Hydraulic control method based on full electric control, controller and electric engineering machinery

Abstract

The embodiment of the invention provides a hydraulic control method based on full electric control, a controller and an electric engineering machine. The method comprises the following steps: acquiring an action signal output by an electric control handle in the electric engineering machinery; determining a pilot pressure value of a pilot pump in the electric engineering machinery according to the action signal; according to the pilot pressure, a first current value of a main pump proportional electromagnetic valve in the electric engineering machine and a second current value of a main valve proportional electromagnetic valve in the electric engineering machine are determined; the first current value is used for controlling hydraulic oil displacement of a main pump proportional electromagnetic valve; the second current value is used for controlling the valve opening degree of the main valve proportional electromagnetic valve; determining a control signal according to the action signal, the first current value and the second current value; the control signal is used for controlling the electric engineering machinery to execute the action of the electric control handle. The method is used for achieving the technical scheme that the displacement of the main pump can be accurately distributed so as to meet the requirement of the electric engineering machinery for a high-precision operation scene.

Description

Technical Field

[0001] The present application relates to the technical field of electric engineering machinery, and in particular to a hydraulic control method and controller based on full electronic control, and an electric engineering machinery. Background Art

[0002] In the field of electric construction machinery, a common type of equipment is to use a bucket to dig materials above or below the plane of the fuselage and load them onto a transport vehicle or unload them into a stockpile.

[0003] In related technologies, the operation control of electric construction machinery relies on the electrical signal output by the electric control handle. The main pump displacement is determined by the preset relationship between the electrical signal and the main pump displacement. The displacement is then allocated to each operation execution unit according to the priority of the operation. However, this allocation of displacement based on the priority of the operation can lead to irrational allocation, which in turn causes the electric construction machinery to experience lags and untimely responses during operation, making it unable to meet the requirements of high-precision operations.

[0004] Therefore, there is an urgent need for a technical solution that can accurately distribute the main pump displacement to meet the needs of electric engineering machinery for high-precision operation scenarios. Summary of the Invention

[0005] The embodiments of the present application provide a hydraulic control method, a controller and an electric engineering machine based on full electronic control, so as to achieve a technical solution for accurately distributing the displacement of the main pump, so as to meet the requirements of the electric engineering machine for high-precision operation scenarios.

[0006] In a first aspect, an embodiment of the present application provides a hydraulic control method based on full electronic control, comprising:

[0007] Acquiring an action signal output by an electric control handle in the electric engineering machine; wherein the action signal represents an action that the electric engineering machine needs to perform;

[0008] Determine a pilot pressure value of a pilot pump in the electric engineering machinery based on the action signal; determine a first current value of a main pump proportional solenoid valve and a second current value of a main valve proportional solenoid valve in the electric engineering machinery based on the pilot pressure; wherein the pilot pressure value represents the hydraulic oil pressure generated by the pilot pump; the first current value is used to control the hydraulic oil displacement of the main pump proportional solenoid valve; and the second current value is used to control the valve opening of the main valve proportional solenoid valve;

[0009] A control signal is determined according to the action signal, the first current value, and the second current value; wherein the control signal is used to control the electric engineering machine to execute the action of the electric control handle.

[0010] In a possible implementation, determining the pilot pressure value of the pilot pump in the electric engineering machine according to the action signal includes:

[0011] Obtaining the relationship between the action stroke and the pilot pressure in the action signal; wherein the relationship between the action stroke and the pilot pressure in the action signal represents the change of the pilot pressure with the change of the action stroke; the action stroke represents the action amplitude of the electric handle;

[0012] The pilot pressure value of the pilot pump is determined according to the relationship between the operating stroke in the operating signal and the pilot pressure and the operating stroke in the operating signal.

[0013] In a possible implementation manner, the relationship between the action stroke and the pilot pressure in the action signal includes:

[0014] If it is determined that the action stroke in the action signal is greater than or equal to the first preset stroke and less than the second preset stroke, then determining that the pilot pressure is the first preset pilot pressure;

[0015] If it is determined that the action stroke in the action signal is greater than or equal to the second preset stroke and less than the third preset stroke, then it is determined that the pilot pressure is greater than the first preset pilot pressure and less than the second preset pilot pressure;

[0016] If it is determined that the action stroke in the action signal is greater than or equal to the third preset stroke and less than or equal to the fourth preset stroke, the pilot pressure is determined to be the second preset pilot pressure.

[0017] In a possible implementation, determining the first current value of the main pump proportional solenoid valve according to the pilot pressure includes:

[0018] Obtaining a relationship between the pilot pressure and the main pump proportional solenoid valve current; wherein the relationship between the pilot pressure and the main pump proportional solenoid valve current represents a change in the main pump proportional solenoid valve current with a change in the pilot pressure;

[0019] A first current value of the main pump proportional solenoid valve is determined according to the relationship between the pilot pressure and the current of the main pump proportional solenoid valve and the pilot pressure.

[0020] In a possible implementation, the relationship between the pilot pressure and the main pump proportional solenoid valve current includes:

[0021] If it is determined that the pilot pressure is greater than or equal to the first preset pilot pressure and less than the third preset pilot pressure, then the main pump proportional solenoid valve current is determined to be the first preset main pump proportional solenoid valve current;

[0022] If it is determined that the pilot pressure is greater than or equal to the third preset pilot pressure and less than the fourth preset pilot pressure, then it is determined that the main pump proportional solenoid valve current is greater than the first preset main pump proportional solenoid valve current and less than the second preset main pump proportional solenoid valve current;

[0023] If it is determined that the pilot pressure is greater than or equal to the fourth preset pilot pressure and less than or equal to the second preset pilot pressure, the main pump proportional solenoid valve current is determined to be the second preset main pump proportional solenoid valve current.

[0024] In a possible implementation, determining a second current value of a proportional solenoid valve of a main valve according to the pilot pressure includes:

[0025] Obtaining a relationship between a pilot pressure and a main valve proportional solenoid valve current; wherein the relationship between the pilot pressure and the main valve proportional solenoid valve current represents a change in the main valve proportional solenoid valve current with a change in the pilot pressure;

[0026] A second current value of the main valve proportional solenoid valve is determined according to the relationship between the pilot pressure and the current of the main valve proportional solenoid valve and the pilot pressure.

[0027] In a possible implementation, the relationship between the pilot pressure and the main valve proportional solenoid valve current includes:

[0028] If it is determined that the pilot pressure is greater than or equal to the first preset pilot pressure and less than the fifth preset pilot pressure, then determining that the main valve proportional solenoid valve current is the first preset main valve proportional solenoid valve current;

[0029] If it is determined that the pilot pressure is greater than or equal to the fifth preset pilot pressure and less than the sixth preset pilot pressure, then it is determined that the main valve proportional solenoid valve current is greater than the first preset main valve proportional solenoid valve current and less than the second preset main valve proportional solenoid valve current;

[0030] If it is determined that the pilot pressure is greater than or equal to the sixth preset pilot pressure and less than or equal to the second preset pilot pressure, the main valve proportional solenoid valve current is determined to be the second preset main valve proportional solenoid valve current.

[0031] In a possible implementation, determining a control signal according to the action signal, the first current value, and the second current value includes:

[0032] Determine the displacement of the main pump proportional solenoid valve according to the first current value; determine the valve opening of the main valve proportional solenoid valve according to the second current value; wherein the displacement represents the displacement of the hydraulic oil output by the main pump; and the valve opening represents the degree of opening of the main valve proportional solenoid valve;

[0033] A control signal is determined according to the action signal, the displacement of the main pump proportional solenoid valve, and the valve opening of the main valve proportional solenoid valve.

[0034] In a second aspect, an embodiment of the present application provides a hydraulic control device based on full electronic control, comprising:

[0035] An acquisition module is used to acquire an action signal output by an electric control handle in the electric engineering machine; wherein the action signal represents an action that the electric engineering machine needs to perform;

[0036] A first determination module is configured to determine a pilot pressure value of a pilot pump in the electric engineering machinery based on the action signal; determine a first current value of a main pump proportional solenoid valve in the electric engineering machinery and a second current value of a main valve proportional solenoid valve in the electric engineering machinery based on the pilot pressure; wherein the pilot pressure value represents the hydraulic oil pressure generated by the pilot pump; the first current value is used to control the hydraulic oil displacement of the main pump proportional solenoid valve; and the second current value is used to control the valve opening of the main valve proportional solenoid valve;

[0037] The second determining module is configured to determine a control signal according to the action signal, the first current value, and the second current value; wherein the control signal is used to control the electric engineering machine to execute the action of the electric control handle.

[0038] In a possible implementation, the first determining module includes:

[0039] Obtaining the relationship between the action stroke and the pilot pressure in the action signal; wherein the relationship between the action stroke and the pilot pressure in the action signal represents the change of the pilot pressure with the change of the action stroke; the action stroke represents the action amplitude of the electric handle;

[0040] The pilot pressure value of the pilot pump is determined according to the relationship between the operating stroke in the operating signal and the pilot pressure and the operating stroke in the operating signal.

[0041] In a possible implementation manner, the relationship between the action stroke and the pilot pressure in the action signal includes:

[0042] If it is determined that the action stroke in the action signal is greater than or equal to the first preset stroke and less than the second preset stroke, then determining that the pilot pressure is the first preset pilot pressure;

[0043] If it is determined that the action stroke in the action signal is greater than or equal to the second preset stroke and less than the third preset stroke, then it is determined that the pilot pressure is greater than the first preset pilot pressure and less than the second preset pilot pressure;

[0044] If it is determined that the action stroke in the action signal is greater than or equal to the third preset stroke and less than or equal to the fourth preset stroke, the pilot pressure is determined to be the second preset pilot pressure.

[0045] In a possible implementation, the first determining module includes:

[0046] Obtaining a relationship between the pilot pressure and the main pump proportional solenoid valve current; wherein the relationship between the pilot pressure and the main pump proportional solenoid valve current represents a change in the main pump proportional solenoid valve current with a change in the pilot pressure;

[0047] A first current value of the main pump proportional solenoid valve is determined according to the relationship between the pilot pressure and the current of the main pump proportional solenoid valve and the pilot pressure.

[0048] In a possible implementation, the relationship between the pilot pressure and the main pump proportional solenoid valve current includes:

[0049] If it is determined that the pilot pressure is greater than or equal to the first preset pilot pressure and less than the third preset pilot pressure, then the main pump proportional solenoid valve current is determined to be the first preset main pump proportional solenoid valve current;

[0050] If it is determined that the pilot pressure is greater than or equal to the third preset pilot pressure and less than the fourth preset pilot pressure, then it is determined that the main pump proportional solenoid valve current is greater than the first preset main pump proportional solenoid valve current and less than the second preset main pump proportional solenoid valve current;

[0051] If it is determined that the pilot pressure is greater than or equal to the fourth preset pilot pressure and less than or equal to the second preset pilot pressure, the main pump proportional solenoid valve current is determined to be the second preset main pump proportional solenoid valve current.

[0052] In a possible implementation, the first determining module includes:

[0053] Obtaining a relationship between a pilot pressure and a main valve proportional solenoid valve current; wherein the relationship between the pilot pressure and the main valve proportional solenoid valve current represents a change in the main valve proportional solenoid valve current with a change in the pilot pressure;

[0054] A second current value of the main valve proportional solenoid valve is determined according to the relationship between the pilot pressure and the current of the main valve proportional solenoid valve and the pilot pressure.

[0055] In a possible implementation, the relationship between the pilot pressure and the main valve proportional solenoid valve current includes:

[0056] If it is determined that the pilot pressure is greater than or equal to the first preset pilot pressure and less than the fifth preset pilot pressure, then determining that the main valve proportional solenoid valve current is the first preset main valve proportional solenoid valve current;

[0057] If it is determined that the pilot pressure is greater than or equal to the fifth preset pilot pressure and less than the sixth preset pilot pressure, then it is determined that the main valve proportional solenoid valve current is greater than the first preset main valve proportional solenoid valve current and less than the second preset main valve proportional solenoid valve current;

[0058] If it is determined that the pilot pressure is greater than or equal to the sixth preset pilot pressure and less than or equal to the second preset pilot pressure, the main valve proportional solenoid valve current is determined to be the second preset main valve proportional solenoid valve current.

[0059] In a possible implementation, the second determining module includes:

[0060] Determine the displacement of the main pump proportional solenoid valve according to the first current value; determine the valve opening of the main valve proportional solenoid valve according to the second current value; wherein the displacement represents the displacement of the hydraulic oil output by the main pump; and the valve opening represents the degree of opening of the main valve proportional solenoid valve;

[0061] A control signal is determined according to the action signal, the displacement of the main pump proportional solenoid valve, and the valve opening of the main valve proportional solenoid valve.

[0062] In a third aspect, an embodiment of the present application provides a controller, which is arranged in an electric engineering machine, and is used to execute the first aspect and / or various possible implementation methods of the first aspect.

[0063] In a fourth aspect, an embodiment of the present application provides an electric engineering machine, wherein the electric engineering machine is provided with the controller according to the third aspect;

[0064] The controller is connected to at least one electric control handle, a pilot pump, a main pump proportional solenoid valve, and a main valve proportional solenoid valve in the electric engineering machinery.

[0065] In a fifth aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0066] The memory stores computer-executable instructions;

[0067] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0068] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementation methods of the first aspect.

[0069] In a seventh aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0070] The embodiments of the present application provide a hydraulic control method, controller, and electric engineering machinery based on full electronic control. The method obtains an action signal output by an electric control handle in the electric engineering machinery, wherein the action signal represents the action that the electric engineering machinery needs to perform; determines the pilot pressure value of the pilot pump in the electric engineering machinery based on the action signal, wherein the pilot pressure value represents the hydraulic oil pressure generated by the pilot pump; then, based on the pilot pressure, determines a first current value of a main pump proportional solenoid valve and a second current value of a main valve proportional solenoid valve in the electric engineering machinery, wherein the first current value is used to control the hydraulic oil displacement of the main pump proportional solenoid valve, and the second current value is used to control the valve opening of the main valve proportional solenoid valve; finally, the action signal, the first current value, and the second current value are combined to determine a control signal for controlling the electric engineering machinery to perform the action of the electric control handle. By precisely controlling various parameters of the hydraulic system in the electric engineering machinery through full electronic control, the electric engineering machinery can more accurately and efficiently perform the action indicated by the electric control handle, effectively improving the operating accuracy and response speed of the electric engineering machinery, thereby improving the working efficiency and quality of the electric engineering machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0072] Figure 1 A schematic diagram of a hydraulic control method based on full electronic control provided in the embodiment of the present application Figure 1 ;

[0073] Figure 2 A schematic diagram of a hydraulic control method based on full electronic control provided in the embodiment of the present application Figure 2 ;

[0074] Figure 3 A schematic diagram of the structure of a fully electronically controlled hydraulic control device provided in an embodiment of the present application Figure 1 ;

[0075] Figure 4 A schematic diagram of the structure of a fully electronically controlled hydraulic control device provided in an embodiment of the present application Figure 2 ;

[0076] Figure 5 A schematic diagram of the structure of an electric engineering machine is provided for the embodiment of the present application. Figure 1 ;

[0077] Figure 6 A schematic diagram of the structure of an electric engineering machine is provided for the embodiment of the present application. Figure 2 ;

[0078] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0079] Explanation of the reference numerals: 50 - electric engineering machinery, 501 - controller, 502 - electric control handle, 503 - pilot pump, 504 - main pump proportional solenoid valve, 505 - main valve proportional solenoid valve, 5051 - main valve 2 proportional solenoid valve, 70 - electronic equipment, 701 - processor, 702 - memory, 703 - communication component, 704 - bus.

[0080] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0081] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0082] In the field of electric construction machinery, equipment such as excavators are key tools for material excavation and loading operations. The core process involves using the bucket, a crucial actuator, to excavate materials from a space. Once excavation is complete, the materials are loaded onto a transport vehicle or unloaded into a designated stockpile. This process requires the coordinated operation of multiple components, among which the main pump, serving as the power source for the hydraulic system, provides the required hydraulic power for the entire operation. The main pump's displacement directly determines the hydraulic system's output power and the speed and force of the actuators.

[0083] In existing electric construction machinery operation control technology, equipment operation primarily relies on an electronic control handle. The operator issues commands through the electronic control handle, which then outputs corresponding electrical signals. These electrical signals correspond to the main pump's displacement, and the controller determines the main pump's displacement based on this preset correspondence. The hydraulic flow generated by the main pump is then distributed to various work execution units, such as the bucket, boom, and slewing mechanism, based on the priority of the work, to drive them to complete the corresponding work movements. However, this priority-based flow distribution method has certain limitations. During actual operations, the hydraulic flow requirements of different work execution units change dynamically. This inappropriate flow distribution method makes it difficult for electric construction machinery to meet the high-precision requirements of complex work tasks. This significantly limits the performance of the equipment, especially in scenarios requiring rapid switching of movements, precise control of movement amplitude, or simultaneous execution of multiple movements.

[0084] Therefore, the present application provides a hydraulic control method, controller and electric engineering machinery based on full electronic control, which can solve the above problems.

[0085] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0086] Figure 1 A schematic diagram of a hydraulic control method based on full electronic control provided in the embodiment of the present application Figure 1 ,like Figure 1 As shown, the method includes:

[0087] S101 : Acquire an action signal output by an electric control handle in an electric engineering machine; wherein the action signal represents an action that the electric engineering machine needs to perform.

[0088] For example, the electric engineering machinery in the embodiments of the present application may be an electric excavator, a crane, a forklift, etc., and the specific type is not limited in this application.

[0089] For example, in the case of an electric excavator, the operator inputs operating instructions via the joystick or control panel. These instructions are transmitted to the electronic control unit in the form of electrical signals. The electronic control unit receives and processes these signals, and combines them with sensor feedback on the electric excavator's operating status (such as the position, speed, and load of each component). After calculating based on a preset control algorithm, it outputs the corresponding control signal. Preset control algorithms include, but are not limited to, PID control algorithms, fuzzy control algorithms, and adaptive control algorithms. The control signals drive actuators such as motors and solenoid valves. The motors drive the working devices (such as the boom, arm, and bucket), the slewing platform, and the traveling device. The solenoid valves control the direction and flow of oil in the hydraulic system (if some hydraulic auxiliary functions are included).

[0090] For example, in an electric excavator, the electric control handle is the part the operator directly touches and operates. It has multiple degrees of freedom (such as forward and backward, left and right, and rotation). Different operating directions and amplitudes correspond to different motion requirements of the electric construction machinery. For example, in the electric excavator's electric control handle, pushing the right joystick forward and backward can correspond to raising / lowering the boom; swinging the right joystick left and right can correspond to digging / unloading the bucket; pushing the left joystick forward and backward can correspond to digging / unloading the arm; and pushing the left joystick left and right can correspond to left / right rotation.

[0091] For example, when an operator operates a joystick, the movement and force applied to the joystick are sensed by a sensor. For example, when the joystick is pushed forward, a displacement sensor detects the change in the joystick's displacement in the forward and backward directions and converts this change into a corresponding electrical signal. The electrical signal output by the sensor is processed by a signal processing circuit to generate a digital signal containing information such as the direction, amplitude, and force of the movement. This digital signal is the action signal output by the electric control handle, representing the action to be performed by the electric construction machinery. The transmission method can be wired or wireless.

[0092] S102. Determine the pilot pressure value of the pilot pump in the electric engineering machinery based on the action signal; determine the first current value of the main pump proportional solenoid valve in the electric engineering machinery and the second current value of the main valve proportional solenoid valve in the electric engineering machinery based on the pilot pressure; wherein the pilot pressure value represents the hydraulic oil pressure generated by the pilot pump; the first current value is used to control the hydraulic oil displacement of the main pump proportional solenoid valve; the second current value is used to control the valve opening of the main valve proportional solenoid valve.

[0093] For example, key action stroke information is extracted from the acquired action signal. The action stroke is usually related to the moving distance or angle of the handle, which reflects the operator's expectation of the action amplitude. In the control system of electric engineering machinery, the relationship between the action stroke and the pilot pressure in the action signal is preset. This relationship can be determined through experimental testing, theoretical calculation or experience summary, and stored in the control system in the form of a data table, a curve chart or a mathematical model. According to the extracted action stroke information, the relationship between the preset action stroke and the pilot pressure is searched and matched to determine the pilot pressure value corresponding to the action stroke. The pilot pressure value represents the hydraulic oil pressure generated by the pilot pump, which is an important basis for the subsequent control of the main pump proportional solenoid valve and the main valve proportional solenoid valve.

[0094] The control system predetermines the relationship between the pilot pressure and the current of the main pump's proportional solenoid valve. The main pump's proportional solenoid valve controls the main pump's hydraulic oil displacement, and the current value is the key parameter controlling the valve's opening. This relationship can also be determined through experimental testing, theoretical calculations, or empirical analysis, and stored in the control system in the form of a data table, graph, or mathematical model. Based on the previously determined pilot pressure value, a search and match is performed within the preset relationship between the pilot pressure and the main pump's proportional solenoid valve current to determine the first current value corresponding to that pilot pressure. This first current value is used to control the main pump's proportional solenoid valve, thereby adjusting the main pump's hydraulic oil displacement to meet the hydraulic power required for the electric construction machinery to perform the corresponding action.

[0095] The control system predetermines the relationship between pilot pressure and the current flowing through the main valve's proportional solenoid valve. The main valve's proportional solenoid valve controls the main valve's opening, thereby regulating the flow and direction of hydraulic oil to achieve various actions in electric construction machinery. This relationship is determined through experimental testing, theoretical calculations, or empirical analysis, and stored in the control system as a data table, graph, or mathematical model.

[0096] Based on the preset relationship between the pilot pressure and the current of the main valve proportional solenoid valve, the main valve opening can be precisely controlled, thereby accurately adjusting the flow size and direction of the hydraulic oil, ensuring that the movement of the electric construction machinery follows the predetermined trajectory and is carried out according to the established force, effectively reducing startup delays and accelerating response speed.

[0097] Based on the previously determined pilot pressure value, a second current value corresponding to the pilot pressure is determined by searching and matching the preset relationship between the pilot pressure and the current of the main valve proportional solenoid valve. This second current value is used to control the main valve proportional solenoid valve, thereby adjusting the valve opening of the main valve, ensuring that hydraulic oil flows accurately to the corresponding actuator according to the operator's intention, achieving precise motion control of the electric construction machinery.

[0098] Based on the previously determined pilot pressure value, a match is found in the preset correspondence between the pilot pressure and the main valve proportional solenoid current to determine the corresponding second current value. This current value is used to control the main valve proportional solenoid valve, adjusting the main valve opening, so that hydraulic oil flows to the corresponding actuator according to the operator's intention, achieving precise motion control of electric construction machinery, reducing startup delay, and improving response speed.

[0099] S103 , determining a control signal according to the action signal, the first current value, and the second current value; wherein the control signal is used to control the electric engineering machine to execute an action of the electric control handle.

[0100] For example, an action signal is a command input by an operator through an electric control handle. It contains information about the desired action the operator wants the electric construction machine to perform, such as the direction of movement (forward, backward, left turn, right turn, lift, lower, etc.), the amplitude of movement (the distance or angle of handle movement), and the speed of movement (indirectly reflected by the speed of handle operation). The action signal is the starting point of the entire control process and provides the basis for the subsequent determination of pilot pressure, current value, and ultimately the control signal.

[0101] The first current value of the main pump's proportional solenoid valve controls its displacement. The valve's opening is controlled by adjusting the current, which in turn adjusts the hydraulic oil displacement of the main pump. Changes in the main pump's hydraulic oil displacement affect the power output of the electric construction machinery, ensuring it provides sufficient power to perform its intended actions. The first current value is correlated with the pilot pressure, which is determined by the stroke in the actuation signal.

[0102] The second current value of the main valve proportional solenoid valve is used to control the valve opening. The main valve proportional solenoid valve controls its valve opening by adjusting the current, thereby adjusting the flow rate and direction of the hydraulic oil. The flow rate and direction of the hydraulic oil determine the motion state of the various actuators (such as hydraulic cylinders and hydraulic motors) of the electric construction machinery, thereby realizing the various actions of the electric construction machinery. The second current value is also related to the pilot pressure. The pilot pressure serves as an intermediate variable, linking the action signal with the current value.

[0103] The control system needs to simultaneously receive the three parameters of the action signal, the first current value, and the second current value, and perform a comprehensive analysis. The action signal provides the operator's expected action information, while the first current value and the second current value respectively determine the control parameters of the main pump proportional solenoid valve and the main valve proportional solenoid valve. According to the action signal, the first current value, and the second current value, the control signal is determined; wherein the control signal is used to control the action of the electric engineering machinery to execute the electric control handle. The control signal ultimately acts on each actuator, and by adjusting the displacement, flow, and direction of the hydraulic oil, it drives the various actuators of the electric engineering machinery (such as hydraulic cylinders, hydraulic motors, etc.) to move according to the operator's expectations, thereby realizing various actions of the electric engineering machinery.

[0104] The control signal is determined based on the action signal, the first current value, and the second current value, and the electric engineering machinery is precisely controlled to execute the electric control handle action, thereby improving the accuracy and reliability of equipment operation, ensuring that the equipment executes the action as the operator intends, reducing operational errors, and improving work efficiency and equipment operation safety.

[0105] The embodiment of the present application provides a hydraulic control method based on full electronic control, which obtains an action signal output by an electric control handle in an electric engineering machine, wherein the action signal represents the action that the electric engineering machine needs to perform; determines the pilot pressure value of the pilot pump in the electric engineering machine based on the action signal, wherein the pilot pressure value represents the hydraulic oil pressure generated by the pilot pump; then determines the first current value of the main pump proportional solenoid valve and the second current value of the main valve proportional solenoid valve in the electric engineering machine based on the pilot pressure, wherein the first current value is used to control the hydraulic oil displacement of the main pump proportional solenoid valve, and the second current value is used to control the valve opening of the main valve proportional solenoid valve; finally, the action signal, the first current value, and the second current value are combined to determine the control signal for controlling the electric engineering machine to perform the action of the electric control handle. By accurately controlling various parameters of the hydraulic system in the electric engineering machine through full electronic control, the electric engineering machine can more accurately and efficiently perform the action indicated by the electric control handle, effectively improving the operating accuracy and response speed of the electric engineering machine, thereby improving the working efficiency and quality of the electric engineering machine.

[0106] Figure 2 A schematic diagram of a hydraulic control method based on full electronic control provided in the embodiment of the present application Figure 2 ,like Figure 2 As shown, this embodiment Figure 1 Based on the embodiment, a hydraulic control method based on full electronic control is described in detail, and the method includes:

[0107] S201 : Acquire an action signal output by an electric control handle in an electric engineering machine; wherein the action signal represents an action that the electric engineering machine needs to perform.

[0108] For example, this step may refer to the above-mentioned step S101 and will not be described in detail.

[0109] S202. Obtain the relationship between the action stroke and the pilot pressure in the action signal; wherein, the relationship between the action stroke and the pilot pressure in the action signal represents the change of the pilot pressure with the change of the action stroke; the action stroke represents the action amplitude of the electric handle; determine the pilot pressure value of the pilot pump based on the relationship between the action stroke and the pilot pressure in the action signal and the action stroke in the action signal.

[0110] For example, a displacement sensor is used to acquire real-time stroke data from the electric handle. The electrical signal output by the displacement sensor is converted and processed to obtain the current stroke value. Based on an established relationship model between stroke and pilot pressure, the real-time stroke value is substituted into the model to calculate the corresponding pilot pressure value.

[0111] Optionally, the calculated pilot pressure value is used as the target value, and the pilot pump's output pressure is adjusted via the pilot pump's control system. For example, a proportional-integral-derivative (PID) control algorithm can be used to adjust the pilot pump's operating parameters (such as motor speed and displacement) based on the deviation between the target and actual pilot pressure values, gradually bringing the actual pilot pressure closer to the target value. Simultaneously, a pressure sensor monitors the pilot pump's actual output pressure in real time and feeds the actual pressure value back to the control system, forming a closed-loop control loop to ensure that the pilot pressure changes stably and accurately with changes in the stroke.

[0112] Using the calculated pilot pressure as a target, the PID control algorithm adjusts the pilot pump's output pressure. A pressure sensor monitors and provides real-time feedback on the actual pressure, creating a closed-loop control system. This ensures that the pilot pressure changes stably and accurately over the stroke. This results in smoother and more precise movements of electric construction machinery, reduces hysteresis and instability caused by pressure fluctuations, improves operational performance and efficiency, and extends equipment life.

[0113] In one example, if it is determined that the action stroke in the action signal is greater than or equal to the first preset stroke and less than the second preset stroke, the pilot pressure is determined to be the first preset pilot pressure; if it is determined that the action stroke in the action signal is greater than or equal to the second preset stroke and less than the third preset stroke, the pilot pressure is determined to be greater than the first preset pilot pressure and less than the second preset pilot pressure; if it is determined that the action stroke in the action signal is greater than or equal to the third preset stroke and less than or equal to the fourth preset stroke, the pilot pressure is determined to be the second preset pilot pressure.

[0114] For example, if the actuation stroke in the actuation signal is determined to be greater than or equal to the first preset stroke and less than the second preset stroke, the pilot pressure is determined to be the first preset pilot pressure. If the actuation stroke range is between the first preset stroke and the second preset stroke (including the first preset stroke but excluding the second preset stroke), the corresponding pilot pressure is the first preset pilot pressure. This means that regardless of the specific value of the actuation stroke within this range, the pilot pressure remains fixed at the first preset pilot pressure.

[0115] If it is determined that the action stroke in the action signal is greater than or equal to the second preset stroke and less than the third preset stroke, then it is determined that the pilot pressure is greater than the first preset pilot pressure and less than the second preset pilot pressure. The action stroke in this interval varies from the second preset stroke to the third preset stroke (including the second preset stroke, but excluding the third preset stroke). The corresponding pilot pressure range is greater than the first preset pilot pressure and less than the second preset pilot pressure. This shows that within this interval, the pilot pressure will change with the change of the action stroke, but it is always between the first preset pilot pressure and the second preset pilot pressure. The specific pressure value may be a linear change, a nonlinear change, or some other functional relationship. It should be noted that this embodiment does not specifically limit this relationship.

[0116] If the actuation stroke in the actuation signal is determined to be greater than or equal to the third preset stroke and less than or equal to the fourth preset stroke, the pilot pressure is determined to be the second preset pilot pressure. The actuation stroke within this interval ranges from the third preset stroke to the fourth preset stroke (inclusive). The corresponding pilot pressure is the second preset pilot pressure. Similar to the first interval, the pilot pressure within this interval is also fixed; regardless of the specific value of the actuation stroke within this interval, the pilot pressure remains at the second preset pilot pressure.

[0117] Through the segmented mapping relationship, the pilot pressure can be flexibly adjusted according to different action stroke ranges, thereby realizing multiple working modes.

[0118] In a possible implementation, the range of the operating stroke of the electric handle is 0-1000; the range of the pilot pressure is -6.25 bar-56.25 bar.

[0119] S203. Obtain the relationship between the pilot pressure and the main pump proportional solenoid valve current; wherein, the relationship between the pilot pressure and the main pump proportional solenoid valve current represents the change of the main pump proportional solenoid valve current with the change of the pilot pressure; determine the first current value of the main pump proportional solenoid valve based on the relationship between the pilot pressure and the main pump proportional solenoid valve current and the pilot pressure.

[0120] For example, the pilot pressure value is determined by obtaining the action stroke in the action signal of the electric handle; based on the established relationship between the pilot pressure and the current of the main pump proportional solenoid valve, the determined pilot pressure value is substituted into the relationship model to determine the first current value of the corresponding main pump proportional solenoid valve.

[0121] Optionally, the determined first current value is used as a target value, and the output value of the first current value is adjusted by a control system of the main pump proportional solenoid valve. For example, a proportional-integral-derivative (PID) control algorithm can be used to adjust operating parameters (such as motor speed and displacement) of the main pump proportional solenoid valve based on the deviation between the first current value and the actual first current value, so that the actual first current value gradually approaches the target value.

[0122] Using the determined first current value as a target, the PID control algorithm adjusts the output current of the main pump's proportional solenoid valve, ensuring that the actual first current value stably and accurately approaches the target value. This makes the main pump's proportional solenoid valve's current output more stable and accurate, reducing equipment operational instability and inefficiency caused by current fluctuations, improving equipment performance and efficiency, and extending equipment life.

[0123] In one example, if it is determined that the pilot pressure is greater than or equal to the first preset pilot pressure and less than the third preset pilot pressure, the main pump proportional solenoid valve current is determined to be the first preset main pump proportional solenoid valve current; if it is determined that the pilot pressure is greater than or equal to the third preset pilot pressure and less than the fourth preset pilot pressure, the main pump proportional solenoid valve current is determined to be greater than the first preset main pump proportional solenoid valve current and less than the second preset main pump proportional solenoid valve current; if it is determined that the pilot pressure is greater than or equal to the fourth preset pilot pressure and less than or equal to the second preset pilot pressure, the main pump proportional solenoid valve current is determined to be the second preset main pump proportional solenoid valve current.

[0124] Exemplarily, the range of the pilot pressure is from a first preset pilot pressure to a second preset pilot pressure; the range of the main pump proportional solenoid valve current is from a first preset main pump proportional solenoid valve current to a second preset main pump proportional solenoid valve current.

[0125] If the pilot pressure is determined to be greater than or equal to the first preset pilot pressure and less than the third preset pilot pressure, the main pump proportional solenoid valve current is determined to be the first preset main pump proportional solenoid valve current. When the pilot pressure is between the first preset pilot pressure and the third preset pilot pressure (greater than or equal to the first preset pilot pressure and less than the third preset pilot pressure), the main pump proportional solenoid valve current is fixed to the first preset main pump proportional solenoid valve current. This indicates that within this pressure range, the system's flow demand on the main pump is fixed and at a low level, thereby maintaining the current at a minimum value.

[0126] If the pilot pressure is determined to be greater than or equal to the third preset pilot pressure and less than the fourth preset pilot pressure, the main pump proportional solenoid valve current is determined to be greater than the first preset main pump proportional solenoid valve current and less than the second preset main pump proportional solenoid valve current. When the pilot pressure is between the third preset pilot pressure and the fourth preset pilot pressure (greater than or equal to the third preset pilot pressure and less than the fourth preset pilot pressure), the main pump proportional solenoid valve current will gradually increase with increasing pilot pressure, but will not exceed the second preset main pump proportional solenoid valve current. This indicates that within this pressure range, the system's flow demand for the main pump is dynamic and increases with increasing pilot pressure, but will not reach maximum flow.

[0127] If the pilot pressure is determined to be greater than or equal to the fourth preset pilot pressure and less than or equal to the second preset pilot pressure, the main pump proportional solenoid valve current is determined to be the second preset main pump proportional solenoid valve current. When the pilot pressure is between the fourth preset pilot pressure and the second preset pilot pressure (greater than or equal to the fourth preset pilot pressure and less than or equal to the second preset pilot pressure), the main pump proportional solenoid valve current is fixed to the second preset main pump proportional solenoid valve current. This indicates that within this pressure range, the system's flow demand on the main pump is fixed and at its highest level, so the current is maintained at its maximum value.

[0128] In one possible implementation, the current range of the main pump proportional solenoid valve is 0-I pmax The range of the pilot pressure is -6.25bar-56.25bar; among them, the pilot pressure corresponding to the current that can open the valve of the main pump proportional solenoid valve is P1.

[0129] S204. Obtain the relationship between the pilot pressure and the main valve proportional solenoid valve current; wherein, the relationship between the pilot pressure and the main valve proportional solenoid valve current represents the change of the main valve proportional solenoid valve current with the change of the pilot pressure; determine the second current value of the main valve proportional solenoid valve based on the relationship between the pilot pressure and the main valve proportional solenoid valve current and the pilot pressure.

[0130] Exemplarily, the main valve proportional solenoid valve is used to drive the first boom lifting proportional solenoid valve, the second boom lifting proportional solenoid valve, the first boom lowering proportional solenoid valve, the second boom lowering proportional solenoid valve, the first dipper arm digging proportional solenoid valve, the second dipper arm digging proportional solenoid valve, the first dipper arm unloading solenoid valve, the second dipper arm unloading solenoid valve, the bucket digging proportional solenoid valve, the bucket unloading proportional solenoid valve, the left walking forward proportional solenoid valve, the left walking backward proportional solenoid valve, the right walking forward proportional solenoid valve, the right walking backward proportional solenoid valve, the straight walking proportional solenoid valve, the left rotation proportional solenoid valve, the right rotation proportional solenoid valve, etc.

[0131] For example, the first and second boom lift proportional solenoid valves each control the boom lift action. When the solenoid valves receive electrical signals from the control system, they adjust the valve core opening based on the signal, thereby controlling the flow of hydraulic oil into the boom cylinder (lift chamber). A greater flow rate results in a faster boom lift; conversely, a lower flow rate results in a slower lift.

[0132] For example, the first and second boom-down proportional solenoid valves are responsible for controlling the boom's lowering motion. By adjusting the valve core opening, the hydraulic oil flow in the boom cylinder (lowering chamber) is controlled, adjusting the boom's lowering speed. Some excavators may also utilize return oil throttling, in conjunction with the proportional solenoid valves, to precisely control the lowering speed and prevent the boom from descending too quickly.

[0133] For example, the first and second boom excavation proportional solenoid valves control the boom excavation action. These solenoid valves regulate the flow of hydraulic oil into the boom cylinder (excavation chamber) to ensure the boom excavates at the appropriate speed. The operator uses input devices such as joysticks or foot pedals to send signals to the control system, which in turn controls the opening of the proportional solenoid valves to adjust the boom excavation speed and force.

[0134] For example, the first arm unloading solenoid valve (unloading 1) and the second arm unloading solenoid valve (unloading 2) control the arm unloading action. By adjusting the flow of hydraulic oil entering the arm cylinder (unloading chamber), the speed and force of the arm unloading are controlled to ensure smooth and accurate unloading.

[0135] For example, the bucket excavation proportional solenoid valve controls the bucket's excavation action by adjusting the flow of hydraulic oil into the bucket cylinder (excavation chamber), enabling the bucket to dig as intended by the operator. The bucket unloading proportional solenoid valve controls the bucket's unloading action by adjusting the flow of hydraulic oil into the bucket cylinder (unloading chamber), thereby controlling the bucket's unloading speed and angle.

[0136] For example, the left forward and left reverse proportional solenoid valves control the forward and reverse movements of the excavator's left track, respectively; the right forward and right reverse proportional solenoid valves control the forward and reverse movements of the right track, respectively. The excavator's travel speed and steering are controlled by adjusting the flow and direction of the hydraulic oil entering the travel motors. When the excavator needs to travel in a straight line, the linear travel proportional solenoid valves coordinate the hydraulic oil flow to both travel motors, ensuring synchronized movement of the tracks and maintaining straight travel.

[0137] For example, the left and right proportional solenoid valves control the left and right swing movements of the excavator's upper body, respectively. By adjusting the flow and direction of the hydraulic oil entering the swing motor, precise control of the swing speed and direction is achieved.

[0138] For example, the relationship between the pilot pressure and the main valve proportional solenoid valve current is obtained; this relationship reflects how the main valve proportional solenoid valve current changes with the change of the pilot pressure. Specifically, this relationship can be linear or nonlinear, and this embodiment does not make specific limitations. The pilot pressure is an input variable that represents the pressure state of the system. Changes in the pilot pressure usually reflect changes in the system load or other operating conditions. The main valve proportional solenoid valve current is an output variable that represents the current value of the main valve proportional solenoid valve. Changes in current directly affect the opening of the main valve, thereby controlling the flow of the hydraulic system.

[0139] According to the relationship between the pilot pressure and the current of the main valve proportional solenoid valve, as well as the current pilot pressure value, the second current value of the main valve proportional solenoid valve can be determined.

[0140] In one example, if it is determined that the pilot pressure is greater than or equal to the first preset pilot pressure and less than the fifth preset pilot pressure, the main valve proportional solenoid valve current is determined to be the first preset main valve proportional solenoid valve current; if it is determined that the pilot pressure is greater than or equal to the fifth preset pilot pressure and less than the sixth preset pilot pressure, the main valve proportional solenoid valve current is determined to be greater than the first preset main valve proportional solenoid valve current and less than the second preset main valve proportional solenoid valve current; if it is determined that the pilot pressure is greater than or equal to the sixth preset pilot pressure and less than or equal to the second preset pilot pressure, the main valve proportional solenoid valve current is determined to be the second preset main valve proportional solenoid valve current.

[0141] For example, this relationship determines the value of the main valve proportional solenoid current based on the magnitude of the pilot pressure. The pilot pressure ranges from a first predetermined pilot pressure to a second predetermined pilot pressure, while the main valve proportional solenoid current ranges from a first predetermined main valve proportional solenoid current to a second predetermined main valve proportional solenoid current. This relationship is divided into three different ranges, each corresponding to a different control strategy.

[0142] If the pilot pressure is determined to be greater than or equal to the first preset pilot pressure and less than the fifth preset pilot pressure, the main valve proportional solenoid valve current is set to the first preset main valve proportional solenoid valve current. When the pilot pressure is greater than or equal to the first preset pilot pressure and less than the fifth preset pilot pressure, the main valve proportional solenoid valve current is set to the first preset main valve proportional solenoid valve current. This means that within this pressure range, the system's flow demand on the main valve is fixed and at a low level. By maintaining the current at the minimum preset value, the main valve opening can be maintained at a small level, thereby controlling the hydraulic system's flow at a low level. This setting is suitable for operating conditions with light system loads or low flow requirements.

[0143] If it is determined that the pilot pressure is greater than or equal to the fifth preset pilot pressure and less than the sixth preset pilot pressure, then the main valve proportional solenoid valve current is determined to be greater than the first preset main valve proportional solenoid valve current and less than the second preset main valve proportional solenoid valve current. When the pilot pressure is greater than or equal to the fifth preset pilot pressure and less than the sixth preset pilot pressure, the current of the main valve proportional solenoid valve will be dynamically adjusted according to the change in the pilot pressure. Specifically, the current will be greater than the first preset main valve proportional solenoid valve current, but less than the second preset main valve proportional solenoid valve current. This shows that within this pressure range, the system's flow demand for the main valve is changing and gradually increases with the increase in pilot pressure. This dynamic adjustment method can flexibly control the opening of the main valve according to the actual working conditions, thereby achieving precise flow regulation. This setting is suitable for working conditions where the system load changes greatly or where flexible flow adjustment is required.

[0144] If the pilot pressure is determined to be greater than or equal to the sixth preset pilot pressure and less than or equal to the second preset pilot pressure, the main valve proportional solenoid valve current is determined to be the second preset main valve proportional solenoid valve current. When the pilot pressure is greater than or equal to the sixth preset pilot pressure and less than or equal to the second preset pilot pressure, the main valve proportional solenoid valve current is set to the second preset main valve proportional solenoid valve current. This means that within this pressure range, the system's flow demand on the main valve is fixed and at the highest level. By maintaining the current at the highest preset value, the main valve opening can be maintained at a large position, thereby providing maximum flow. This setting is suitable for operating conditions with heavy system loads or where maximum flow is required.

[0145] In one possible implementation, the range of the main valve proportional solenoid current is 0-I max , among which, when the pilot pressure is 0, the corresponding main valve proportional solenoid valve current is I1; the current that can open the main valve proportional solenoid valve is I2.

[0146] Optionally, I1=I2-a; wherein, I1 is the corresponding main valve proportional solenoid valve current when the pilot pressure is 0; I2 is the current that can open the valve of the main valve proportional solenoid valve; a is a positive integer with an interval of 50, for example: 50, 100, 150,...

[0147] In one possible embodiment, the range of the pilot pressure is P min -P max , where the pilot pressure corresponding to the current that opens the main valve proportional solenoid valve is P2. P2 is determined by the pilot pressure P1 and a constant, and is calculated as: P2 = P1 - b; where P2 is the pilot pressure corresponding to the current that opens the main valve proportional solenoid valve; P1 is the pilot pressure corresponding to the current that opens the main pump proportional solenoid valve; and b is a positive integer greater than 1.

[0148] Optionally, the main valve proportional solenoid valve includes a main valve 2 proportional solenoid valve. The main valve 2 proportional solenoid valve is used to drive a boom lift 2 proportional solenoid valve, a boom lower 2 proportional solenoid valve, a bucket arm excavation 2 proportional solenoid valve, and a bucket arm unloading 2 proportional solenoid valve.

[0149] Optionally, the main pump pressure of the electric engineering machine is obtained, wherein the main pump pressure value is determined by the main pump 1 and the main pump 2 of the electric engineering machine. The maximum value of the first main pump pressure value of the main pump 1 and the second main pump pressure of the main pump 2 is determined as the main pump pressure value.

[0150] Optionally, the relationship between the main pump pressure and the proportional solenoid valve current of the main valve 2 is: if it is determined that the main pump pressure is greater than or equal to the first preset main pump pressure and less than the second preset main pump pressure, then the main valve 2 proportional solenoid valve current is determined to be the first preset main valve 2 proportional solenoid valve current; if it is determined that the main pump pressure is greater than or equal to the first preset main pump pressure and less than the third preset main pump pressure, then the main valve 2 proportional solenoid valve current is determined to be greater than the first preset main valve 2 proportional solenoid valve current and less than the second preset main valve 2 proportional solenoid valve current; if it is determined that the main pump voltage is greater than or equal to the third preset main pump pressure and less than or equal to the fourth preset main pump pressure, then the main valve 2 proportional solenoid valve current is determined to be the second preset main valve 2 proportional solenoid valve current.

[0151] Optionally, a third current value of the proportional solenoid valve of main valve 2 is determined based on the relationship between the main pump pressure and the current of the proportional solenoid valve of main valve 2, as well as the main pump pressure value. The third current value is used to control the valve opening of the proportional solenoid valve of main valve 2 and is further used to determine the control signal.

[0152] S205. Determine the displacement of the main pump proportional solenoid valve based on the first current value; determine the valve opening of the main valve proportional solenoid valve based on the second current value; wherein, the displacement represents the displacement of the hydraulic oil output by the main pump; the valve opening represents the degree of opening of the main valve proportional solenoid valve; determine the control signal based on the action signal, the displacement of the main pump proportional solenoid valve, and the valve opening of the main valve proportional solenoid valve.

[0153] Optionally, the first current value and the second current value are sequentially subjected to a change rate limiting process, a filtering limiting process, and an amplitude limiting control process.

[0154] Based on the hydraulic system characteristics and control requirements of the electric construction machinery, set a threshold for the current rate of change for the main pump proportional solenoid valve and the main valve proportional solenoid valve. The value of the rate of change threshold depends on factors such as the system's response speed, stability requirements, and solenoid valve performance. For example, if the system requires both high response speed and high stability, the rate of change threshold can be set higher, but this must ensure system stability. The formula for calculating the rate of change is: rate of change = (current current value - previous current value) / time interval. The time interval depends on the sampling frequency of the data acquisition system. The calculated current rate of change is compared with the set rate of change threshold. If the current rate of change exceeds the threshold, it indicates that the current is changing too rapidly, potentially causing system shock or instability, and requires adjustment. When the current rate of change exceeds the threshold, the current value at the current moment is adjusted. This adjustment can be performed by reducing the current change by a certain percentage so that the rate of change does not exceed the threshold. For example, if the current value should increase to a certain value, but the rate of change exceeds the threshold, it will only increase to a certain value, so that the current rate of change from the previous moment to the current moment does not exceed the set threshold.

[0155] Select an appropriate filtering algorithm based on the characteristics of the current signal and the type of noise. Common filtering algorithms include mean filtering, median filtering, and Kalman filtering. Mean filtering is suitable for relatively stable signal fluctuations and random noise; median filtering effectively suppresses impulse noise; and Kalman filtering is suitable for dynamic systems, enabling optimal estimation based on the system state and measurement data. Based on the selected filtering algorithm, set the corresponding filtering parameters. For example, for mean filtering, you need to set the filter window size; for Kalman filtering, you need to set parameters such as the system's state transition matrix, observation matrix, process noise covariance matrix, and observation noise covariance matrix. The collected current data is processed according to the specified filtering algorithm and parameters. For mean filtering, the average current data within the filter window is calculated as the filtered current value at the current moment; for median filtering, the current data within the filter window is sorted by size and the median value is taken as the filtered current value at the current moment; for Kalman filtering, the optimal current estimate at the current moment is iteratively calculated based on the system's state equation and observation equation.

[0156] Set the maximum and minimum current values ​​based on the rated operating current, safety requirements, and system control requirements of the main pump proportional solenoid valve and the main valve proportional solenoid valve. The maximum current value cannot exceed the rated current of the solenoid valve to prevent overheating and damage to the solenoid valve; the minimum current value should ensure that the solenoid valve can operate normally and achieve the corresponding control function. Compare the current value after the rate of change limit processing and filter limit processing with the set maximum and minimum current values. If the current value is greater than the maximum value or less than the minimum value, it means that the current value exceeds the limit range. When the current value exceeds the limit range, adjust it to within the limit range. If the current value is greater than the maximum value, set it to the maximum value; if the current value is less than the minimum value, set it to the minimum value.

[0157] For example, the displacement of the main pump's proportional solenoid valve is positively correlated with its current input. The greater the current, the greater the main pump's displacement, meaning the greater the amount of hydraulic oil output. The displacement of the main pump's proportional solenoid valve is determined based on a preset current-displacement characteristic curve or data table for the main pump's proportional solenoid valve. If the current-displacement relationship of the main pump's proportional solenoid valve is a characteristic curve, the corresponding displacement value can be found by measuring or estimating the position of the first current value on the curve. If the current-displacement relationship of the main pump's proportional solenoid valve is a data table, the value closest to the first current value can be directly searched in the table to determine its corresponding displacement. The first current value can be used to determine the specific displacement of the main pump's proportional solenoid valve.

[0158] The valve opening of the main valve proportional solenoid valve is also positively correlated with its current input. The greater the current, the greater the main valve opening, which in turn increases the flow of hydraulic oil through the main valve. Using the main valve proportional solenoid valve's current-valve opening characteristic curve or data table, find the valve opening corresponding to the second current value. If using a characteristic curve, determine the opening by locating the second current value on the curve. If using a data table, directly find the value that matches or is closest to the second current value and read the corresponding opening value. The second current value can be used to determine the specific valve opening of the main valve proportional solenoid valve.

[0159] The displacement of the main pump's proportional solenoid valve determines the amount of hydraulic oil output from the main pump. This displacement directly impacts the hydraulic system's power output. The valve opening of the main valve's proportional solenoid valve determines the flow and direction of hydraulic oil through the main valve. This valve opening directly impacts the hydraulic system's efficiency. The control signal is a specific signal used to execute the action signal, acting on the specific actuator structure of the electric construction machinery (such as the hydraulic cylinder or hydraulic motor). The control signal is determined based on the action signal, the displacement of the main pump's proportional solenoid valve, and the valve opening of the main valve's proportional solenoid valve.

[0160] In one possible embodiment, when the electric construction machine performs a combined action associated with boom raising, the maximum current of the bucket digging is limited to 540 mA. For example, the combined action includes boom raising and bucket digging, or the combined action includes boom raising, bucket digging, and arm digging.

[0161] For example, during these combined actions, if the current is too high during the bucket digging action, the proportional solenoid valve will open wider, increasing the flow of hydraulic oil into the bucket cylinder and accelerating the bucket digging speed. However, this will consume more hydraulic system flow, reducing the flow for actions such as boom raising, digging with the dipper arm, and swinging, thereby slowing down these actions.

[0162] For example, by limiting the maximum bucket digging current to 540mA, the opening of the bucket digging proportional solenoid valve is restricted, preventing the hydraulic oil flow entering the bucket cylinder from increasing indefinitely. This allows the hydraulic system to allocate more flow to actions such as boom raising, arm digging, and swinging, reducing the slowdown caused by insufficient flow in these actions and improving the coordinated control of these actions during complex operations. For example, during the combined action of boom raising, bucket digging, and arm digging, the boom, bucket, and arm can operate at a more coordinated speed, improving operational efficiency and quality.

[0163] In one possible implementation, when the electric construction machine performs a combined action related to boom raising, the maximum current of the dipper arm excavation is limited to 300 mA. For example, the combined action includes boom raising, swinging, bucket excavation, and dipper arm excavation.

[0164] For example, when these four actions are performed simultaneously, if the current of the dipper arm digging action is too large, it will also occupy a large amount of hydraulic flow, affecting the speed of the boom lifting, rotation and bucket digging actions.

[0165] For example, limiting the maximum digging arm current to 300mA limits the opening of the digging arm's proportional solenoid valve to a reasonable range, reducing its hydraulic flow demand. This enables the hydraulic system to more effectively distribute flow to the boom raising, swinging, and bucket digging movements, preventing these movements from being slowed down by insufficient flow. For example, during complex digging and loading operations, the boom raising, swinging, bucket digging, and digging arm movements can work together more effectively, improving operational fluidity and efficiency.

[0166] By limiting the maximum current of the proportional solenoid valve of a specific action during compound actions, the hydraulic flow distribution between the actions can be effectively balanced, reducing the problem of slow speed of other actions due to excessive flow in a certain action, thereby improving the coordinated control performance of various actions of the excavator.

[0167] The embodiment of the present application provides a hydraulic control method based on full electronic control, which obtains the action signal output by the electric control handle in the electric engineering machinery, which represents the action that the electric engineering machinery needs to perform; further obtains the relationship between the action stroke and the pilot pressure in the action signal, which reflects the change of the pilot pressure with the action amplitude of the electric handle; based on the above relationship and the action stroke, accurately determines the pilot pressure value of the pilot pump. At the same time, the relationship between the pilot pressure and the current of the main pump proportional solenoid valve and the relationship between the pilot pressure and the current of the main valve proportional solenoid valve are obtained, respectively representing the change of the main pump proportional solenoid valve current and the main valve proportional solenoid valve current with the pilot pressure; based on these relationships and the determined pilot pressure value, the first current value of the main pump proportional solenoid valve and the second current value of the main valve proportional solenoid valve are determined respectively. Subsequently, the displacement of the main pump proportional solenoid valve is determined according to the first current value, that is, the displacement of the hydraulic oil output by the main pump; and the valve opening of the main valve proportional solenoid valve is determined according to the second current value, that is, the degree of valve opening of the main valve proportional solenoid valve. Ultimately, the control signal used to control the electric construction machinery to perform the corresponding action is determined by combining the action signal, the displacement of the main pump proportional solenoid valve, and the valve opening of the main valve proportional solenoid valve. By accurately acquiring and analyzing the relationship between the action signal of the electronic control handle and the various parameters of the hydraulic system, refined control of the hydraulic system of the electric construction machinery is achieved. This fully electronic control method not only improves the accuracy and response speed of electric construction machinery operations, but also optimizes the energy efficiency of the hydraulic system and reduces energy consumption. It effectively solves the technical problems of traditional hydraulic control methods such as insufficient operating accuracy, slow response, and high energy consumption, thereby significantly improving the overall performance and work efficiency of electric construction machinery.

[0168] Figure 3 A schematic diagram of the structure of a fully electronically controlled hydraulic control device provided in an embodiment of the present application Figure 1 ,like Figure 3 As shown, the present embodiment provides a fully electronically controlled hydraulic control device 30 comprising:

[0169] An acquisition module 301 is configured to acquire an action signal output by an electric control handle in an electric engineering machine, wherein the action signal represents an action that the electric engineering machine needs to perform;

[0170] The first determination module 302 is configured to determine a pilot pressure value of a pilot pump in the electric engineering machine based on the action signal; determine a first current value of a main pump proportional solenoid valve and a second current value of a main valve proportional solenoid valve in the electric engineering machine based on the pilot pressure; wherein the pilot pressure value represents the hydraulic oil pressure generated by the pilot pump; the first current value is used to control the hydraulic oil displacement of the main pump proportional solenoid valve; and the second current value is used to control the valve opening of the main valve proportional solenoid valve;

[0171] The second confirmation module 303 is used to determine a control signal according to the action signal, the first current value, and the second current value; wherein the control signal is used to control the electric engineering machine to execute the action of the electric control handle.

[0172] The present embodiment provides a hydraulic control device based on full electronic control, which can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and are not described in detail in this embodiment.

[0173] Figure 4 A schematic diagram of the structure of a fully electronically controlled hydraulic control device provided in an embodiment of the present application Figure 2 ,like Figure 4 As shown, the present embodiment provides a fully electronically controlled hydraulic control device 40 comprising:

[0174] An acquisition module 401 is configured to acquire an action signal output by an electric control handle in an electric engineering machine, wherein the action signal represents an action that the electric engineering machine needs to perform;

[0175] A first determination module 402 is configured to determine a pilot pressure value of a pilot pump in the electric engineering machine based on the action signal; determine a first current value of a main pump proportional solenoid valve and a second current value of a main valve proportional solenoid valve in the electric engineering machine based on the pilot pressure; wherein the pilot pressure value represents the hydraulic oil pressure generated by the pilot pump; the first current value is used to control the hydraulic oil displacement of the main pump proportional solenoid valve; and the second current value is used to control the valve opening of the main valve proportional solenoid valve;

[0176] The second confirmation module 403 is used to determine a control signal according to the action signal, the first current value, and the second current value; wherein the control signal is used to control the electric engineering machine to execute the action of the electric control handle.

[0177] In a possible implementation, the first determining module 402 includes:

[0178] Obtaining the relationship between the action stroke and the pilot pressure in the action signal; wherein the relationship between the action stroke and the pilot pressure in the action signal represents the change of the pilot pressure with the change of the action stroke; the action stroke represents the action amplitude of the electric handle;

[0179] The pilot pressure value of the pilot pump is determined according to the relationship between the action stroke in the action signal and the pilot pressure and the action stroke in the action signal.

[0180] In a possible implementation, the relationship between the action stroke and the pilot pressure in the action signal includes:

[0181] If it is determined that the action stroke in the action signal is greater than or equal to the first preset stroke and less than the second preset stroke, then the pilot pressure is determined to be the first preset pilot pressure;

[0182] If it is determined that the action stroke in the action signal is greater than or equal to the second preset stroke and less than the third preset stroke, then it is determined that the pilot pressure is greater than the first preset pilot pressure and less than the second preset pilot pressure;

[0183] If it is determined that the action stroke in the action signal is greater than or equal to the third preset stroke and less than or equal to the fourth preset stroke, the pilot pressure is determined to be the second preset pilot pressure.

[0184] In a possible implementation, the first determining module 402 includes:

[0185] Obtaining the relationship between the pilot pressure and the main pump proportional solenoid valve current; wherein the relationship between the pilot pressure and the main pump proportional solenoid valve current represents how the main pump proportional solenoid valve current changes with changes in the pilot pressure;

[0186] The first current value of the main pump proportional solenoid valve is determined according to the relationship between the pilot pressure and the current of the main pump proportional solenoid valve and the pilot pressure.

[0187] In one possible implementation, the relationship between the pilot pressure and the main pump proportional solenoid valve current includes:

[0188] If it is determined that the pilot pressure is greater than or equal to the first preset pilot pressure and less than the third preset pilot pressure, the main pump proportional solenoid valve current is determined to be the first preset main pump proportional solenoid valve current;

[0189] If it is determined that the pilot pressure is greater than or equal to the third preset pilot pressure and less than the fourth preset pilot pressure, then it is determined that the main pump proportional solenoid valve current is greater than the first preset main pump proportional solenoid valve current and less than the second preset main pump proportional solenoid valve current;

[0190] If it is determined that the pilot pressure is greater than or equal to the fourth preset pilot pressure and less than or equal to the second preset pilot pressure, the main pump proportional solenoid valve current is determined to be the second preset main pump proportional solenoid valve current.

[0191] In a possible implementation, the first determining module 402 includes:

[0192] Obtaining a relationship between the pilot pressure and the main valve proportional solenoid valve current; wherein the relationship between the pilot pressure and the main valve proportional solenoid valve current represents a change in the main valve proportional solenoid valve current with a change in the pilot pressure;

[0193] The second current value of the main valve proportional solenoid valve is determined according to the relationship between the pilot pressure and the current of the main valve proportional solenoid valve and the pilot pressure.

[0194] In one possible implementation, the relationship between the pilot pressure and the main valve proportional solenoid valve current includes:

[0195] If it is determined that the pilot pressure is greater than or equal to the first preset pilot pressure and less than the fifth preset pilot pressure, the main valve proportional solenoid valve current is the first preset main valve proportional solenoid valve current;

[0196] If it is determined that the pilot pressure is greater than or equal to the fifth preset pilot pressure and less than the sixth preset pilot pressure, then it is determined that the main valve proportional solenoid valve current is greater than the first preset main valve proportional solenoid valve current and less than the second preset main valve proportional solenoid valve current;

[0197] If it is determined that the pilot pressure is greater than or equal to the sixth preset pilot pressure and less than or equal to the second preset pilot pressure, the main valve proportional solenoid valve current is determined to be the second preset main valve proportional solenoid valve current.

[0198] In a possible implementation, the second determining module 403 includes:

[0199] Determine the displacement of the main pump proportional solenoid valve according to the first current value; determine the valve opening of the main valve proportional solenoid valve according to the second current value; wherein the displacement represents the displacement of the hydraulic oil output by the main pump; and the valve opening represents the degree of opening of the main valve proportional solenoid valve;

[0200] The control signal is determined according to the action signal, the displacement of the main pump proportional solenoid valve, and the valve opening of the main valve proportional solenoid valve.

[0201] The present embodiment provides a hydraulic control device based on full electronic control, which can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and are not described in detail in this embodiment.

[0202] An embodiment of the present application provides a controller, which is disposed in an electric engineering machine and is used to execute the above-mentioned method.

[0203] Figure 5 A schematic diagram of the structure of an electric engineering machine is provided for the embodiment of the present application. Figure 1 ,like Figure 5 As shown, the electric engineering machinery 50 provided in this embodiment is provided with the above-mentioned controller 501; wherein, the controller 501 is connected to at least one electric control handle 502, a pilot pump 503, a main pump proportional solenoid valve 504, and a main valve proportional solenoid valve 505 in the electric engineering machinery 50.

[0204] Figure 6 A schematic diagram of the structure of an electric engineering machine is provided for the embodiment of the present application. Figure 2 ,like Figure 6As shown, the electric engineering machinery 50 provided in this embodiment is provided with the controller 501 as above; wherein, the controller 501 is connected to at least one electric control handle 502, a pilot pump 503, a main pump proportional solenoid valve 504, a main valve proportional solenoid valve 505, and a main valve 2 proportional solenoid valve 5051 in the electric engineering machinery 50.

[0205] Figure 7 This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present application. Figure 7 As shown, the electronic device 70 provided in this embodiment includes: at least one processor 701 and a memory 602. Optionally, the device 70 further includes a communication component 703. The processor 701, the memory 702 and the communication component 703 are connected via a bus 704.

[0206] During the specific implementation process, at least one processor 701 executes the computer-executable instructions stored in the memory 702, so that the at least one processor 701 performs the above method.

[0207] The specific implementation process of the processor 701 can be found in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0208] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASICs), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules in the processor.

[0209] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0210] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified into address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0211] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0212] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0213] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0214] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in a device as discrete components.

[0215] The division of units is merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

[0216] Units described as separate components may or may not be physically separate, and 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.

[0217] In addition, each functional unit in each embodiment of the present invention 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.

[0218] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, 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 various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0219] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0220] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A hydraulic control method based on full electronic control, characterized in that: The method comprises: Acquiring an action signal output by an electric control handle in the electric engineering machine; wherein the action signal represents an action that the electric engineering machine needs to perform; Determine a pilot pressure value of a pilot pump in the electric engineering machinery based on the action signal; determine a first current value of a main pump proportional solenoid valve and a second current value of a main valve proportional solenoid valve in the electric engineering machinery based on the pilot pressure; wherein the pilot pressure value represents the hydraulic oil pressure generated by the pilot pump; the first current value is used to control the hydraulic oil displacement of the main pump proportional solenoid valve; and the second current value is used to control the valve opening of the main valve proportional solenoid valve; A control signal is determined according to the action signal, the first current value, and the second current value; wherein the control signal is used to control the electric engineering machine to execute the action of the electric control handle.

2. The method according to claim 1, characterized in that Determining the pilot pressure value of the pilot pump in the electric engineering machine according to the action signal includes: Obtaining the relationship between the action stroke and the pilot pressure in the action signal; wherein the relationship between the action stroke and the pilot pressure in the action signal represents the change of the pilot pressure with the change of the action stroke; the action stroke represents the action amplitude of the electric handle; The pilot pressure value of the pilot pump is determined according to the relationship between the operating stroke in the operating signal and the pilot pressure and the operating stroke in the operating signal.

3. The method according to claim 2, characterized in that The relationship between the action stroke and the pilot pressure in the action signal includes: If it is determined that the action stroke in the action signal is greater than or equal to the first preset stroke and less than the second preset stroke, then determining that the pilot pressure is the first preset pilot pressure; If it is determined that the action stroke in the action signal is greater than or equal to the second preset stroke and less than the third preset stroke, then it is determined that the pilot pressure is greater than the first preset pilot pressure and less than the second preset pilot pressure; If it is determined that the action stroke in the action signal is greater than or equal to the third preset stroke and less than or equal to the fourth preset stroke, the pilot pressure is determined to be the second preset pilot pressure.

4. The method according to claim 1, wherein Determining a first current value of a main pump proportional solenoid valve according to the pilot pressure includes: Obtaining a relationship between the pilot pressure and the main pump proportional solenoid valve current; wherein the relationship between the pilot pressure and the main pump proportional solenoid valve current represents a change in the main pump proportional solenoid valve current with a change in the pilot pressure; A first current value of the main pump proportional solenoid valve is determined according to the relationship between the pilot pressure and the current of the main pump proportional solenoid valve and the pilot pressure.

5. The method according to claim 4, characterized in that The relationship between the pilot pressure and the main pump proportional solenoid valve current includes: If it is determined that the pilot pressure is greater than or equal to the first preset pilot pressure and less than the third preset pilot pressure, then the main pump proportional solenoid valve current is determined to be the first preset main pump proportional solenoid valve current; If it is determined that the pilot pressure is greater than or equal to the third preset pilot pressure and less than the fourth preset pilot pressure, then it is determined that the main pump proportional solenoid valve current is greater than the first preset main pump proportional solenoid valve current and less than the second preset main pump proportional solenoid valve current; If it is determined that the pilot pressure is greater than or equal to the fourth preset pilot pressure and less than or equal to the second preset pilot pressure, the main pump proportional solenoid valve current is determined to be the second preset main pump proportional solenoid valve current.

6. The method according to claim 1, characterized in that Determining a second current value of a proportional solenoid valve of a main valve according to the pilot pressure includes: Obtaining a relationship between a pilot pressure and a main valve proportional solenoid valve current; wherein the relationship between the pilot pressure and the main valve proportional solenoid valve current represents a change in the main valve proportional solenoid valve current with a change in the pilot pressure; A second current value of the main valve proportional solenoid valve is determined according to the relationship between the pilot pressure and the current of the main valve proportional solenoid valve and the pilot pressure.

7. The method according to claim 6, characterized in that The relationship between the pilot pressure and the main valve proportional solenoid valve current includes: If it is determined that the pilot pressure is greater than or equal to the first preset pilot pressure and less than the fifth preset pilot pressure, then determining that the main valve proportional solenoid valve current is the first preset main valve proportional solenoid valve current; If it is determined that the pilot pressure is greater than or equal to the fifth preset pilot pressure and less than the sixth preset pilot pressure, then it is determined that the main valve proportional solenoid valve current is greater than the first preset main valve proportional solenoid valve current and less than the second preset main valve proportional solenoid valve current; If it is determined that the pilot pressure is greater than or equal to the sixth preset pilot pressure and less than or equal to the second preset pilot pressure, the main valve proportional solenoid valve current is determined to be the second preset main valve proportional solenoid valve current.

8. The method according to any one of claims 1 to 7, characterized in that Determining a control signal according to the action signal, the first current value, and the second current value includes: Determine the displacement of the main pump proportional solenoid valve according to the first current value; determine the valve opening of the main valve proportional solenoid valve according to the second current value; wherein the displacement represents the displacement of the hydraulic oil output by the main pump; and the valve opening represents the degree of opening of the main valve proportional solenoid valve; A control signal is determined according to the action signal, the displacement of the main pump proportional solenoid valve, and the valve opening of the main valve proportional solenoid valve.

9. A controller, characterized in that: The controller is provided in an electric engineering machine, and is used to execute the method according to any one of claims 1 to 8.

10. An electric engineering machine, characterized in that: The electric engineering machine is provided with a controller according to claim 9; The controller is connected to at least one electric control handle, a pilot pump, a main pump proportional solenoid valve, and a main valve proportional solenoid valve in the electric engineering machinery.

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