Control system and control method of electric tractor

Abstract

The invention provides a control system and a control method of an electric tractor, the control system comprises a vehicle control unit and a hydraulic motor controller, when the vehicle control unit detects that a hydraulic motor meets a first condition, the vehicle control unit sends a hydraulic motor idling operation command to the hydraulic motor controller, and when the vehicle control unit detects that the tractor meets a second condition, the vehicle control unit sends a hydraulic motor idling operation command to the hydraulic motor controller. When it is detected that the tractor meets the third condition, a hydraulic motor stopping command is sent to the hydraulic motor controller, and when it is detected that the tractor meets the third condition, a hydraulic motor rotating speed increasing command is sent to the hydraulic motor controller; the hydraulic motor controller receives a hydraulic motor idling operation command from the vehicle control unit, controls the hydraulic motor to enter an idling state, receives a hydraulic motor stopping command from the vehicle control unit, controls the hydraulic motor to enter a stopping state, receives a hydraulic motor rotating speed increasing command from the vehicle control unit, and controls the hydraulic motor to enter a rotating speed increasing state. According to the application, the running state of the hydraulic motor is controlled by the vehicle control unit, the hydraulic motor is started and stopped as required, and invalid energy consumption is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of tractors, and in particular to a control system and a control method for an electric tractor. Background Art

[0002] Currently, tractors, the primary power source for agricultural production, are driven by traditional diesel engines, which suffer from drawbacks such as high emissions and complex transmission structures. Electric tractors, with their zero-emission and continuously variable transmission advantages, have become a key development direction for agricultural machinery. In electric tractors, the hydraulic pump is typically driven by an independent hydraulic motor. The vehicle controller can continuously adjust the hydraulic motor's speed, providing a foundation for intelligent control of the hydraulic system, reducing energy consumption and improving performance.

[0003] The hydraulic pumps of existing tractors (including some electric models) are often driven directly or indirectly by the engine. This results in a proportional relationship between the hydraulic pump speed and the engine speed, preventing independent and flexible adjustment. This drive method has significant drawbacks: in operating conditions such as parking, the hydraulic pump remains idle, continuously circulating hydraulic oil and causing unnecessary power loss. Furthermore, when the hydraulic system requires high flow output (such as operating a multi-way valve or lifting an implement), the hydraulic pump speed cannot automatically increase, resulting in insufficient output flow, affecting implement movement speed and system performance. Summary of the Invention

[0004] In view of this, the purpose of the present application is to provide a control system and a control method for an electric tractor to overcome at least one of the above-mentioned defects.

[0005] In a first aspect, an embodiment of the present application provides a control system for an electric tractor, the system comprising a vehicle controller and a hydraulic motor controller, wherein the vehicle controller is used to obtain the execution speed of the hydraulic motor, and send a hydraulic motor idle operation command to the hydraulic motor controller when detecting that the hydraulic motor meets a first condition, and to send a hydraulic motor shutdown command to the hydraulic motor controller when detecting that the tractor meets a second condition, and to send a hydraulic motor speed increase command to the hydraulic motor controller when detecting that the tractor meets a third condition; the hydraulic motor controller is used to receive the hydraulic motor idle operation command from the vehicle controller and control the hydraulic motor to enter an idle state, and to receive the hydraulic motor shutdown command from the vehicle controller and control the hydraulic motor to enter a shutdown state, and to receive the hydraulic motor speed increase command from the vehicle controller and control the hydraulic motor to enter a speed increase state. In an optional embodiment of the present application, the vehicle controller is configured to: after detecting that the tractor is powered on, send a hydraulic motor speed acquisition signal to the hydraulic motor; receive a speed signal returned by the hydraulic motor; determine whether the execution speed corresponding to the speed signal is equal to the preset idle speed; if the execution speed corresponding to the speed signal is equal to the preset idle speed, determine that the hydraulic motor meets the first condition, and send a hydraulic motor idle operation command to the hydraulic motor controller; if the execution speed corresponding to the speed signal is not equal to the preset idle speed, determine that the hydraulic motor does not meet the first condition, and continue to obtain the speed signal of the hydraulic motor. In an optional embodiment of the present application, the vehicle controller is further configured to: (A) obtain a second parameter of the tractor when detecting that the hydraulic motor is in the idle state; (B) determine whether the tractor meets a second condition based on the second parameter; (C) if the tractor meets the second condition, send a hydraulic motor shutdown command to the hydraulic motor controller to put the hydraulic motor into a shutdown state; (D) if the tractor does not meet the second condition, return to step (A) and continue to detect the second parameter.

[0006] In an optional embodiment of the present application, the second parameter includes a throttle opening, a travel motor speed, a power output motor speed, a hydraulic output multi-way valve state, a hydraulic lifter state, and a hydraulic steering gear state, wherein the vehicle controller determines whether the tractor meets the second condition in the following manner: when it is detected that the throttle opening is equal to zero, the travel motor speed is equal to zero, the power output motor speed is equal to zero, the hydraulic output multi-way valve is in a closed state, the hydraulic lifter is in a closed state, and the hydraulic steering gear is in a closed state, and the duration is greater than the first duration, it is determined that the tractor meets the second condition.

[0007] In an optional embodiment of the present application, the vehicle controller is further configured to: when it is determined that the hydraulic output multi-way valve is in an open state or the hydraulic lifter is in an open state and the duration is greater than a second duration, determine that the tractor meets a third condition.

[0008] In an optional embodiment of the present application, the vehicle controller is further configured to: send a hydraulic motor idle operation command to the hydraulic motor controller so that the hydraulic motor enters the idle state when it detects that any one of the following conditions is not met: the throttle opening is equal to zero, the travel motor speed is equal to zero, the power output motor speed is equal to zero, the hydraulic output multi-way valve is in a closed state, the hydraulic lifter is in a closed state, and the hydraulic steering gear is in a closed state.

[0009] In an optional embodiment of the present application, the vehicle controller is further configured to theoretically calculate the first duration, the second duration, and the preset idle speed based on the performance parameters of the hydraulic motor, the working hydraulic pump, the steering hydraulic pump, the hydraulic lifter, the hydraulic output multi-way valve, and the hydraulic steering gear.

[0010] In a second aspect, an embodiment of the present application also provides a control method for an electric tractor, which is applied to a control system of an electric tractor, the control system of the electric tractor including a vehicle controller and a hydraulic motor controller, wherein the control method includes: the vehicle controller obtains the execution speed of the hydraulic motor, and sends a hydraulic motor idle operation command to the hydraulic motor controller when detecting that the hydraulic motor meets a first condition, and is used to send a hydraulic motor shutdown command to the hydraulic motor controller when detecting that the tractor meets a second condition, and sends a hydraulic motor speed increase command to the hydraulic motor controller when detecting that the tractor meets a third condition; the hydraulic motor controller receives the hydraulic motor idle operation command from the vehicle controller, controls the hydraulic motor to enter an idle state, and is used to receive the hydraulic motor shutdown command from the vehicle controller, controls the hydraulic motor to enter a shutdown state, and receives the hydraulic motor speed increase command from the vehicle controller, controls the hydraulic motor to enter a speed increase state.

[0011] In a third aspect, an embodiment of the present application further provides an electric tractor, which includes the control system of the electric tractor as described above.

[0012] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described above are executed.

[0013] The control system and control method of the electric tractor provided in the embodiment of the present application include a vehicle controller and a hydraulic motor controller. The vehicle controller is used to obtain the execution speed of the hydraulic motor and send a hydraulic motor idle operation command to the hydraulic motor controller when it detects that the hydraulic motor meets a first condition, and is used to send a hydraulic motor shutdown command to the hydraulic motor controller when it detects that the tractor meets a second condition, and is used to send a hydraulic motor speed increase command to the hydraulic motor controller when it detects that the tractor meets a third condition; the hydraulic motor controller is used to receive the hydraulic motor idle operation command from the vehicle controller and control the hydraulic motor to enter an idle state, and is used to receive the hydraulic motor shutdown command from the vehicle controller and control the hydraulic motor to enter a shutdown state, and is used to receive the hydraulic motor speed increase command from the vehicle controller and control the hydraulic motor to enter a speed increase state. Through this application, the hydraulic motor can be started and stopped on demand to reduce ineffective energy consumption.

[0014] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 This is one of the structural diagrams of the control system of the electric tractor provided in the embodiment of the present application; Figure 2 This is a second structural diagram of the control system of the electric tractor provided in an embodiment of the present application; Figure 3 This is a flow chart of the vehicle controller provided in an embodiment of the present application determining whether the hydraulic motor meets the first condition; Figure 4 This is a flow chart of the vehicle controller provided in an embodiment of the present application determining whether the hydraulic motor meets the second condition; Figure 5 This is a flow chart of the control method of the electric tractor provided in an embodiment of the present application. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, 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. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is claimed, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work falls within the scope of protection of the present application.

[0018] First, the application scenarios to which this application is applicable are introduced. This application can be applied in the field of tractor technology.

[0019] Research has found that tractors are the primary power machinery in agricultural production. Traditional diesel tractors suffer from drawbacks such as high emissions and complex transmission structures. Electric tractors, a trending development in advanced agricultural machinery, offer numerous advantages, including zero emissions and continuously variable transmission. The hydraulic pump in an electric tractor is driven solely by a hydraulic motor, whose speed is continuously variable controlled by a vehicle controller. By adding control methods, the hydraulic system can be intelligently adjusted to suit varying operating conditions, reducing power consumption and improving hydraulic system performance.

[0020] Existing tractor hydraulic pumps are driven directly or indirectly by the engine. The hydraulic pump speed is proportional to the engine speed and cannot be adjusted arbitrarily. When parked, the hydraulic pump remains in an idle state, constantly circulating hydraulic oil and causing significant power loss. When the hydraulic multi-way valve is engaged or when lifting an implement, the hydraulic pump speed cannot automatically increase. The hydraulic flow rate is low during this period, affecting the valve's output flow and the tool lifting speed.

[0021] Based on this, the present invention provides an electric tractor control system and method. Through the collaborative operation of a vehicle controller and a hydraulic motor controller, intelligent regulation of the hydraulic motor's operating state is achieved. Based on the hydraulic motor's operating speed and the tractor's actual operating conditions, the vehicle controller automatically determines and sends idle, shutdown, or speed-up commands to the hydraulic motor controller, which then precisely controls the hydraulic motor to the corresponding state. This solution effectively starts and stops the hydraulic motor on demand, significantly reducing inefficient energy consumption and improving the electric tractor's energy efficiency and endurance.

[0022] See also Figure 1 , Figure 1 This is one of the structural diagrams of the control system of the electric tractor provided in the embodiment of the present application. Figure 1As shown in , the control system of the electric tractor provided in the embodiment of the present application includes a vehicle controller 1 and a hydraulic motor controller 14 .

[0023] The vehicle controller (VCU) 1 can collect and detect data such as throttle opening signal, motor speed, hydraulic output multi-way valve status, hydraulic lifter status, hydraulic steering gear status, etc., and communicate with the hydraulic motor controller 14 and other necessary electronic control units (such as drive motor controller, power take-off (PTO) motor controller, etc.) through the CAN bus to ensure data interaction and coordinated control between various components.

[0024] The Vehicle Control Unit (VCU) is the core component of the vehicle control system. It collects driver operation information such as the accelerator pedal, gear position signal, and brake pedal, and combines it with the current vehicle status (such as motor speed, vehicle speed, battery power, etc.) to determine the driver's intention and make corresponding control decisions.

[0025] The English name of the power take-off (PTO) motor controller is “Power Take-Off (PTO) Motor Controller”, where “Power Take-Off” is abbreviated as “PTO”, which means “power output”, so the Chinese expression is “power take-off PTO motor controller”.

[0026] The hydraulic motor controller 14 and the hydraulic motor 15 are electrically connected to transmit control signals, thereby achieving precise regulation of the speed of the hydraulic motor.

[0027] The vehicle controller 1 is configured to obtain the execution speed of the hydraulic motor 15 and send a hydraulic motor idle operation command to the hydraulic motor controller 14 when detecting that the hydraulic motor 15 meets a first condition, and to send a hydraulic motor shutdown command to the hydraulic motor controller 14 when detecting that the tractor meets a second condition, and to send a hydraulic motor speed increase command to the hydraulic motor controller 14 when detecting that the tractor meets a third condition; The vehicle controller 1 obtains the execution speed signal of the hydraulic motor 15 and other signals related to the tractor's operating status (such as throttle opening, travel motor speed, power output motor speed, hydraulic output multi-way valve status, hydraulic lifter status, hydraulic steering gear status, etc.) in real time. The vehicle controller 1 processes and analyzes the obtained signals according to preset logic and conditions to determine whether the hydraulic motor 15 and the tractor meet specific operating conditions.

[0028] The hydraulic motor controller 14 is used to receive a hydraulic motor idle operation command from the vehicle controller 1 to control the hydraulic motor 15 to enter an idle state, and is used to receive a hydraulic motor 15 shutdown command from the vehicle controller 1 to control the hydraulic motor 1 to enter a shutdown state, and is used to receive a hydraulic motor speed increase command from the vehicle controller 1 to control the hydraulic motor 15 to enter a speed increase state.

[0029] When the vehicle controller 1 detects that the hydraulic motor 15 meets the first condition (such as the rotation speed is equal to the preset idle speed), it sends a hydraulic motor idle speed operation command to the hydraulic motor controller 14 .

[0030] When the vehicle controller 1 detects that the tractor meets the second condition (such as the throttle opening is zero, the travel motor speed is zero, the power output motor speed is zero, the hydraulic output multi-way valve is closed, the hydraulic lifter is closed, and the hydraulic steering gear is closed), it sends a hydraulic motor shutdown command to the hydraulic motor controller 14.

[0031] When the vehicle controller 1 detects that the tractor meets the third condition (such as the hydraulic output multi-way valve is open or the hydraulic lifter is open or the hydraulic steering gear is working), it sends a hydraulic motor speed increase command to the hydraulic motor controller 14. After receiving the corresponding command, the hydraulic motor controller 14 controls the hydraulic motor 15 to enter the idle state, the shutdown state or the speed increase state through the drive circuit.

[0032] The present application reduces ineffective energy consumption when the tractor is parked and waiting or when high-flow hydraulic output is not required by starting and stopping the hydraulic motor 15 on demand, thereby improving the energy efficiency and endurance of the electric tractor, and realizing intelligent control of the hydraulic system, so that the hydraulic motor 15 can automatically adjust the speed according to the actual operating conditions of the tractor, thereby improving the response speed and performance of the hydraulic system. When the load is small, the hydraulic motor 15 runs at a lower speed, reducing noise and wear of mechanical parts, extending the service life of various components of the hydraulic system, and reducing maintenance costs. When high-flow hydraulic output or machine lifting is required, the hydraulic motor 15 can automatically increase the speed and increase the output flow of the hydraulic pump, thereby increasing the flow output of the hydraulic multi-way valve and the speed of machine lifting, thereby improving the operating efficiency of the tractor.

[0033] Specifically, see Figure 2 , see Figure 2 , Figure 2 This is the second structural diagram of the control system of the electric tractor provided in the embodiment of the present application. Figure 2As shown in , the control system of the electric tractor provided in the embodiment of the present application also includes: a power battery 2, a high-voltage distribution box 3, a drive motor controller 4, a drive motor 5, a gearbox 6, a rear axle 7, rear wheels 8, a front axle 9, front wheels 10, a power output motor controller 11, a power output motor 12, a power output shaft 13, a hydraulic transfer case 16, a working hydraulic pump 17, a steering hydraulic pump 18, a hydraulic lifter 19, a hydraulic output multi-way valve 20, and a hydraulic steering gear 21.

[0034] Solid lines represent mechanical connections. In the figure, solid lines connect multiple components, such as the connection between rear axle 7, rear wheels 8, and front axle 9, and the connection between vehicle controller 1 and front axle 9 and front wheels 10. These connections are used to transmit mechanical power or bear mechanical loads, enabling the various mechanical components to work together.

[0035] Dashed lines represent high-voltage power connections, such as those between the power battery 2 and the high-voltage distribution box 3, drive motor controller 4, and drive motor 5. These lines transmit high-voltage power to power the relevant components.

[0036] Dotted lines represent low-voltage communication connections. For example, the dotted lines between the high-voltage distribution box 3 and the power take-off motor controller 11 and the hydraulic motor controller 14 are used to transmit low-voltage communication data, such as control signals and status information, between various controllers or components, enabling information exchange and control between various parts of the system.

[0037] Thick solid lines represent hydraulic connections. For example, the thick solid lines between the transmission 6 and the working hydraulic pump 17 and steering hydraulic pump 18 transmit hydraulic oil, providing hydraulic power to components in the hydraulic system (such as the hydraulic pump and hydraulic cylinder).

[0038] Here, the vehicle controller 1, as the control core of the entire vehicle, is responsible for coordinating and managing the work of various components. It connects to other controllers and components through signal lines, collects vehicle status information, and issues control instructions.

[0039] Power Battery 2: Provides electrical energy for the vehicle and is the vehicle's energy source. It is connected to the high-voltage distribution box through high-voltage power lines and outputs electrical energy to other high-voltage components.

[0040] High-voltage distribution box 3: Responsible for distributing and managing the high-voltage electrical energy output by the power battery, and distributing the electrical energy to the drive motor controller, power take-off (PTO) motor controller, and hydraulic motor controller, etc.

[0041] Drive motor controller 4: Receives instructions from the vehicle controller, controls the operation of the drive motor, converts electrical energy into mechanical energy, and drives the vehicle. It is connected to the high-voltage distribution box and drive motor via high-voltage power lines.

[0042] Drive motor 5: Under the control of the drive motor controller, it converts electrical energy into mechanical energy, transmits power to the rear wheels through the gearbox and rear axle, and drives the vehicle forward or backward.

[0043] Gearbox 6: used to change the speed and torque output by the drive motor to adapt to different driving conditions. It transmits the power of the drive motor to the rear axle.

[0044] Rear axle 7: transmits the power from the gearbox to the rear wheels, driving the rear wheels to rotate.

[0045] Rear wheels 8: driving wheels of the vehicle, receiving power transmitted by the rear axle to enable the vehicle to move.

[0046] Front axle 9: supports the front weight of the vehicle and realizes the steering of the vehicle through the front wheels.

[0047] Front wheels 10: Steering function is achieved under the control of a hydraulic steering gear.

[0048] Power take-off motor controller 11: receives instructions from the vehicle controller, controls the operation of the power take-off motor, converts electrical energy into mechanical energy, and outputs power through the power take-off shaft.

[0049] Power take-off motor 12: under the control of the power take-off motor controller, converts electrical energy into mechanical energy and provides power to external equipment through the power take-off shaft.

[0050] Power take-off shaft 13: transmits the power of the power take-off motor to external equipment, such as agricultural implements, generators, etc.

[0051] Hydraulic motor controller 14: receives instructions from the vehicle controller, controls the operation of the hydraulic motor, converts electrical energy into mechanical energy, and drives the hydraulic transfer case to work.

[0052] Hydraulic motor 15: under the control of the hydraulic motor controller, it converts electrical energy into mechanical energy to drive the hydraulic transfer case to work.

[0053] Hydraulic transfer case 16: distributes the power of the hydraulic motor to the working hydraulic pump and the steering hydraulic pump to provide power for the hydraulic system.

[0054] Working hydraulic pump 17: Driven by the hydraulic transfer case, it generates high-pressure hydraulic oil to provide hydraulic power for the hydraulic lifter and hydraulic output multi-way valve for lifting equipment and operating hydraulic output equipment.

[0055] Steering hydraulic pump 18: driven by the hydraulic transfer case, it generates high-pressure hydraulic oil to provide hydraulic power for the hydraulic steering gear to realize the steering function of the vehicle.

[0056] Hydraulic lifter 19: Receives high-pressure hydraulic oil provided by the working hydraulic pump and lifts or lowers agricultural implements such as plows and harrows through hydraulic action.

[0057] Hydraulic output multi-way valve 20: controls the flow direction and flow rate of the hydraulic oil output by the working hydraulic pump, and is used to operate various hydraulic output devices, such as hydraulic cylinders, hydraulic motors, etc.

[0058] Hydraulic steering gear 21: receives high-pressure hydraulic oil provided by the steering hydraulic pump, controls the steering of the front wheels through hydraulic action, and realizes the steering function of the vehicle.

[0059] In an optional embodiment, the vehicle controller (VCU) is connected to the drive motor controller, power take-off (PTO) motor controller, hydraulic motor controller, etc. via a low-voltage communication line (such as a CAN bus) to collect status information of each component and issue control instructions according to a preset control strategy.

[0060] The drive motor controller receives instructions from the vehicle controller, controls the speed, torque and steering of the drive motor, and realizes the control of vehicle driving; the power output motor controller receives instructions from the vehicle controller, controls the operation of the power take-off (PTO) motor, and realizes the control of power output; the hydraulic motor controller receives instructions from the vehicle controller, controls the operation of the hydraulic motor, and then controls the operation of the hydraulic system, and realizes the control of the hydraulic lifter, hydraulic output multi-way valve and hydraulic steering gear.

[0061] Specifically, see Figure 3 , Figure 3 This is a flow chart of the vehicle controller provided in an embodiment of the present application for determining whether the hydraulic motor meets the first condition. The vehicle controller determines whether the hydraulic motor meets the first condition in the following manner: S101, after detecting that the tractor is powered on, sending a hydraulic motor speed acquisition signal to the hydraulic motor; Normal working state: The driver controls the tractor to start the power, and the hydraulic motor 15 runs in the idle state, and the hydraulic motor speed n=n idle. At this time, the flow rate of the hydraulic system can meet the use of common functions such as tractor steering, gear shift control, four-wheel drive control, differential control, etc.

[0062] The vehicle controller detects that the tractor is powered on, which means that the vehicle's power system starts to supply power and all electronic components enter an operational state; the vehicle controller sends a speed acquisition signal to the hydraulic motor to obtain the current speed information of the hydraulic motor, so as to subsequently determine whether the operating status of the hydraulic motor meets the preset requirements.

[0063] S102, receiving a speed signal returned by the hydraulic motor; After the hydraulic motor receives the speed acquisition signal sent by the vehicle controller, it feeds back its current speed information to the vehicle controller in the form of a signal; the vehicle controller receives the speed signal returned by the hydraulic motor and provides data basis for subsequent judgment.

[0064] S103, determining whether the execution speed corresponding to the speed signal is equal to the preset idle speed; The vehicle controller converts the received hydraulic motor speed signal into an actual execution speed value, and compares it with the pre-set idle speed value to determine whether the current operating state of the hydraulic motor meets the conditions for entering idle operation.

[0065] S104: If the execution speed corresponding to the speed signal is equal to the preset idle speed, it is determined that the hydraulic motor meets the first condition, and a hydraulic motor idle operation command is sent to the hydraulic motor controller; When the judgment result is that the execution speed of the hydraulic motor is equal to the preset idle speed, it means that the current state of the hydraulic motor meets the conditions for entering idle operation.

[0066] Here, the vehicle controller sends a hydraulic motor idle operation command to the hydraulic motor controller. After receiving the command, the hydraulic motor controller will control the hydraulic motor to enter the idle operation state. At this time, the hydraulic motor runs at a lower speed, providing sufficient hydraulic power to meet the needs of some common functions of the tractor (such as steering, gear shifting control, etc.) while reducing power consumption.

[0067] S105: If the execution speed corresponding to the speed signal is not equal to the preset idle speed, it is determined that the hydraulic motor does not meet the first condition, and the speed signal of the hydraulic motor continues to be obtained.

[0068] When the judgment result is that the execution speed of the hydraulic motor is not equal to the preset idle speed, it means that the current state of the hydraulic motor does not meet the conditions for entering the idle operation.

[0069] Execution action: The vehicle controller continues to obtain the speed signal of the hydraulic motor and continuously monitors the operating status of the hydraulic motor until its speed meets the preset idle speed condition.

[0070] Specifically, see Figure 4 , Figure 4 This is a flow chart of the vehicle controller provided in an embodiment of the present application for determining whether the hydraulic motor meets the second condition. The vehicle controller determines whether the hydraulic motor meets the second condition in the following manner: S201, when it is detected that the hydraulic motor is in an idle state, obtaining a second parameter of the tractor; The vehicle controller confirms that the hydraulic motor is in the idling state by communicating with the hydraulic motor controller or other monitoring means.

[0071] The vehicle controller begins acquiring the tractor's secondary parameters. These parameters typically include throttle position, travel motor speed, power take-off motor speed, hydraulic output multi-way valve status, hydraulic lift status, and hydraulic steering gear status. These parameters fully reflect the tractor's current operating conditions and the working status of its various components.

[0072] S202: determining whether the tractor satisfies a second condition based on the second parameter; The vehicle controller compares the acquired second parameter with the preset second condition one by one. For example, it checks whether the throttle opening is zero, the travel motor speed is zero, the power output motor speed is zero, the hydraulic output multi-way valve is closed, the hydraulic lifter is closed, and the hydraulic steering gear is closed.

[0073] For example, if the hydraulic output multi-way valve is closed, it means that the tractor is not in the hydraulic external output state; if the hydraulic lifter is closed, it means that the tractor is not in the implement lifting state; if the hydraulic steering gear is closed, it means that the tractor is not in the steering state.

[0074] Determine if the tractor is currently in a condition where the hydraulic motor can be stopped to avoid unnecessary consumption of electrical energy.

[0075] S203: If the tractor satisfies the second condition, a hydraulic motor shutdown command is sent to the hydraulic motor controller, causing the hydraulic motor to enter a shutdown state; When the vehicle controller determines that the second parameters of the tractor all meet the second condition, it means that the tractor is currently in a state where the hydraulic motor does not need to continue to run.

[0076] The vehicle controller sends a hydraulic motor shutdown command to the hydraulic motor controller. After receiving the command, the hydraulic motor controller will cut off the power supply to the hydraulic motor or take other control measures to stop the hydraulic motor from running, thereby saving energy.

[0077] S204: If the tractor does not meet the second condition, return to step (A) and continue to detect the second parameter.

[0078] As long as one of the second parameters of the tractor does not satisfy the second condition, it indicates that the tractor currently still needs the hydraulic motor to provide hydraulic power.

[0079] The vehicle controller returns to step S201, continues to periodically acquire and detect the second parameters, and continuously monitors the operating status of the tractor until all the second parameters meet the second condition.

[0080] In an optional embodiment, the second parameter includes throttle opening, travel motor speed, power output motor speed, hydraulic output multi-way valve status, hydraulic lifter status and hydraulic steering gear status.

[0081] Throttle opening: refers to the degree to which the accelerator pedal is depressed, usually expressed as a percentage, reflecting the driver's demand for vehicle power. In a tractor, a throttle opening of zero means that the driver has not depressed the accelerator pedal, that is, there is no additional power demand instruction. This is an important indicator for determining whether the tractor is idle or near a stop.

[0082] Travel motor speed: The travel motor is the motor that drives the tractor. Its speed directly determines the tractor's travel speed. A travel motor speed of zero means that the tractor is not currently moving and is in a stationary state. This is one of the key factors in determining whether the tractor meets the shutdown conditions.

[0083] Power take-off motor speed: The power take-off (PTO) motor is used to provide power to farm implements or other equipment outside the tractor. Its speed reflects the operating status of the external equipment. A power take-off motor speed of zero indicates that the external equipment is not running and the tractor does not need to provide additional power through the power take-off motor, creating conditions for shutdown.

[0084] Hydraulic output multi-way valve status: The hydraulic output multi-way valve is used to control the flow direction and flow of hydraulic oil, thereby controlling the action of various hydraulic actuators (such as hydraulic cylinders, hydraulic motors, etc.). When the hydraulic output multi-way valve is in the closed state, it means that the hydraulic system has no external power output, that is, no operations such as machine lifting and hydraulic output are performed. This is an important basis for judging whether the hydraulic system is in a non-working state.

[0085] Hydraulic lifter status: The hydraulic lifter is mainly used to raise or lower loads such as agricultural implements. Its status (on or off) determines whether the lifting operation is in progress. If the hydraulic lifter is in the off state, it means that the agricultural implement is not being raised or lowered. The tractor does not need to provide hydraulic power to the hydraulic lifter, which helps to determine whether the tractor can be shut down.

[0086] Hydraulic steering gear status: The hydraulic steering gear is used to control the steering of the tractor and provides power assistance through the hydraulic system. The hydraulic steering gear being in the off state means that the tractor is not currently performing a steering operation and the hydraulic system does not need to provide additional power for steering. This is also one aspect of determining whether the tractor meets the shutdown conditions.

[0087] The vehicle controller determines whether the tractor meets the second condition in the following way: When it is detected that the throttle opening is equal to zero, the travel motor speed is equal to zero, the power output motor speed is equal to zero, the hydraulic output multi-way valve is in the closed state, the hydraulic lifter is in the closed state and the hydraulic steering gear is in the closed state, and the duration is greater than the first duration, it is determined that the tractor meets the second condition.

[0088] The vehicle controller monitors the value of the second parameter in real time and obtains the throttle opening, motor speed and status information of each hydraulic component through sensors and communication lines.

[0089] When it is detected that the throttle opening is equal to zero, the travel motor speed is equal to zero, the power output motor speed is equal to zero, the hydraulic output multi-way valve is in the closed state, the hydraulic lifter is in the closed state and the hydraulic steering gear is in the closed state, it is necessary to further determine whether the duration of these states is greater than the first duration.

[0090] The first duration is set to avoid misjudgments and prevent erroneous shutdown commands due to brief parameter changes (such as the driver briefly releasing the accelerator or a brief hydraulic component state change). The vehicle controller determines that the tractor meets the second condition only when all the above conditions are met for a period exceeding the first duration.

[0091] After the vehicle controller 1 (VCU) detects that all the conditions in the second condition are met, it automatically controls the hydraulic motor 15 to stop and execute the speed n=0.

[0092] Once all the above conditions are met (the parameter values are met and the duration is greater than the first duration), the vehicle controller will determine that the tractor meets the second condition, and then send a hydraulic motor shutdown command to the hydraulic motor controller to put the hydraulic motor into a shutdown state, thereby saving energy.

[0093] Hydraulic Motor Shutdown: When the tractor is operating and the vehicle controller detects that all conditions in the second condition are met for a duration greater than the first duration, the vehicle controller 1 sends a hydraulic motor shutdown command to the hydraulic motor controller. Upon receiving the shutdown signal, the hydraulic motor controller controls the hydraulic motor speed to n = 0, stopping the hydraulic motor. This reduces wasted hydraulic cycle energy consumption while the tractor is waiting, reduces power consumption, and increases driving time.

[0094] When the hydraulic motor is in the shutdown state, the vehicle controller detects that at least one condition does not meet the second condition. It then sends a hydraulic motor idle command to the hydraulic motor controller. Upon receiving the idle command, the hydraulic motor controller controls the hydraulic motor to execute a speed n=n idle, ensuring normal operation of the hydraulic motor without affecting the tractor's normal use.

[0095] Specifically, the vehicle controller is also configured to: When it is determined that the hydraulic output multi-way valve is in the open state or the hydraulic lifter is in the open state and the duration is greater than the second duration, it is determined that the tractor meets the third condition.

[0096] Preferably, the hydraulic output multi-way valve is turned on, indicating that the tractor is in a hydraulic output state; the hydraulic lifter is turned on, indicating that the tractor is in an implement lifting state.

[0097] The hydraulic output multi-way valve is a key control component in a hydraulic system. It controls the direction and volume of hydraulic oil, thereby driving various hydraulic actuators (such as hydraulic cylinders and hydraulic motors). When the multi-way valve is open, hydraulic oil can flow along the set path, providing power to external hydraulic equipment (such as the hydraulic drives of various agricultural implements).

[0098] The hydraulic output multi-way valve being in the open state means that the tractor may need to output power to the outside through the hydraulic system to operate external equipment to perform operations, such as controlling the lifting, extension, and other movements of agricultural implements.

[0099] The hydraulic lift is primarily used to raise or lower a load, such as an implement, attached to a tractor. When it is on, the hydraulic system provides hydraulic power to the lift, allowing the implement to be raised to or lowered from the appropriate working position.

[0100] The on state of the hydraulic lifter indicates that the tractor is performing a lifting or lowering operation of the implement, and the hydraulic motor needs to provide sufficient hydraulic power to support this action.

[0101] The second duration refers to the duration that the hydraulic output multi-way valve or hydraulic lifter remains open. This duration is designed to prevent misjudgment of the tractor's operating status due to brief, accidental state changes (such as brief vibration of the multi-way valve or lifter). Only when the open state lasts longer than the second duration does the vehicle controller determine that the tractor has a hydraulic power demand, thus satisfying the third condition.

[0102] The vehicle controller communicates with the sensors of the hydraulic output multi-way valve and hydraulic lifter to obtain their status information (open or closed) in real time.

[0103] When the vehicle controller detects that the hydraulic output multi-way valve is in the open state or the hydraulic lifter is in the open state, it starts timing and continuously monitors the status of these two components. If the open state lasts longer than the second duration, the vehicle controller determines that the tractor meets the third condition.

[0104] The vehicle controller 1 (VCU) detects that the third condition ≥ 1 condition is met, and the speed of the hydraulic motor 15 is increased to the set value n high speed.

[0105] Once the tractor determines that the third condition is met, the vehicle controller sends a hydraulic motor speed increase command to the hydraulic motor controller. Upon receiving the command, the hydraulic motor controller controls the hydraulic motor to increase speed, thereby increasing the output flow of the hydraulic pump. This provides sufficient hydraulic power to the hydraulic output multi-way valve and hydraulic lifter, ensuring smooth hydraulic operation of the tractor.

[0106] Hydraulic Motor Speed Boost State: When the tractor is operating and the vehicle controller detects that one or both of the third conditions are met for a duration greater than the second duration, it sends a hydraulic motor speed boost command to the hydraulic motor controller. Upon receiving the speed boost signal, the hydraulic motor controller controls the hydraulic motor to execute speed = n high speed. This increases the hydraulic motor speed, driving the working hydraulic pump speed higher, increasing the hydraulic system flow, and thus increasing the output flow of the hydraulic multi-way valve, thereby accelerating the speed at which the hydraulic lifter can lift the implement.

[0107] When the hydraulic motor speed is increased, the vehicle controller detects that all conditions in the third condition are not met. The vehicle controller sends a hydraulic motor idle command to the hydraulic motor controller. Upon receiving the idle command, the hydraulic motor controller controls the hydraulic motor to execute speed n = n idle, allowing the hydraulic motor to operate at normal speed and the tractor to function normally.

[0108] Specifically, the vehicle controller is also configured to: When it is detected that any one of the following conditions is not met: the throttle opening is equal to zero, the travel motor speed is equal to zero, the power output motor speed is equal to zero, the hydraulic output multi-way valve is in the closed state, the hydraulic lifter is in the closed state, and the hydraulic steering gear is in the closed state, a hydraulic motor idle operation command is sent to the hydraulic motor controller, causing the hydraulic motor to enter the idle state.

[0109] The throttle opening reflects the degree of the driver's demand for vehicle power, expressed as a percentage. A throttle opening of zero means that the driver has not stepped on the accelerator pedal and the vehicle has no additional acceleration power demand.

[0110] The travel motor is the motor that drives the tractor, and its speed determines the vehicle's travel speed. A travel motor speed of zero indicates the vehicle is not moving and is at rest, directly reflecting the vehicle's driving state. When the speed is zero, the vehicle is not requiring power for travel, and the primary load of the hydraulic system may no longer be used to drive the vehicle forward or backward.

[0111] The power take-off (PTO) motor is used to power implements or other equipment outside the tractor. Its speed determines the speed of the external equipment. A PTO motor speed of zero means the external equipment is not moving, indicating that the vehicle is not currently providing power to the external equipment through the PTO motor and that the hydraulic system does not need to provide additional hydraulic support for the PTO function.

[0112] The hydraulic output multi-way valve controls the flow of hydraulic oil to various hydraulic actuators, such as hydraulic cylinders and hydraulic motors. A closed state prevents hydraulic oil from flowing through the valve to external hydraulic equipment. This means no hydraulic output actions, such as tool operation, are occurring. This reflects the hydraulic system's external power output and indicates that the system is not providing hydraulic power to external equipment.

[0113] The hydraulic lift is primarily used to raise or lower loads such as agricultural implements attached to a tractor. The "off" state indicates that the implement is not currently being raised or lowered, reflecting the hydraulic system's working state for lifting the implement. The "off" state indicates that the hydraulic system is not providing power for lifting the implement.

[0114] The hydraulic steering gear controls the tractor's steering, providing power through the hydraulic system. The "off" state indicates the vehicle is not currently steering, reflecting the hydraulic system's steering performance. This means the hydraulic system does not need to provide additional power for steering.

[0115] Here, when it is detected that any one of the following conditions is not met: the throttle opening is zero, the travel motor speed is zero, the power output motor speed is zero, the hydraulic output multi-way valve is in the closed state, the hydraulic lifter is in the closed state, and the hydraulic steering gear is in the closed state, that is, as long as one parameter does not meet all the above conditions, the vehicle controller will consider that the vehicle may be in a state that requires basic power support from the hydraulic system.

[0116] If any parameter mismatch is detected, the vehicle controller sends a hydraulic motor idle command to the hydraulic motor controller. Upon receiving the command, the hydraulic motor controller controls the hydraulic motor to enter idle mode. In idle mode, the hydraulic motor operates at a lower speed, providing sufficient hydraulic power to meet the needs of common tractor functions (such as steering and shifting) while reducing power consumption.

[0117] Specifically, the vehicle controller is also configured to: The first duration, the second duration and the preset idle speed are theoretically calculated based on the performance parameters of the hydraulic motor, the working hydraulic pump, the steering hydraulic pump, the hydraulic lifter, the hydraulic output multi-way valve and the hydraulic steering gear.

[0118] The vehicle controller obtains the performance parameters of the hydraulic motor, working hydraulic pump, steering hydraulic pump, hydraulic lifter, hydraulic output multi-way valve and hydraulic steering gear by connecting with the sensors and communication interfaces of each component.

[0119] First, duration calculation: This involves comprehensively considering the dynamic response characteristics of each component, possible interference factors, and system stability requirements. For example, factors such as hydraulic system inertia, sensor errors, and signal transmission delays are considered. By analyzing historical data and simulating different operating conditions, an appropriate time threshold is determined to avoid misjudgments.

[0120] The second duration calculation is based on the operating characteristics of the hydraulic output multi-way valve and hydraulic lifter, as well as the actual demands of the tractor during operation. For example, the typical duration of implement lifting or hydraulic output operations, combined with the system's response speed, allows for accurate determination of the time when actual hydraulic power demand is present.

[0121] Calculation of the preset idle speed: Based on the minimum flow and pressure required by the hydraulic system at idle, combined with the efficiency characteristics of the working and steering hydraulic pumps, the required speed of the hydraulic motor is calculated. Energy consumption optimization is also considered, and a lower speed is selected while still meeting basic functions.

[0122] The vehicle controller may dynamically adjust and optimize the calculated first duration, second duration, and preset idle speed based on feedback from actual use. For example, if frequent misjudgments are detected, the duration may need to be adjusted; if insufficient hydraulic function or excessive energy consumption is detected at idle, the preset idle speed may need to be adjusted.

[0123] In this application, parameters such as the first duration, the second duration, n idle, and n high speed are theoretically calculated based on the performance parameters of the hydraulic motor, hydraulic transfer case, working hydraulic pump, steering hydraulic pump, hydraulic lifter, hydraulic output multi-way valve, hydraulic steering gear, etc., and are adjusted by engineers according to actual conditions during prototype debugging.

[0124] The control system and control method for an electric tractor provided in the embodiment of the present application include a vehicle controller and a hydraulic motor controller. The vehicle controller plays a core regulatory role. When it detects that the hydraulic motor meets the first condition, it can send a hydraulic motor idle operation command to the hydraulic motor controller; when it detects that the tractor meets the second condition, it can send a hydraulic motor shutdown command; when it detects that the third condition is met, it can send a hydraulic motor speed increase command. The hydraulic motor controller is responsible for receiving and executing corresponding commands to control the hydraulic motor to enter the idle, shutdown or speed increase state. Through this application, the vehicle controller can accurately control the operating state of the hydraulic motor, flexibly start and stop the hydraulic motor according to actual needs, effectively reduce ineffective energy consumption, improve the energy utilization efficiency of the electric tractor, extend its endurance, and at the same time reduce the cost of use, providing a reliable guarantee for the energy-saving and efficient operation of the electric tractor.

[0125] The hydraulic system in this application is driven solely by a hydraulic motor. Controlled by the vehicle controller, the hydraulic motor can achieve stepless speed regulation from zero to maximum speed. This solution allows the vehicle controller to control the operating state of the hydraulic motor under specified conditions. When the hydraulic system is not required, the hydraulic motor is automatically shut down, reducing power consumption and increasing driving time. When a high-flow hydraulic output is required, the hydraulic motor is automatically controlled to increase speed, thereby increasing the hydraulic system's output flow.

[0126] The electric tractor hydraulic system of the present application is provided with an independent hydraulic motor, a hydraulic motor controller, and a vehicle controller VCU, and realizes the automatic adjustment function of the hydraulic system through a control method. The present application pre-sets several automatically controlled hydraulic motor shutdown and speed control conditions, which fully considers various situations in the actual operation of the tractor.

[0127] The electric tractor of this application can achieve intelligent control of the hydraulic system. When the tractor is parked and waiting, the hydraulic motor is automatically controlled to stop, reducing power consumption and increasing driving time. When the load is light, the motor runs at a lower speed, reducing noise and wear of mechanical components, extending the service life of various hydraulic system components, and reducing maintenance costs. The hydraulic system can also achieve intelligent control. When high-flow hydraulic output or tool lifting is required, the hydraulic motor is automatically controlled to increase speed, increasing the output flow of the hydraulic pump and improving hydraulic system performance.

[0128] See also Figure 5 , Figure 5 This is a flow chart of the control method of the electric tractor provided in the embodiment of the present application. Figure 5 As shown in , the control method of the electric tractor includes: S301: The vehicle controller obtains the execution speed of the hydraulic motor and sends a hydraulic motor idle operation command to the hydraulic motor controller when detecting that the hydraulic motor meets a first condition, sends a hydraulic motor stop command to the hydraulic motor controller when detecting that the tractor meets a second condition, and sends a hydraulic motor speed increase command to the hydraulic motor controller when detecting that the tractor meets a third condition; S302. The hydraulic motor controller receives a hydraulic motor idle operation command from the vehicle controller to control the hydraulic motor to enter the idle state, and is used to receive a hydraulic motor shutdown command from the vehicle controller to control the hydraulic motor to enter the shutdown state, and is used to receive a hydraulic motor speed increase command from the vehicle controller to control the hydraulic motor to enter the speed increase state.

[0129] An embodiment of the present application further provides an electric tractor, which includes the control system of the electric tractor as described above.

[0130] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 5 The specific implementation of the steps of the electric tractor control method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0131] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0132] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. There may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0133] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0134] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0135] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0136] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-mentioned embodiments within the technical scope disclosed in the present application, or perform equivalent replacements for some of the technical features thereof. These modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A control system for an electric tractor, characterized in that: Including vehicle controller and hydraulic motor controller, The vehicle controller is configured to obtain the execution speed of the hydraulic motor and send a hydraulic motor idle operation command to the hydraulic motor controller when detecting that the hydraulic motor meets a first condition, and to send a hydraulic motor shutdown command to the hydraulic motor controller when detecting that the tractor meets a second condition, and to send a hydraulic motor speed increase command to the hydraulic motor controller when detecting that the tractor meets a third condition; The hydraulic motor controller is used to receive the hydraulic motor idle operation command from the vehicle controller to control the hydraulic motor to enter the idle state, and is used to receive the hydraulic motor shutdown command from the vehicle controller to control the hydraulic motor to enter the shutdown state, and is used to receive the hydraulic motor speed increase command from the vehicle controller to control the hydraulic motor to enter the speed increase state.

2. The control system according to claim 1, characterized in that: The vehicle controller is configured as follows: After detecting that the tractor is powered on, sending a hydraulic motor speed acquisition signal to the hydraulic motor; receiving a rotation speed signal returned by the hydraulic motor; determining whether the execution speed corresponding to the speed signal is equal to a preset idle speed; If the execution speed corresponding to the speed signal is equal to the preset idle speed, it is determined that the hydraulic motor meets the first condition, and a hydraulic motor idle operation command is sent to the hydraulic motor controller; If the execution speed corresponding to the speed signal is not equal to the preset idle speed, it is determined that the hydraulic motor does not meet the first condition, and the speed signal of the hydraulic motor continues to be obtained.

3. The control system according to claim 2, characterized in that: The vehicle controller is further configured to: (A) when detecting that the hydraulic motor is in the idle state, obtaining a second parameter of the tractor; (B) determining, with respect to the second parameter, whether the tractor satisfies a second condition; (C) if the tractor satisfies a second condition, sending a hydraulic motor shutdown command to the hydraulic motor controller to cause the hydraulic motor to enter a shutdown state; (D) If the tractor does not meet the second condition, return to step (A) and continue to detect the second parameter.

4. The control system according to claim 3, characterized in that: The second parameter includes throttle opening, travel motor speed, power output motor speed, hydraulic output multi-way valve status, hydraulic lifter status and hydraulic steering gear status. The vehicle controller determines whether the tractor meets the second condition in the following manner: When it is detected that the throttle opening is equal to zero, the travel motor speed is equal to zero, the power output motor speed is equal to zero, the hydraulic output multi-way valve is in a closed state, the hydraulic lifter is in a closed state and the hydraulic steering gear is in a closed state, and the duration is greater than the first duration, it is determined that the tractor meets the second condition.

5. The control system according to claim 4, characterized in that: The vehicle controller is further configured to: When it is determined that the hydraulic output multi-way valve is in the open state or the hydraulic lifter is in the open state and the duration is greater than the second duration, it is determined that the tractor meets the third condition.

6. The control system according to claim 4, characterized in that: The vehicle controller is further configured to: When it is detected that any one of the following conditions is not met: the throttle opening is equal to zero, the travel motor speed is equal to zero, the power output motor speed is equal to zero, the hydraulic output multi-way valve is in a closed state, the hydraulic lifter is in a closed state, and the hydraulic steering gear is in a closed state, a hydraulic motor idle operation command is sent to the hydraulic motor controller, so that the hydraulic motor enters the idle state.

7. The control system according to claim 5, characterized in that: The vehicle controller is further configured to: The first duration, the second duration and the preset idle speed are theoretically calculated based on the performance parameters of the hydraulic motor, the working hydraulic pump, the steering hydraulic pump, the hydraulic lifter, the hydraulic output multi-way valve and the hydraulic steering gear.

8. A control method for an electric tractor, characterized in that: A control system applied to an electric tractor, the control system comprising a vehicle controller and a hydraulic motor controller, wherein the control method comprises: The vehicle controller obtains the execution speed of the hydraulic motor and sends a hydraulic motor idle operation command to the hydraulic motor controller when detecting that the hydraulic motor meets a first condition, and is used to send a hydraulic motor shutdown command to the hydraulic motor controller when detecting that the tractor meets a second condition, and send a hydraulic motor speed increase command to the hydraulic motor controller when detecting that the tractor meets a third condition; The hydraulic motor controller receives the hydraulic motor idle operation command from the vehicle controller to control the hydraulic motor to enter the idle state, and is used to receive the hydraulic motor shutdown command from the vehicle controller to control the hydraulic motor to enter the shutdown state, and is used to receive the hydraulic motor speed increase command from the vehicle controller to control the hydraulic motor to enter the speed increase state.

9. An electric tractor, characterized in that: The electric tractor comprises the control system of the electric tractor according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which is used to execute the steps of the method according to claim 8 when executed by a processor.

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