0018] Figure 2 It is a logic control diagram of the constant speed cruise vehicle speed of a traditional machine in the highway mode;

[0019] Figure 3 It is the logic control diagram of the constant speed cruise vehicle speed of traditional machinery in the operation mode;

[0020] Figure 4 It is the logic control diagram of the constant speed cruise vehicle speed of the embodiment of the present invention in the highway mode;

[0021] Figure 5 It is the logic control diagram of the constant speed cruise vehicle speed of the embodiment of the present invention in the operation mode;

[0022] Figure 6 It is the structural schematic diagram of the constant speed cruise control system of the hydrostatic agricultural machinery of the embodiment of the present invention. Specific embodiments

[0023] The following embodiments are further explanations and supplements to the present invention and do not constitute any limitation to the present invention.

[0024] The following describes the constant speed cruise control method, system and related equipment of the hydrostatic agricultural machinery of the embodiment of the present invention with reference to the drawings.

[0025] As Figure 1 shown, the embodiment of the present invention provides a constant speed cruise control method for hydrostatic agricultural machinery, including:

[0026] S1. In response to the constant speed cruise start signal, receive the target vehicle speed input by the user.

[0027] S2. If the current working condition mode is the highway mode, based on the actual vehicle speed, the first operating parameter feedback by the engine in real time and the second operating parameter feedback by the hydraulic motor in real time, adjust the opening of the hydraulic pump in real time through the first fuzzy PID controller, and adjust the engine speed in real time through the second fuzzy PID controller to make the vehicle speed reach the target vehicle speed.

[0028] S3. If the current working condition mode is the operation mode, based on the actual vehicle speed, the third operating parameter feedback by the engine in real time and the fourth operating parameter feedback by the hydraulic motor in real time, adjust the opening of the hydraulic pump in real time through the third fuzzy PID controller to make the vehicle speed reach the target vehicle speed.

[0029] In this embodiment, in response to the constant speed cruise start signal, the target vehicle speed input by the user is received. If in the road mode, in combination with the actual vehicle speed, the first operating parameter and the second operating parameter fed back in real time, the opening of the hydraulic pump is adjusted through the first fuzzy PID control, and the engine speed is adjusted through the second fuzzy PID controller. If in the operation mode, in combination with the actual vehicle speed, the first operating parameter and the second operating parameter, the opening of the hydraulic pump is adjusted through the third fuzzy PID control. In this embodiment, through the feedback of the real-time vehicle speed, the operating parameters of the engine and the operating parameters of the hydraulic motor, the vehicle speed is controlled in real time through the fuzzy PID controller, realizing the closed-loop control of the constant speed cruise and improving the driving safety.

[0030] In this embodiment, the control logics of the vehicle speed in different working condition modes are different. For example:

[0031] As Figure 2 shown, it is the vehicle speed control logic diagram of the constant speed cruise of traditional agricultural machinery in the road mode, where:

[0032] Constant speed cruise button assembly: Sends a control signal to the controller, including entering / exit the constant speed cruise mode, and selecting the operation mode and the road mode.

[0033] Seat switch: Detects whether the driver leaves the seat. If the seat switch is on, it indicates that the driver has not left the seat. If the seat switch is off, it indicates that the driver has left the seat.

[0034] Vehicle speed sensor: Detects the vehicle speed.

[0035] Motor speed sensor: Detects the hydraulic motor speed.

[0036] Engine: The power source of the whole vehicle and sends the engine speed and torque percentage to the controller.

[0037] Brake pedal switch: Detects whether the brake is pressed.

[0038] Forward and reverse pedals: Detect the driver's operation intention.

[0039] Hydraulic pump: Receives the current signal from the controller, adjusts the opening of the hydraulic pump to change the output flow, thereby changing the transmission ratio.

[0040] Controller: Receives the input signal and controls the engine speed and the opening of the hydraulic pump.

[0041] Based on the above, by introducing a fuzzy PID controller on traditional agricultural machinery, based on the feedback of the real-time vehicle speed, the operating parameters of the engine and the operating parameters of the hydraulic motor, and inputting them into the fuzzy PID controller, the required opening of the hydraulic pump and the engine speed are output, realizing the closed-loop control of the constant speed cruise.

[0042] As Figure 3 shown, it is the vehicle speed control logic diagram of constant speed cruise in the operation mode of traditional agricultural machinery. The only difference between the operation mode and the highway mode is that in the operation mode, the engine speed needs to be adjusted by the manual throttle. Therefore, when introducing the fuzzy PID controller, only the opening degree of the hydraulic pump needs to be controlled.

[0043] Optionally, based on the actual vehicle speed, the first operating parameter feedback by the engine in real time, and the second operating parameter feedback by the hydraulic motor in real time, the opening degree of the hydraulic pump is adjusted in real time by the first fuzzy PID controller, including:

[0044] Based on the actual vehicle speed and the target vehicle speed, determine the first control deviation of the first fuzzy PID controller for the current time;

[0045] Based on the engine speed, torque percentage, and hydraulic motor speed, correct the current coefficient of the first fuzzy PID controller to determine the first correction parameter; where the first operating parameter includes the engine speed and torque percentage, and the second operating parameter includes the hydraulic motor speed;

[0046] Based on the first correction parameter, the first control deviation of the previous time, and the first control deviation of the current time, determine the first target current value;

[0047] Adjust the opening degree of the hydraulic pump based on the first target current value.

[0048] In this embodiment, based on the actual vehicle speed and the target vehicle speed, the formula for determining the first control deviation of the first fuzzy PID controller for the current time is as follows:

[0049] e(k) = r(k) - y(k)

[0050] where e(k) represents the first control deviation of the current time, r(k) represents the target vehicle speed of the current time, and y(k) represents the actual vehicle speed of the current time.

[0051] As Figure 4 shown, input the real-time engine speed, torque percentage, and hydraulic motor speed into the fuzzy controller 1 (the first fuzzy PID controller). The fuzzy controller 1 will perform fuzzification, fuzzy inference, and defuzzification based on the engine speed, torque percentage, and hydraulic motor speed, and then output a set of first correction parameters ΔK p 、ΔK i 、ΔK d , and the fuzzy controller 1 outputs a current value to the hydraulic pump based on the first correction parameter, the first control deviation of the previous time, and the first control deviation of the current time, so as to control the opening degree of the hydraulic pump, and further control the output flow of the hydraulic pump.

[0052] Optionally, based on the first correction parameter, the previous first control deviation, and the current first control deviation, determine the first target current value. The formula is as follows:

[0053]

[0054] where u(k) represents the first target current value, ΔK p 、ΔK i 、ΔK d respectively represent the proportional coefficient, the integral control coefficient, and the differential control coefficient, and are the first correction parameter, e(n) is a preset value, e(k) represents the current first control deviation, e(k - 1) represents the previous first control deviation, and k represents the adjustment times of the first fuzzy PID controller from the first time to the current time.

[0055] In this embodiment, the first fuzzy PID controller receives the feedback of the actual vehicle speed, engine speed, torque percentage, and hydraulic motor speed in real time, so as to accurately control the opening of the hydraulic pump, realize the closed-loop control of the constant speed cruise, reduce the working intensity of the driver during the operation, and improve the working comfort and operation efficiency.

[0056] Optionally, based on the actual vehicle speed, the first operating parameter feedback by the engine in real time, and the second operating parameter feedback by the hydraulic motor in real time, adjust the engine speed in real time through the second fuzzy PID controller, including:

[0057] Obtain the first correction parameter of the first fuzzy PID controller in the current time;

[0058] Based on the first correction parameter, correct the initial coefficient of the second fuzzy PID controller to determine the second correction parameter;

[0059] Based on the second correction parameter, the target vehicle speed, the engine speed, the torque percentage, and the hydraulic motor speed, determine the target speed;

[0060] Based on the target speed, adjust the engine speed.

[0061] In this embodiment, such as Figure 4As shown, the fuzzy controller 2 (the second fuzzy PID controller) corrects its initial coefficients with the first correction parameter of the fuzzy controller 1 to obtain the second correction parameter. Then, the real-time engine speed, torque percentage, hydraulic motor speed, and target vehicle speed are input into the fuzzy controller 2. The fuzzy controller 2 performs fuzzification, fuzzy inference, and defuzzification based on the target vehicle speed, engine speed, torque percentage, and hydraulic motor speed, and then outputs a target speed to the engine to control the engine speed. Additionally, in cooperation with the control of the hydraulic pump opening by the fuzzy controller 1, the speed of the hydraulic motor is further controlled to drive the powertrain to provide kinetic energy that meets the speed of the agricultural machinery to reach the target vehicle speed.

[0062] Optionally, the initial coefficients of the second fuzzy PID controller are corrected based on the first correction parameter to determine the second correction parameter. The formula is as follows:

[0063]

[0064] Wherein, K p 、K i 、K d respectively represent the proportional coefficient, integral control coefficient, and differential control coefficient, and are the second correction parameter. K p0 、K o0 、K d0 represent the initial coefficients of the second fuzzy PID controller. ΔK p 、ΔK i 、ΔK d are the first correction parameters for the current time.

[0065] In this embodiment, the second fuzzy PID controller receives the feedback of the engine speed, torque percentage, and hydraulic motor speed in real time, thereby accurately controlling the engine speed, realizing the closed-loop control of the constant speed cruise, reducing the working intensity of the driver during the operation, and improving the working comfort and operation efficiency.

[0066] Optionally, based on the actual vehicle speed, the third operating parameter of the engine in real-time feedback, and the fourth operating parameter of the hydraulic motor in real-time feedback, the opening of the hydraulic pump is adjusted in real time by the third fuzzy PID controller, including:

[0067] Based on the actual vehicle speed and the target vehicle speed, determine the second control deviation of the third fuzzy PID controller for the current time;

[0068] Based on the engine speed, torque percentage, and hydraulic motor speed, correct the initial coefficients of the third fuzzy PID controller to determine the third correction parameter; wherein, the third operating parameter includes the engine speed and torque percentage, and the fourth operating parameter includes the hydraulic motor speed;

[0069] Determine a second target current value based on a third correction parameter, the previous second control deviation, and the current second control deviation;

[0070] Adjust the opening degree of the hydraulic pump based on the second target current value.

[0071] As Figure 5 shown, input the engine speed, torque percentage, and hydraulic motor speed into the fuzzy controller 1 (the third fuzzy PID controller), and the fuzzy controller 1 will perform fuzzification, fuzzy inference, and defuzzification based on the engine speed, torque percentage, and hydraulic motor speed, and then output a set of third correction parameters ΔK p 、ΔK i 、ΔK d , and the fuzzy controller 1 outputs a current value to the hydraulic pump based on the third correction parameter, the previous second control deviation, and the current second control deviation, thereby controlling the opening degree of the hydraulic pump. Secondly, the user inputs the target speed of the engine through the manual throttle, so that the engine outputs sufficient power, and cooperates with the opening degree of the hydraulic pump to control the speed of the hydraulic motor, so as to drive the powertrain to provide the kinetic energy to meet the target vehicle speed of the agricultural machinery.

[0072] Optionally, in response to a constant speed cruise start signal, receiving the target vehicle speed input by the user, further comprising:

[0073] Obtain a seat switch signal and a brake pedal signal;

[0074] Based on the seat switch signal and the brake pedal signal, determine whether the driver is in a state of leaving the seat;

[0075] If the driver is in a state of leaving the seat, then switch to the parking state.

[0076] In this embodiment, the state of the driver leaving the seat is identified, so as to switch to the parking state after the driver leaves the seat, thereby improving driving safety.

[0077] As Figure 6 shown, the present invention provides a constant speed cruise control system for a hydrostatic agricultural machinery, comprising:

[0078] A target vehicle speed receiving module, configured to receive the target vehicle speed input by the user in response to a constant speed cruise start signal;

[0079] A first control module, configured to, if the current working condition mode is the road mode, based on the actual vehicle speed, the first operating parameter real-time feedback by the engine, and the second operating parameter real-time feedback by the hydraulic motor, adjust the opening degree of the hydraulic pump in real time through a first fuzzy PID controller, and adjust the engine speed in real time through a second fuzzy PID controller, so that the vehicle speed reaches the target vehicle speed;

[0080] The second control module is used to, if the current working condition mode is the operation mode, based on the actual vehicle speed, the third operating parameter feedback by the engine in real time, and the fourth operating parameter feedback by the hydraulic motor in real time, adjust the opening degree of the hydraulic pump in real time through the third fuzzy PID controller, so that the vehicle speed reaches the target vehicle speed.

[0081] Optionally, the first control module is specifically used for:

[0082] Based on the actual vehicle speed and the target vehicle speed, determine the first control deviation of the current first fuzzy PID controller;

[0083] Based on the engine speed, torque percentage, and hydraulic motor speed, correct the current coefficients of the first fuzzy PID controller to determine the first correction parameter; among them, the first operating parameter includes the engine speed and torque percentage, and the second operating parameter includes the hydraulic motor speed;

[0084] Based on the first correction parameter, the previous first control deviation, and the current first control deviation, determine the first target current value;

[0085] Adjust the opening degree of the hydraulic pump based on the first target current value.

[0086] Optionally, the first control module is specifically used for:

[0087] Based on the first correction parameter, the previous first control deviation, and the current first control deviation, determine the first target current value, and the formula is as follows:

[0088]

[0089] Among them, u(k) represents the first target current value, ΔK p 、ΔK i 、ΔK d respectively represent the proportional coefficient, integral control coefficient, and differential control coefficient, and are the first correction parameter, e(n) is a preset value, e(k) represents the current first control deviation, e(k - 1) represents the previous first control deviation, and k represents the adjustment times of the first fuzzy PID controller from the first time to the current time.

[0090] Optionally, the first control module is specifically used for:

[0091] Obtain the first correction parameter of the first fuzzy PID controller in the current time;

[0092] Based on the first correction parameter, correct the initial coefficients of the second fuzzy PID controller to determine the second correction parameter;

[0093] Based on the second correction parameter, target vehicle speed, engine speed, torque percentage, and hydraulic motor speed, determine the target speed;

[0094] Adjust the engine speed based on the target speed.

[0095] Optionally, the first control module is specifically configured to:

[0096] Modify the initial coefficients of the second fuzzy PID controller based on the first correction parameter to determine the second correction parameter. The formula is as follows:

[0097]

[0098] Where, K p 、K i 、K d represent the proportional coefficient, integral control coefficient, and differential control coefficient respectively, and are the second correction parameters. K p0 、K i0 、K d0 represent the initial coefficients of the second fuzzy PID controller, and ΔK p 、ΔK i 、ΔK d are the first correction parameters for the current time.

[0099] Optionally, the second control module is specifically configured to:

[0100] Determine the second control deviation of the third fuzzy PID controller for the current time based on the actual vehicle speed and the target vehicle speed;

[0101] Modify the current coefficients of the third fuzzy PID controller based on the engine speed, torque percentage, and hydraulic motor speed to determine the third correction parameter; where the third operating parameter includes the engine speed and torque percentage, and the fourth operating parameter includes the hydraulic motor speed;

[0102] Determine the second target current value based on the third correction parameter, the previous second control deviation, and the current second control deviation;

[0103] Adjust the opening of the hydraulic pump based on the second target current value.

[0104] Optionally, the system further includes a seat-off detection module, which is specifically configured to:

[0105] Obtain the seat switch signal and the brake pedal signal;

[0106] Judge whether the driver is in a seat-off state based on the seat switch signal and the brake pedal signal;

[0107] If the driver is in a seat-off state, switch to the parking state.

[0108] An embodiment of the present invention further provides a computing device, including a memory, a manager, and a program stored on the memory and running on the manager. When the manager executes the program, some or all steps of the above-mentioned constant speed cruise control method for hydrostatic agricultural machinery are implemented.

[0109] Among them, the computing device can be a computer. Correspondingly, its program is computer software. For the parameters and steps in the computing device of the present invention above, reference can be made to the parameters and steps in the embodiments of the constant speed cruise control method for hydrostatic agricultural machinery in the above text, and details will not be elaborated here.

[0110] An embodiment of the present invention further provides a hydrostatic agricultural machinery, including the above-mentioned computing device.

[0111] Those skilled in the art know that the present invention can be implemented as a system, a method, or a computer program product. Therefore, the present disclosure can be specifically implemented in the following forms: it can be completely hardware, can be completely software (including firmware, resident software, microcode, etc.), or can be a combination of hardware and software, generally referred to as "circuit", "module", or "system" in this article. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, which contains computer-readable program code. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above.

[0112] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0113] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A hydrostatic agricultural machinery constant speed cruise control method, characterized in that, Including: Receiving a target vehicle speed input by a user in response to a constant speed cruise start signal; If the current working condition mode is the highway mode, based on the actual vehicle speed, the first operating parameters real-time feedback by the engine, and the second operating parameters real-time feedback by the hydraulic motor, adjusting the opening of the hydraulic pump in real time through a first fuzzy PID controller, and adjusting the engine speed in real time through a second fuzzy PID controller, so that the vehicle speed reaches the target vehicle speed; If the current working condition mode is the operation mode, based on the actual vehicle speed, the third operating parameters real-time feedback by the engine, and the fourth operating parameters real-time feedback by the hydraulic motor, adjusting the opening of the hydraulic pump in real time through a third fuzzy PID controller, so that the vehicle speed reaches the target vehicle speed.

2. The method according to claim 1, wherein The adjusting the opening of the hydraulic pump in real time through a first fuzzy PID controller based on the actual vehicle speed, the first operating parameters real-time feedback by the engine, and the second operating parameters real-time feedback by the hydraulic motor includes: Determining a first control deviation of the first fuzzy PID controller for the current time based on the actual vehicle speed and the target vehicle speed; Correcting the current coefficient of the first fuzzy PID controller based on the engine speed, the torque percentage, and the hydraulic motor speed to determine a first correction parameter; wherein, the first operating parameters include the engine speed and the torque percentage, and the second operating parameters include the hydraulic motor speed; Determining a first target current value based on the first correction parameter, the previous first control deviation, and the current first control deviation; Adjusting the opening of the hydraulic pump based on the first target current value.

3. The method according to claim 2, wherein The determining the first target current value based on the first correction parameter, the previous first control deviation, and the current first control deviation, the formula is as follows: Among them, u(k) represents the first target current value, ΔK p , ΔK i , ΔK d respectively represent the proportionality coefficient, the integral control coefficient, and the differential control coefficient, and are the first correction parameters. e(n) is a preset value, e(k) represents the first control deviation of the current time, e(k - 1) represents the first control deviation of the previous time, and k represents the adjustment times of the first fuzzy PID controller from the first time to the current time.

4. The method according to claim 3, wherein The adjusting the engine speed in real time through a second fuzzy PID controller based on the actual vehicle speed, the first operating parameters real-time feedback by the engine, and the second operating parameters real-time feedback by the hydraulic motor includes: Obtaining the first correction parameter of the first fuzzy PID controller for the current time; Correcting the initial coefficient of the second fuzzy PID controller based on the first correction parameter to determine the second correction parameter; Determining a target speed based on the second correction parameter, the target vehicle speed, the engine speed, the torque percentage, and the hydraulic motor speed; Adjusting the engine speed based on the target speed.

5. The method according to claim 4, characterized in that, The correcting the initial coefficient of the second fuzzy PID controller based on the first correction parameter to determine the second correction parameter, the formula is as follows: Among them, K p , K i , K d respectively represent the proportionality coefficient, the integral control coefficient, and the differential control coefficient, and are the second correction parameters. K p0 , K i0 , K d0 represent the initial coefficients of the second fuzzy PID controller. ΔK p , ΔK i , ΔK d are the first correction parameters for the current time.

6. The method according to claim 1, wherein The adjusting the opening of the hydraulic pump in real time through a third fuzzy PID controller based on the actual vehicle speed, the third operating parameters real-time feedback by the engine, and the fourth operating parameters real-time feedback by the hydraulic motor includes: Determining a second control deviation of the third fuzzy PID controller for the current time based on the actual vehicle speed and the target vehicle speed; Based on the engine speed, torque percentage, and hydraulic motor speed, correct the current coefficients of the third fuzzy PID controller to determine the third correction parameter; wherein, the third operating parameter includes the engine speed and torque percentage, and the fourth operating parameter includes the hydraulic motor speed; Based on the third correction parameter, the previous second control deviation, and the current second control deviation, determine the second target current value; Adjust the opening of the hydraulic pump based on the second target current value.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: Obtain the seat switch signal and the brake pedal signal; Based on the seat switch signal and the brake pedal signal, determine whether the driver is in a state of leaving the seat; If the driver is in a state of leaving the seat, switch to the parking state.

8. Hydrostatic agricultural machinery constant speed cruise control system, characterized in that, Includes: A target vehicle speed receiving module, configured to receive the target vehicle speed input by the user in response to the constant speed cruise start signal; A first control module, configured to, if the current working condition mode is the highway mode, based on the actual vehicle speed, the first operating parameter real-time feedback by the engine, and the second operating parameter real-time feedback by the hydraulic motor, adjust the opening of the hydraulic pump in real time through the first fuzzy PID controller, and adjust the engine speed in real time through the second fuzzy PID controller, so that the vehicle speed reaches the target vehicle speed; A second control module, configured to, if the current working condition mode is the operation mode, based on the actual vehicle speed, the third operating parameter real-time feedback by the engine, and the fourth operating parameter real-time feedback by the hydraulic motor, adjust the opening of the hydraulic pump in real time through the third fuzzy PID controller, so that the vehicle speed reaches the target vehicle speed.

9. A computing device, comprising a memory, a processor, and a program stored on the memory and running on the processor, characterized in that, When the processor executes the program, it implements the steps of the constant speed cruise control method for a hydrostatic agricultural machine according to any one of claims 1-7.

10. A hydrostatic agricultural machine, characterized in that, Includes the computing device according to claim 9.

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