Full-hydraulic machine control method, machine, equipment and program product

Abstract

The invention relates to the technical field of mechanical control, in particular to a full-hydraulic mechanical control method, a machine, equipment and a program product. The method comprises the steps that under the condition that the full-hydraulic machine is in an economic operation mode, the rotating speed adjusting step length of an engine in the full-hydraulic machine is obtained; based on the rotating speed adjusting step length, the motor current adjusting step length of a hydraulic driving motor in the full-hydraulic machine is obtained, and the larger the rotating speed adjusting step length is, the larger the motor current adjusting step length is; adjusting an engine speed of the engine based on the speed adjustment step, and adjusting a motor current of the hydraulic travel motor based on the motor current adjustment step, where the motor current decreases when the engine speed increases; when the engine speed decreases, the motor current increases. Under the condition that the full-hydraulic machine is in the economic operation mode, the stability and smoothness of the full-hydraulic machine can be improved, and the driving experience of a driver is improved.

Description

Technical Field

[0001] The present application relates to the field of mechanical control technology, and in particular to a full hydraulic mechanical control method, machinery, equipment and program product. Background Art

[0002] Fully hydraulic machinery refers to mechanical equipment in which all major power transmission and actuators are driven by hydraulic systems. To meet the needs of construction machinery and other functions, fully hydraulic machinery is generally equipped with high-power engines. Furthermore, to ensure operational stability, the engine speed is maintained at the highest possible level during operation, resulting in low load factors and high fuel consumption, which significantly wastes energy. To improve the economic efficiency of fully hydraulic machinery, fully hydraulic machinery can typically be operated in an economy mode. This energy-saving mode reduces fuel consumption and energy losses by lowering engine speed, thereby improving the overall energy efficiency of the equipment. However, if a fully hydraulic machinery rapidly switches from standard to economy mode while driving, the rapid adjustment of engine speed directly affects driving speed, causing large speed fluctuations. This prevents the fully hydraulic machinery from smoothly transitioning from standard to economy mode, which in turn degrades the driver's experience. Summary of the Invention

[0003] Based on the defects and shortcomings of the above-mentioned existing technologies, the present application proposes a full hydraulic machinery control method, machinery, equipment and program product, which can improve the stability and smoothness of the full hydraulic machinery and enhance the driver's driving experience when the full hydraulic machinery is in economic operation mode.

[0004] According to the first aspect of the present application, a full hydraulic machinery control method is provided, including: when the full hydraulic machinery is in an economic operation mode, obtaining the speed adjustment step of the engine in the full hydraulic machinery; based on the speed adjustment step, obtaining the motor current adjustment step of the hydraulic travel motor in the full hydraulic machinery, wherein the larger the speed adjustment step, the larger the motor current adjustment step; adjusting the engine speed of the engine based on the speed adjustment step, and adjusting the motor current of the hydraulic travel motor based on the motor current adjustment step, wherein when the engine speed increases, the motor current decreases; when the engine speed decreases, the motor current increases.

[0005] According to the full hydraulic machinery control method provided in the first aspect of the present application, the motor current adjustment step of the hydraulic travel motor in the full hydraulic machinery is obtained based on the speed adjustment step, including: obtaining the target vehicle speed of the full hydraulic machinery; obtaining the real-time vehicle speed of the full hydraulic machinery; calculating the first difference between the target vehicle speed and the real-time vehicle speed; obtaining the motor current adjustment step based on the first difference and the speed adjustment step, wherein the larger the first difference, the larger the motor current adjustment step.

[0006] According to the full hydraulic machinery control method provided in the first aspect of the present application, obtaining the target vehicle speed of the full hydraulic machinery includes: obtaining the handle opening of the electric operating handle in the full hydraulic machinery; obtaining the target vehicle speed corresponding to the handle opening.

[0007] According to the full hydraulic mechanical control method provided in the first aspect of the present application, the motor current of the hydraulic travel motor is adjusted based on the motor current adjustment step, including: obtaining the first vehicle speed of the full hydraulic machinery before the motor current is adjusted once based on the motor current adjustment step; obtaining the second vehicle speed of the full hydraulic machinery after the motor current is adjusted once based on the motor current adjustment step; calculating the second difference between the first vehicle speed and the second vehicle speed; judging whether the second difference is less than or equal to the difference threshold, and if so, adjusting the motor current for the next time based on the motor current adjustment step; if not, reducing the motor current adjustment step, updating the reduced motor current adjustment step to a new motor current adjustment step, and adjusting the motor current for the next time based on the new motor current adjustment step; and calculating the second difference between the first vehicle speed and the second vehicle speed before and after the next adjustment of the motor current again, until the real-time vehicle speed of the hydraulic travel motor reaches the target vehicle speed.

[0008] According to the full hydraulic machinery control method provided in the first aspect of the present application, obtaining the speed adjustment step of the engine in the full hydraulic machinery includes: obtaining the real-time load rate of the full hydraulic machinery; obtaining the speed adjustment step corresponding to the real-time load rate.

[0009] According to the full hydraulic machinery control method provided in the first aspect of the present application, after obtaining the target vehicle speed for the full hydraulic machinery to travel, and before adjusting the motor current of the hydraulic travel motor based on the motor current adjustment step, it also includes: based on the target vehicle speed, obtaining the maximum pump current of the hydraulic travel pump in the full hydraulic machinery; adjusting the real-time pump current of the hydraulic travel pump to the maximum pump current.

[0010] According to the full hydraulic machinery control method provided in the first aspect of the present application, when the full hydraulic machinery is in the economic operation mode, the speed adjustment step of the engine in the full hydraulic machinery is obtained, including: obtaining the real-time vehicle speed of the full hydraulic machinery; if the real-time vehicle speed reaches the vehicle speed threshold corresponding to the economic operation mode, then obtaining the speed adjustment step of the engine in the full hydraulic machinery.

[0011] According to a second aspect of the present application, a fully hydraulic machine is provided, which includes a controller, an engine and a hydraulic travel motor; the controller controls the operation of the fully hydraulic machine through the fully hydraulic machine control method as described in any one of the first aspects.

[0012] According to the third aspect of the present application, an electronic device is provided, comprising: a memory and a processor; the memory is connected to the processor and is used to store programs; the processor is used to implement the full hydraulic mechanical control method as described in the first aspect by running the program in the memory.

[0013] According to a fourth aspect of the present application, a computer program product is provided, comprising computer program instructions; when the computer program instructions are executed by a processor, the processor is enabled to execute the full hydraulic machinery control method as described in the first aspect.

[0014] In this application, when a fully hydraulic machine is in an economical operating mode, an engine speed adjustment step size is obtained for the fully hydraulic machine; based on the speed adjustment step size, a motor current adjustment step size is obtained for the hydraulic travel motor of the fully hydraulic machine, wherein a larger speed adjustment step size corresponds to a larger motor current adjustment step size; the engine speed is adjusted based on the speed adjustment step size, and the motor current of the hydraulic travel motor is adjusted based on the motor current adjustment step size, wherein as the engine speed increases, the motor current decreases; and as the engine speed decreases, the motor current increases. In the above process, when the fully hydraulic machine is in economical operating mode, the engine speed is adjusted based on the speed adjustment step size, and the motor current of the hydraulic travel motor is adjusted based on the motor current adjustment step size, wherein as the engine speed increases, the motor current decreases; and as the engine speed decreases, the motor current increases. Because the hydraulic travel motor is the direct drive device for the fully hydraulic machine's travel, automatically compensating the motor current of the hydraulic travel motor based on engine speed adjustment can reduce the impact of engine speed adjustment on the fully hydraulic machine's speed, improve the stability and smoothness of the fully hydraulic machine's travel, and enhance the driver's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0016] Figure 1 One of the flow charts of a full hydraulic machinery control method provided in an embodiment of the present application;

[0017] Figure 2 This is one of the structural schematic diagrams of a fully hydraulic machine provided in an embodiment of the present application;

[0018] Figure 3 This is a second structural diagram of a fully hydraulic machine provided in an embodiment of the present application;

[0019] Figure 4 This is a third structural diagram of a fully hydraulic machine provided in an embodiment of the present application;

[0020] Figure 5 A schematic diagram of a flow chart for adjusting motor current provided in an embodiment of the present application;

[0021] Figure 6 The second flow chart of the full hydraulic machinery control method provided in the embodiment of the present application;

[0022] Figure 7 A block diagram of a fully hydraulic mechanical control device provided in an embodiment of the present application;

[0023] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0025] Exemplary Methods

[0026] To address the existing problem of rapid engine speed adjustments in fully hydraulic machinery, which can lead to large speed fluctuations, this application provides a fully hydraulic machinery control method. This method is implemented through a software algorithm that can run on any device with data processing capabilities, such as a controller or processor configured on the fully hydraulic machinery, a cloud-based processor connected to the fully hydraulic machinery, or a standalone computer or intelligent braking device connected to the fully hydraulic machinery. The scope of protection of this application is not limited by the type of device on which the software algorithm corresponding to this method is executed.

[0027] In one embodiment, if Figure 1 As shown, the process steps implemented by the full hydraulic mechanical control method include:

[0028] Step 101 : When the full hydraulic machine is in an economic operation mode, obtain a speed adjustment step length of an engine in the full hydraulic machine.

[0029] In this embodiment, fully hydraulic machinery refers to machinery in which all main power transmission and actuators are driven by hydraulic systems, such as fully hydraulic bulldozers, fully hydraulic excavators, and fully hydraulic loaders. Figure 2 As shown, the fully hydraulic machine includes a controller 210, an engine 220, a hydraulic travel pump 230, and a hydraulic travel motor 240. The controller 210 receives operator commands (e.g., via a joystick or pedal) and converts them into control signals. Based on the control signals, the controller 210 calculates the required hydraulic flow and pressure and sends corresponding control commands to the engine 220 and hydraulic travel pump 230. Furthermore, the controller 210 adjusts the engine 220's speed and output power based on load demand to achieve efficient and energy-saving operation. The engine 220 drives the hydraulic travel pump 230, generating hydraulic energy. The hydraulic travel pump 230 converts the engine 220's mechanical energy into hydraulic energy. The hydraulic oil flow and pressure output by the hydraulic travel pump 230 influence the speed and output torque of the hydraulic travel motor 240. The hydraulic travel motor 240 converts the hydraulic energy back into mechanical energy, driving the wheels or tracks of the fully hydraulic machine, thereby enabling normal travel of the fully hydraulic machine. When the operator issues a command, the controller 210 interprets the command and determines the desired travel speed and direction of the fully hydraulic machine.

[0030] In this embodiment, Figure 3As shown, depending on actual circumstances and needs, the fully hydraulic machine may further include any one or more of an electric operating handle 250, a bus panel 260, a display and monitoring unit 270, and mechanical devices. The electric operating handle 250 can be operated by the driver, and the degree of opening of the electric operating handle 250 determines the target speed of the fully hydraulic machine. The bus panel 260 facilitates human-machine interaction between the driver and the fully hydraulic machine, facilitating the driver's input of information such as engine speed settings. It also provides the controller 210 with data such as the real-time speed of the fully hydraulic machine. The display and monitoring unit 270 displays one or more pieces of information, including the real-time speed of the fully hydraulic machine, the real-time pump current of the hydraulic travel pump, the real-time motor current of the hydraulic travel motor, and fault and alarm information, thereby enabling the driver to understand the status of the fully hydraulic machine and assisting in safe operation. Specifically, the controller 210 can communicate data with the engine 220, the hydraulic travel pump 230, the hydraulic travel motor 240, the electric operating handle 250, the bus panel 260, and the display and monitoring unit 270, thereby controlling the normal operation of the fully hydraulic machine.

[0031] Alternatively, as Figure 4 As shown, the controller 210 may further include a sampling unit 201, a logic analysis unit 202, a core algorithm unit 203, and a drive unit 204. The sampling unit 201 is in communication with the engine 220 to acquire data such as engine speed and load factor. The sampling unit 201 is in communication with the electric operating handle 250 to acquire handle position data such as handle opening. The sampling unit 201 is in communication with the bus panel 260 to acquire data such as engine speed setting and the real-time vehicle speed of the fully hydraulic machine. The sampling unit 201 is in communication with the hydraulic travel motor 240 to acquire data such as motor speed and motor current of the hydraulic travel motor 240. The sampling unit 201 is in communication with the hydraulic travel motor 240 to acquire data such as real-time pump current and pump flow of the hydraulic travel pump 230. The one or more data acquired by the sampling unit 201 can serve as basic calculation data for implementing the present method and other control processes of the fully hydraulic machine. The logic analysis unit 202 is used to perform further logic analysis on the basic calculation data obtained by the sampling unit 201, including logic analysis processes such as analyzing the current state of the engine based on the basic calculation data. The core algorithm unit 203 mainly includes the algorithm logic corresponding to the implementation of this solution, realizes the calculation or processing of various basic calculation data, and obtains the control data of the full hydraulic machinery. For example, the motor current of the hydraulic travel motor 240 is calculated based on the basic calculation data, and the engine speed is calculated based on the basic calculation data. The drive unit 204 is mainly used to drive the full hydraulic machinery based on the control data. For example, based on the control current calculated by the core algorithm unit 203, it controls the hydraulic travel motor 240 to output the corresponding real-time current.

[0032] In this embodiment, the economical operating mode is an energy-saving operating state for a fully hydraulic machine, typically improving the operating efficiency of the fully hydraulic machine by controlling the engine speed to a level lower than that in the standard operating mode. In the economical operating mode, the engine speed of the fully hydraulic machine is within the highest efficiency speed range. In the economical operating mode, the engine speed is adjusted by making multiple adjustments based on the speed adjustment step size, which refers to the specific value by which the engine speed changes each time the engine speed is adjusted. The speed adjustment step size can be used to increase or decrease the engine speed.

[0033] Step 102 : Based on the speed adjustment step, obtain the motor current adjustment step of the hydraulic travel motor in the full hydraulic machine, wherein the larger the speed adjustment step, the larger the motor current adjustment step.

[0034] In this embodiment, after engine speed adjustment, the hydraulic machinery will change accordingly without any other intelligent control. As engine speed increases, the hydraulic travel pump's flow rate increases, the hydraulic travel motor's speed increases, and the hydraulic machinery's real-time speed increases. As engine speed decreases, the hydraulic travel pump's flow rate decreases, the hydraulic travel motor's speed decreases, and the hydraulic machinery's real-time speed slows. To address the severe fluctuations in the hydraulic machinery's real-time speed caused by engine speed adjustment in economical operation mode, the motor current of the hydraulic travel motor is adjusted to improve the stability and ride smoothness of the hydraulic machinery during engine speed adjustment. Furthermore, based on the speed adjustment step size of the engine speed adjustment, the motor current adjustment step size of the hydraulic travel motor is correspondingly derived. A larger speed adjustment step size corresponds to a larger motor current adjustment step size, ensuring synchronization between the speed adjustment step size and the motor current adjustment step size, thereby adjusting the ride smoothness control effect of the hydraulic machinery. Alternatively, the positive correlation between the speed adjustment step size and the motor current adjustment step size can be pre-determined through experimental measurement, analysis of empirical data, or incorporation of mechanical characteristic data. Optionally, the process of obtaining the motor current adjustment step size based on the speed adjustment step size may be implemented by a pre-calibrated proportional-integral-derivative controller (PID controller).

[0035] Step 103, adjusting the engine speed of the engine based on the speed adjustment step, and adjusting the motor current of the hydraulic travel motor based on the motor current adjustment step, wherein when the engine speed increases, the motor current decreases; when the engine speed decreases, the motor current increases.

[0036] In this embodiment, the engine speed is increased or decreased based on the speed adjustment step size. When the engine speed is increased based on the speed adjustment step size, the speed of the hydraulic travel motor increases accordingly. If the motor current is not adjusted, the real-time vehicle speed of the fully hydraulic machine will increase accordingly. To reduce vehicle speed fluctuations, the motor current is reversely decreased based on the motor current adjustment step size. When the engine speed is decreased based on the speed adjustment step size, the speed of the hydraulic travel motor decreases accordingly. If the motor current is not adjusted, the real-time vehicle speed of the fully hydraulic machine will decrease accordingly. To reduce vehicle speed fluctuations, the motor current is reversely increased based on the motor current adjustment step size. By reversely compensating the motor current of the hydraulic travel motor based on the engine speed adjustment, the vehicle speed fluctuations are minimized or eliminated when the engine speed is adjusted, thereby improving the stability and ride comfort of the fully hydraulic machine. It should be noted that this method is mainly implemented when the full hydraulic machinery is in the economic operation mode. If the full hydraulic machinery is in the ordinary economic mode or other modes, it can be flexibly selected whether to use the logic provided by this method to adjust the motor current of the hydraulic travel motor according to actual conditions and needs. For example, when the full hydraulic machinery is in the standard operation mode, the control logic provided by this method is not used to compensate for the motor current, which is beneficial for the full hydraulic machinery to maintain a higher engineering operation power and ensure the engineering operation effect of the full hydraulic machinery.

[0037] In one embodiment, based on the speed adjustment step, the motor current adjustment step of the hydraulic travel motor in the full hydraulic machinery is obtained, including: obtaining the target vehicle speed of the full hydraulic machinery; obtaining the real-time vehicle speed of the full hydraulic machinery; calculating the first difference between the target vehicle speed and the real-time vehicle speed; based on the first difference and the speed adjustment step, obtaining the motor current adjustment step, wherein the larger the first difference, the larger the motor current adjustment step.

[0038] In this embodiment, during the travel of the fully hydraulic machine, the speed of the fully hydraulic machine can be controlled by a device such as an operating handle or pedal, with the operating handle or pedal determining the target vehicle speed. If the target vehicle speed differs from the real-time speed of the fully hydraulic machine, and the engine speed is adjusted to improve energy efficiency, when determining the motor current adjustment step size of the hydraulic travel motor, the speed adjustment step size is used as a numerical constraint for the motor current adjustment step size. Furthermore, a first difference between the target vehicle speed and the real-time vehicle speed is used as another numerical constraint for the motor current adjustment step size. The larger the first difference, the larger the motor current adjustment step size. This ensures smooth speed adjustment of the fully hydraulic machine while also ensuring a fast response speed for the hydraulic travel motor current adjustment. This balance between smoothness and response speed allows the fully hydraulic machine to smoothly adjust to the target speed. Alternatively, the positive correlation between the first difference and the motor current adjustment step size can be pre-determined through experimental measurement, analysis of empirical data, or incorporation of machine characteristic data. Optionally, the process of obtaining the motor current adjustment step size based on the speed adjustment step size and the first difference may be implemented by a pre-calibrated proportional-integral-derivative controller (PID controller).

[0039] In one embodiment, obtaining a target vehicle speed for a fully hydraulic machine includes: obtaining a handle opening of an electric operating handle in the fully hydraulic machine; and obtaining a target vehicle speed corresponding to the handle opening.

[0040] In this embodiment, the fully hydraulic machine includes an electric operating handle. The handle opening of the electric operating handle determines the target speed; the larger the handle opening, the higher the target speed. During travel, if the operator adjusts the handle opening as needed, the controller determines the target vehicle speed based on the handle opening. This, in turn, determines the motor current adjustment step size based on the target vehicle speed. This allows the hydraulic travel motor to be compensated for current simultaneously with engine speed adjustment during travel, ensuring that the travel speed of the fully hydraulic machine is smoothly adjusted to the target speed.

[0041] In one embodiment, the motor current of the hydraulic travel motor is adjusted based on the motor current adjustment step, including: obtaining a first vehicle speed of the fully hydraulic mechanical travel before the motor current is adjusted once based on the motor current adjustment step; obtaining a second vehicle speed of the fully hydraulic mechanical travel after the motor current is adjusted once based on the motor current adjustment step; calculating a second difference between the first vehicle speed and the second vehicle speed; judging whether the second difference is less than or equal to a difference threshold, and if so, adjusting the motor current for the next time based on the motor current adjustment step; if not, reducing the motor current adjustment step, updating the reduced motor current adjustment step to a new motor current adjustment step, and adjusting the motor current for the next time based on the new motor current adjustment step; again calculating the second difference between the first vehicle speed and the second vehicle speed before and after the next adjustment of the motor current, until the real-time vehicle speed of the hydraulic travel motor reaches the target vehicle speed.

[0042] In this embodiment, the process of adjusting the motor current based on the motor current adjustment step is a process of performing multiple adjustments based on the motor current adjustment step, such as Figure 5 As shown, the specific process of adjusting the motor current based on the motor current adjustment step is as follows:

[0043] Step 501, entering the primary motor current compensation adjustment process;

[0044] Step 502, obtaining the first vehicle speed of the fully hydraulic machine before the current motor current adjustment;

[0045] Step 503, adjusting the motor current based on the motor current adjustment step size;

[0046] Step 504 , obtaining a second vehicle speed of the fully hydraulic mechanical vehicle after the current motor current adjustment;

[0047] Step 505, calculating a second difference between the first vehicle speed and the second vehicle speed;

[0048] Step 506, determining whether the second difference is less than or equal to the difference threshold, if so, executing step 507, if not, executing step 508;

[0049] Step 507, enter the next compensation adjustment process of the motor current and execute step 502;

[0050] This step does not change the motor current adjustment step size. The next motor current adjustment process still uses the motor current adjustment step size used in the previous current adjustment process.

[0051] Step 508: Reduce the motor current adjustment step size, update the reduced motor current adjustment step size to a new motor current adjustment step size, and execute step 507;

[0052] This step reduces the motor current adjustment step size, and the next motor current adjustment process adopts the new motor current adjustment step size.

[0053] The above cycle process may be executed multiple times until the real-time speed of the all-hydraulic machine reaches the target speed, or the real-time motor current reaches the target current value.

[0054] In this embodiment, in order to further improve the smoothness of the fully hydraulic mechanical driving process, each time a current compensation is performed based on the motor current adjustment step, the second difference is compared with the difference threshold to determine whether the motor current adjustment step used in this motor current compensation meets the smoothness requirement. If the second difference is greater than the difference threshold, it indicates that the motor current adjustment step used in this adjustment does not meet the smoothness requirement, and the motor current adjustment step needs to be adaptively reduced, so that the next motor current compensation adjustment is performed with the new motor current adjustment step after the reduction, thereby further improving the smoothness of the fully hydraulic mechanical driving process.

[0055] In one embodiment, obtaining the speed adjustment step of the engine in the full hydraulic machine includes: obtaining the real-time load rate of the full hydraulic machine; and obtaining the speed adjustment step corresponding to the real-time load rate.

[0056] In this embodiment, the load rate of the fully hydraulic machine varies during operation depending on specific operating conditions. In the economy mode, to ensure the efficiency of the fully hydraulic machine, the engine speed is adjusted accordingly when the real-time load rate changes. Specifically, to ensure the efficiency of the fully hydraulic machine, the engine speed increases when the real-time load rate exceeds a maximum load rate threshold; and decreases when the real-time load rate decreases below a minimum load rate threshold. The speed adjustment step size for adjusting the engine speed is directly related to the real-time load rate. The interval formed by the maximum load rate threshold and the minimum load rate threshold is the efficient load rate interval. The farther the real-time load rate is from the efficient load rate interval, the larger the speed adjustment step size. Specifically, when the real-time load rate exceeds the maximum load rate threshold, the greater the difference between the real-time load rate and the maximum load rate threshold, the larger the speed adjustment step size. When the real-time load rate drops below the minimum load rate threshold, the greater the difference between the minimum load rate threshold and the real-time load rate, the larger the speed adjustment step size. This ensures that the fully hydraulic machine can quickly respond to engineering operation requirements. Optionally, the correlation between the real-time load rate and the speed adjustment step can be obtained in advance by experimental measurement, analysis of empirical data, or combination with mechanical characteristic data.

[0057] In this embodiment, when the engine speed is adjusted due to a load factor change, the real-time speed of the fully hydraulic machine may decrease; it may also increase the driving speed, resulting in an increase in the real-time speed. If the real-time load factor exceeds the efficient load factor range and the engine speed is adjusted, and the real-time speed of the fully hydraulic machine changes and deviates from the target speed, the motor current adjustment step size is determined based on the rate of change of the real-time speed. The motor current is then compensated based on the motor current adjustment step size to ensure the stability and smoothness of the fully hydraulic machine's driving. The greater the rate of change of the real-time speed, the larger the motor current adjustment step size. Optionally, the positive correlation between the rate of change of the real-time speed and the motor current adjustment step size can be pre-determined through experimental measurements, analysis of empirical data, or incorporation of machine characteristic data. Optionally, the process of determining the motor current adjustment step size based on the rate of change of the real-time speed can be implemented by a pre-calibrated proportional-integral-derivative controller (PID controller).

[0058] Specifically, if the real-time vehicle speed increases when the real-time load rate changes, the motor current adjustment step is determined based on the rate of change of the real-time vehicle speed, and the motor current is reduced based on the motor current adjustment step; if the real-time vehicle speed continues to decrease, the motor current adjustment step is determined based on the rate of change of the real-time vehicle speed, and the motor current is increased based on the motor current adjustment step, so as to avoid large fluctuations in the real-time vehicle speed when the real-time load rate changes, thereby improving the smoothness of the full hydraulic mechanical driving process.

[0059] In one embodiment, after obtaining the target vehicle speed for all-hydraulic mechanical travel, and before adjusting the motor current of the hydraulic travel motor based on the motor current adjustment step, it also includes: obtaining the maximum pump current of the hydraulic travel pump in the all-hydraulic machinery based on the target vehicle speed; and adjusting the real-time pump current of the hydraulic travel pump to the maximum pump current.

[0060] In this embodiment, based on the energy transfer characteristics of the hydraulic system and the need to optimize control efficiency, after determining the target vehicle speed for the fully hydraulic machinery and before adjusting the motor current of the hydraulic travel motor, it is necessary to first adjust the real-time pump current of the hydraulic travel pump. The real-time pump current refers to the real-time operating current of the hydraulic travel pump. The target vehicle speed determines the maximum pump current of the hydraulic travel pump. Before adjusting the motor current, the real-time pump current of the hydraulic travel pump is adjusted to the maximum pump current. Adjusting the real-time pump current of the hydraulic travel pump first ensures stable oil circuit pressure and prevents the hydraulic travel motor from losing control due to insufficient pressure. Adjusting the hydraulic travel motor later allows for precise matching of torque and speed requirements with the load, improving energy efficiency, avoiding energy waste, and protecting mechanical transmission components.

[0061] In one embodiment, when the fully hydraulic machine is in an economic operation mode, the speed adjustment step of the engine in the fully hydraulic machine is obtained, including: obtaining the real-time vehicle speed of the fully hydraulic machine; if the real-time vehicle speed reaches the vehicle speed threshold corresponding to the economic operation mode, then obtaining the speed adjustment step of the engine in the fully hydraulic machine.

[0062] In this embodiment, it is possible to determine whether to automatically start the economic operation mode based on the real-time vehicle speed of the fully hydraulic machinery. A vehicle speed threshold value can be pre-set according to actual conditions and needs. The vehicle speed threshold value may include a maximum vehicle speed threshold value and a minimum vehicle speed threshold value, and may also include a vehicle speed threshold value interval. During the driving process of the fully hydraulic machinery, if the real-time vehicle speed reaches the vehicle speed threshold value, the fully hydraulic machinery is controlled to automatically enter the economic operation mode, and the processing logic provided by the present method under the economic operation mode is executed, thereby improving the degree of automation of the fully hydraulic machinery control. Of course, according to actual conditions and needs, the driver can also manually start the economic operation mode through a human-computer interaction device (for example, a bus panel), and execute the processing logic provided by the present method under the economic operation mode to ensure the flexibility of the fully hydraulic machinery control.

[0063] In one embodiment, when obtaining the speed adjustment step length of the engine in a fully hydraulic machine, it is determined based on multiple real-time variables related to the fully hydraulic machine, such as the target vehicle speed of the fully hydraulic machine, the real-time vehicle speed of the fully hydraulic machine, the real-time speed of the engine, the motor current of the hydraulic travel motor, etc. In addition, in order to improve the accuracy of the speed adjustment step length, more factors such as the load demand, control strategy, operator input information, environmental conditions, etc. of the fully hydraulic machine can be added to the speed adjustment step length determination process. Furthermore, the logical relationship for determining the speed adjustment step length based on multiple variables can be determined in advance based on experiments, analysis of empirical data, and / or in combination with mechanical structural characteristics. Based on the pre-set logical relationship between multiple variables and the speed adjustment step length, the speed adjustment step length can be quickly determined when the fully hydraulic machine is in economic operation mode.

[0064] In a specific embodiment, Figure 6 As shown, the controller in the full hydraulic machine is used as the execution body, and the specific process of the controller executing the full hydraulic machine control method includes:

[0065] Step 601, obtaining the handle opening of the electric operating handle and determining the target vehicle speed Vt corresponding to the handle opening;

[0066] Step 602, obtaining the real-time vehicle speed Va of the full hydraulic machine;

[0067] Step 603: Determine whether the real-time vehicle speed Va reaches the speed threshold corresponding to the economic operation mode. If so, execute step 604; if not, execute step 602 to form a long-term monitoring of the real-time vehicle speed.

[0068] Step 604, controlling the full hydraulic machine to enter an economic operation mode;

[0069] Step 605 , adjusting the engine speed sequentially based on the speed adjustment step ΔNpid, and executing steps 606 and 611 ;

[0070] For example, ΔNpid can be obtained by the following pre-determined logical relationship formula:

[0071] ΔNpid=f1(Vt, Va, N, Am), where N is the real-time engine speed and Am is the motor current of the hydraulic travel motor;

[0072] As another example, ΔNpid may be obtained by using another pre-determined logical relationship formula:

[0073] ΔNpid = f2 (load demand, control strategy, operator input information, environmental load, engine characteristics);

[0074] Furthermore, if the real-time load rate of the full hydraulic machine exceeds the high-efficiency load rate range, the speed adjustment step corresponding to the real-time load rate is obtained;

[0075] The engine speed is gradually reduced based on the speed adjustment step size ΔNpid, that is, N=N0-ΔNpid, where N is the real-time speed after the engine speed is adjusted once, and N0 is the initial speed before the engine speed is adjusted once;

[0076] When switching directly from the standard operating mode to the economic operating mode, the engine speed is gradually reduced based on the speed adjustment step ΔNpid;

[0077] Step 606 , obtaining the motor current adjustment step length ΔAmpid of the hydraulic travel motor;

[0078] Specifically, ΔAmpid is positively correlated with ΔNpid; the larger ΔNpid is, the larger ΔAmpid is. The hydraulic travel motor has an initial motor current Am0, and after an adjustment based on ΔAmpid, the motor current is Am. The initial motor current Am0 corresponds to a first vehicle speed of Va0, and the motor current Am corresponds to a second vehicle speed of Vm. Therefore, ΔAmpid must ensure that |Va-Vm| ≤ 0.5 km / h, where 0.5 km / h is a pre-set difference threshold. ΔAmpid is limited by the difference threshold.

[0079] Furthermore, if the real-time load rate of the fully hydraulic machine exceeds the high-efficiency load rate range, the motor current adjustment step size is obtained according to the rate of change of the real-time vehicle speed;

[0080] Step 607, determining whether the real-time speed of the fully hydraulic machine is greater than the target speed, if so, executing step 608, if not, executing step 609;

[0081] Step 608 , gradually reducing the motor current based on the motor current adjustment step size ΔAmpid until the real-time vehicle speed reaches the target vehicle speed, and then executing step 602 ;

[0082] That is, Am=Am0+ΔAmpid, where Am is the real-time motor current after the motor current is adjusted once, and Am0 is the initial motor current before the motor current is adjusted once;

[0083] The motor current decreases, and the real-time vehicle speed decreases accordingly;

[0084] Step 609, determining whether the real-time speed of the fully hydraulic machine is less than the target speed, if so, executing step 610, if not, executing step 602;

[0085] Step 610 , gradually increasing the motor current based on the motor current adjustment step size ΔAmpid until the real-time vehicle speed reaches the target vehicle speed, and then executing step 602 ;

[0086] That is, Am=Am0+ΔAmpid, where Am is the real-time motor current after the motor current is adjusted once, and Am0 is the initial motor current before the motor current is adjusted once;

[0087] As the motor current increases, the real-time vehicle speed increases accordingly;

[0088] Step 611, obtaining the real-time load rate λ of the engine;

[0089] Step 612, determining whether the real-time load rate λ is greater than the maximum load rate threshold, if so, executing step 613, if not, executing step 614;

[0090] Step 613 , based on the speed adjustment step ΔNpid corresponding to the real-time load rate, the engine speed is controlled to increase, and step 607 is executed;

[0091] Step 614, determining whether the real-time load rate λ is less than the minimum load rate threshold, if so, executing step 615, if not, executing step 602;

[0092] In step 615 , the engine speed is controlled to decrease based on the speed adjustment step ΔNpid corresponding to the real-time load rate, and step 607 is executed.

[0093] In this embodiment, the motor current automatically compensates for changes in engine speed in sync, maintaining the stability and smoothness of the fully hydraulic machine's real-time speed and preventing large speed fluctuations. Furthermore, a closed-loop control system is established between engine speed and engine load factor. Based on the real-time load factor, the engine is kept in the high-efficiency range more frequently, reducing fuel consumption and improving the operating efficiency of the fully hydraulic machine.

[0094] In this application, when a fully hydraulic machine is in an economical operating mode, an engine speed adjustment step size is obtained for the fully hydraulic machine; based on the speed adjustment step size, a motor current adjustment step size is obtained for the hydraulic travel motor of the fully hydraulic machine, wherein a larger speed adjustment step size corresponds to a larger motor current adjustment step size; the engine speed is adjusted based on the speed adjustment step size, and the motor current of the hydraulic travel motor is adjusted based on the motor current adjustment step size, wherein as the engine speed increases, the motor current decreases; and as the engine speed decreases, the motor current increases. In the above process, when the fully hydraulic machine is in economical operating mode, the engine speed is adjusted based on the speed adjustment step size, and the motor current of the hydraulic travel motor is adjusted based on the motor current adjustment step size, wherein as the engine speed increases, the motor current decreases; and as the engine speed decreases, the motor current increases. Because the hydraulic travel motor is the direct drive device for the fully hydraulic machine's travel, automatically compensating the motor current of the hydraulic travel motor based on engine speed adjustment can reduce the impact of engine speed adjustment on the fully hydraulic machine's speed, improve the stability and smoothness of the fully hydraulic machine's travel, and enhance the driver's driving experience.

[0095] Exemplary mechanical

[0096] Correspondingly, an embodiment of the present application also provides a fully hydraulic machine, which includes a controller, an engine and a hydraulic travel motor; the controller controls the operation of the fully hydraulic machine through a fully hydraulic machine control method provided in any of the above embodiments.

[0097] Optionally, the fully hydraulic machine also includes a hydraulic travel pump, an electric operating handle, a bus panel, and a display and monitoring unit.

[0098] The fully hydraulic machine provided in this embodiment shares the same concept as the fully hydraulic machine control method provided in the aforementioned embodiments of this application. The fully hydraulic machine control method provided in any of the aforementioned embodiments of this application can be applied to the fully hydraulic machine control method, and possesses the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the fully hydraulic machine control method provided in the aforementioned embodiments of this application, and will not be further elaborated here.

[0099] Exemplary devices

[0100] Accordingly, the embodiment of the present application also provides a full hydraulic mechanical control device, such as Figure 7 As shown, the device may include:

[0101] The speed acquisition module 701 is used to acquire the speed adjustment step of the engine in the full hydraulic machine when the full hydraulic machine is in the economic operation mode;

[0102] a current acquisition module 702 for acquiring a motor current adjustment step length of a hydraulic travel motor in a fully hydraulic machine based on the speed adjustment step length, wherein a larger speed adjustment step length corresponds to a larger motor current adjustment step length;

[0103] The adjustment module 703 is used to adjust the engine speed of the engine based on the speed adjustment step, and to adjust the motor current of the hydraulic travel motor based on the motor current adjustment step, wherein when the engine speed increases, the motor current decreases; when the engine speed decreases, the motor current increases.

[0104] In one embodiment, the current acquisition module 702 is used to obtain the target vehicle speed of the fully hydraulic mechanical travel; obtain the real-time vehicle speed of the fully hydraulic mechanical travel; calculate the first difference between the target vehicle speed and the real-time vehicle speed; and obtain the motor current adjustment step based on the first difference and the speed adjustment step, wherein the larger the first difference, the larger the motor current adjustment step.

[0105] In one embodiment, the current acquisition module 702 is used to acquire the handle opening of the electric operating handle in the fully hydraulic machine; and acquire the target vehicle speed corresponding to the handle opening.

[0106] In one embodiment, the adjustment module 703 is used to obtain a first vehicle speed of the fully hydraulic mechanical travel before the motor current is adjusted based on the motor current adjustment step; obtain a second vehicle speed of the fully hydraulic mechanical travel after the motor current is adjusted based on the motor current adjustment step; calculate a second difference between the first vehicle speed and the second vehicle speed; determine whether the second difference is less than or equal to the difference threshold, and if so, make the next adjustment to the motor current based on the motor current adjustment step; if not, reduce the motor current adjustment step, update the reduced motor current adjustment step to a new motor current adjustment step, and make the next adjustment to the motor current based on the new motor current adjustment step; calculate the second difference between the first vehicle speed and the second vehicle speed again before and after the next adjustment of the motor current, until the real-time vehicle speed of the hydraulic travel motor reaches the target vehicle speed.

[0107] In one embodiment, the speed acquisition module 701 is used to acquire the real-time load rate of the full hydraulic machine and acquire the speed adjustment step corresponding to the real-time load rate.

[0108] In one embodiment, the current acquisition module 702 is used to obtain the maximum pump current of the hydraulic travel pump in the full hydraulic machinery based on the target vehicle speed after obtaining the target vehicle speed of the full hydraulic machinery travel and before adjusting the motor current of the hydraulic travel motor based on the motor current adjustment step; and adjust the real-time pump current of the hydraulic travel pump to the maximum pump current.

[0109] In one embodiment, the speed acquisition module 701 is used to obtain the real-time speed of the fully hydraulic machine; if the real-time speed reaches the speed threshold corresponding to the economic operation mode, the speed adjustment step of the engine in the fully hydraulic machine is obtained.

[0110] The fully hydraulic mechanical control device provided in this embodiment shares the same concept as the fully hydraulic mechanical control method provided in the aforementioned embodiments of this application. It can execute the fully hydraulic mechanical control method provided in any of the aforementioned embodiments of this application and possesses the corresponding functional modules and beneficial effects. For technical details not fully described in this embodiment, please refer to the specific processing details of the fully hydraulic mechanical control method provided in the aforementioned embodiments of this application and will not be further elaborated here.

[0111] Exemplary electronic devices

[0112] The present application also provides an electronic device, such as Figure 8 As shown, the electronic device includes: a memory 800 and a processor 801.

[0113] The memory 800 is connected to the processor 801 and is used to store programs.

[0114] The processor 801 is configured to implement the full hydraulic machinery control method in the above embodiment by running the program stored in the memory 800 .

[0115] Specifically, the electronic device may further include: a communication interface 802 , an input device 803 , an output device 804 and a bus 805 .

[0116] The processor 801, the memory 800, the communication interface 802, the input device 803 and the output device 804 are interconnected via a bus.

[0117] Bus 805 may include a pathway for transferring information between various components of the computer system.

[0118] Processor 801 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, or the like, or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present invention. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components.

[0119] The processor 801 may include a main processor, and may also include a baseband chip, a modem, etc.

[0120] The memory 800 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include program code, and the program code includes computer operating instructions. More specifically, the memory 800 may include read-only memory (ROM), other types of static storage devices that can store static information and instructions, random access memory (RAM), other types of dynamic storage devices that can store information and instructions, disk storage, flash, etc.

[0121] The input device 803 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0122] Output device 804 may include devices that allow information to be output to a user, such as a display screen, printer, speakers, etc.

[0123] The communication interface 802 may include any transceiver or similar device for communicating with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0124] The processor 801 executes the program stored in the memory 800 and calls other devices, which can be used to implement the various steps of the full hydraulic machinery control method provided in the above embodiment of the present application.

[0125] Exemplary computer program products and storage media

[0126] In addition to the above-mentioned methods and devices, embodiments of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the full hydraulic machinery control method described in the embodiments of the present application.

[0127] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0128] In addition, the embodiment of the present application may also be a storage medium on which a computer program is stored, and the computer program is used by a processor to execute the steps of the full hydraulic machinery control method described in the embodiment of the present application.

[0129] For the sake of simplicity, the aforementioned method embodiments are described as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0130] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similarities between the various embodiments can be referred to in conjunction with each other. For device embodiments, since they are generally similar to method embodiments, their description is relatively simple, and for relevant details, reference can be made to the description of the method embodiments.

[0131] The steps in the methods of each embodiment of the present application can be adjusted in sequence, merged, and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0132] The modules and sub-modules in the devices and terminals provided in the various embodiments of the present application can be merged, divided, and deleted according to actual needs.

[0133] In the several embodiments provided in this application, it should be understood that the disclosed terminals, devices, and methods can be implemented in other ways. For example, the terminal embodiments described above are merely illustrative. For example, the division of modules or submodules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or module, which can be electrical, mechanical or other forms.

[0134] The modules or submodules described as separate components may or may not be physically separate, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place or distributed across multiple network modules or submodules. Some or all of the modules or submodules may be selected to achieve the purpose of this embodiment according to actual needs.

[0135] In addition, each functional module or submodule in each embodiment of the present application may be integrated into a processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into a single module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or software functional modules or submodules.

[0136] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0137] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, software units executed by a processor, or a combination of the two. The software units may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0138] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0139] The above description of the disclosed embodiments will enable those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is to be construed in the widest manner consistent with the principles and novel features disclosed herein.

Claims

1. A fully hydraulic mechanical control method, characterized in that: include: When the full hydraulic machine is in an economic operation mode, obtaining a speed adjustment step length of an engine in the full hydraulic machine; Based on the speed adjustment step, obtaining a motor current adjustment step of a hydraulic travel motor in the fully hydraulic machine, wherein a larger speed adjustment step is, a larger motor current adjustment step is; The engine speed of the engine is adjusted based on the speed adjustment step, and the motor current of the hydraulic travel motor is adjusted based on the motor current adjustment step, wherein when the engine speed increases, the motor current decreases; when the engine speed decreases, the motor current increases.

2. The full hydraulic machinery control method according to claim 1, characterized in that: The step of obtaining the motor current adjustment step of the hydraulic travel motor in the fully hydraulic machine based on the speed adjustment step comprises: Obtaining a target vehicle speed for the fully hydraulic mechanical travel; Obtaining the real-time speed of the fully hydraulic machine; Calculating a first difference between the target vehicle speed and the real-time vehicle speed; The motor current adjustment step is obtained based on the first difference and the speed adjustment step, wherein the larger the first difference is, the larger the motor current adjustment step is.

3. The full hydraulic machinery control method according to claim 2, characterized in that: The obtaining of the target vehicle speed of the fully hydraulic mechanical travel includes: Obtaining a handle opening of an electric operating handle in the fully hydraulic machine; The target vehicle speed corresponding to the handle opening is obtained.

4. The full hydraulic machinery control method according to claim 1, characterized in that: The adjusting the motor current of the hydraulic travel motor based on the motor current adjustment step size includes: obtaining a first vehicle speed of the fully hydraulic machine before adjusting the motor current once based on the motor current adjustment step; obtaining a second vehicle speed of the fully hydraulic machine after the motor current is adjusted once based on the motor current adjustment step; calculating a second difference between the first vehicle speed and the second vehicle speed; determining whether the second difference is less than or equal to a difference threshold; if so, adjusting the motor current for the next time based on the motor current adjustment step; if not, reducing the motor current adjustment step, updating the reduced motor current adjustment step as a new motor current adjustment step, and adjusting the motor current for the next time based on the new motor current adjustment step; The second difference between the first vehicle speed and the second vehicle speed before and after the next adjustment of the motor current is calculated again until the real-time vehicle speed of the hydraulic travel motor reaches the target vehicle speed.

5. The full hydraulic machinery control method according to claim 1, characterized in that: The obtaining of the speed adjustment step length of the engine in the fully hydraulic machine includes: Obtaining a real-time load rate of the fully hydraulic machine; The speed adjustment step corresponding to the real-time load rate is obtained.

6. The full hydraulic machinery control method according to claim 2, characterized in that: After acquiring the target vehicle speed of the fully hydraulic mechanical travel and before adjusting the motor current of the hydraulic travel motor based on the motor current adjustment step, the method further includes: Based on the target vehicle speed, obtaining a maximum pump current of a hydraulic travel pump in the fully hydraulic machine; The real-time pump current of the hydraulic travel pump is adjusted to the maximum pump current.

7. The full hydraulic machinery control method according to claim 2, characterized in that: The step of obtaining the speed adjustment step of the engine in the fully hydraulic machine when the fully hydraulic machine is in the economic operation mode includes: Obtaining the real-time speed of the fully hydraulic machine; If the real-time vehicle speed reaches a vehicle speed threshold corresponding to the economic operation mode, the speed adjustment step length of the engine in the full hydraulic machine is obtained.

8. A fully hydraulic machine, characterized in that: The fully hydraulic machine includes a controller, an engine and a hydraulic travel motor; The controller controls the operation of the full hydraulic machine by using the full hydraulic machine control method according to any one of claims 1 to 7.

9. An electronic device, characterized in that: include: memory and processor; The memory is connected to the processor and is used to store programs; The processor is configured to implement the full hydraulic machinery control method according to any one of claims 1 to 7 by running the program in the memory.

10. A computer program product, characterized in that includes computer program instructions; When the computer program instructions are executed by a processor, the processor is caused to execute the full hydraulic machine control method according to any one of claims 1 to 7.

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