Dynamic efficiency matching and control method and system for pure electric land leveler

Abstract

The invention belongs to the technical field of mechanical engineering and electric machine control, and provides a dynamic efficiency matching and control method and system for a pure electric land leveler. The method comprises the steps of judging a braking state according to a braking button signal; when the braking state is a release state, the handle longitudinal potentiometer is in a non-neutral position, and the gear is a non-neutral gear, the motor instruction rotating speed is calculated according to a voltage signal of the handle longitudinal potentiometer; when the gear is the set low gear, the handle steering is effective, the steering valve control current is calculated according to the handle transverse voltage, whether a rising edge exists when the steering wheel leaves the neutral position or not is detected in real time, if yes, the steering wheel steering is effective, and the steering valve control current is calculated according to the steering wheel angle return voltage; and when the gear is a high-fixed-low gear, the steering wheel is effective in steering, and the steering valve control current is calculated according to the steering wheel angle return voltage.

Description

Technical Field

[0001] This invention belongs to the field of mechanical engineering and electric machine control technology, and in particular relates to a dynamic performance matching and control method and system for a pure electric grader. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Electric graders primarily rely on motors to achieve speed regulation, direction control, and load handling. Traditional control systems typically manage these functions using preset parameters, but this approach often fails to provide optimal efficiency and performance when faced with changing working conditions and load requirements. Particularly in terms of parameter matching between the working motor and the load equipment (such as load-sensitive pumps), fixed control strategies cannot adapt to real-time changes in the environment and load, resulting in low energy efficiency and slow response times. Summary of the Invention

[0004] In order to solve at least one of the technical problems existing in the background art, the present invention provides a method and system for dynamic performance matching and control of pure electric graders, which can maximize energy efficiency and optimize performance.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: The first aspect of the present invention provides a method for dynamic performance matching and control of a pure electric grader.

[0006] A method for dynamic performance matching and control of a pure electric grader, comprising: Determine the braking status based on the brake button signal; When the brake is released, the longitudinal potentiometer on the handle is not in the neutral position, and the gear is not in neutral, the motor command speed is calculated based on the voltage signal of the longitudinal potentiometer on the handle. When the gear is set to low gear, the steering wheel is active. The steering valve control current is calculated based on the lateral voltage of the steering wheel. The system detects in real time whether there is a rising edge when the steering wheel leaves the center position. If there is, the steering wheel is active. The steering valve control current is calculated based on the steering wheel angle return voltage. When the gear is set to high gear, the steering wheel is active. The steering valve control current is calculated based on the steering wheel angle return voltage. The system determines whether the motor is overloaded based on the feedback current from the drive motor. If overloaded, it activates the limit load control to reduce the motor speed; otherwise, it directly outputs a speed command to the motor.

[0007] As one implementation method, during the initiation of ultimate load control, the motor output torque reaches the maximum torque corresponding to the current speed, and the motor speed begins to decrease in order to obtain a greater output torque until the output torque is equal to the load.

[0008] As one implementation method, during the initiation of ultimate load control, the motor speed is controlled by an automatic speed regulation method for the working motor based on optimal efficiency.

[0009] As one implementation method, the process of controlling the motor speed using the optimal efficiency-based automatic speed control method is as follows: Simulate and calculate the efficiency of all motors and pumps within the motor speed range at a preset fixed step size; Find the motor speed that corresponds to the maximum product of motor efficiency and pump efficiency, and use it as the optimal motor speed.

[0010] As one implementation method, when the braking state is not released, a command is issued to set the driving motor speed to 0 and the steering valve control current to 0. In one implementation, when the longitudinal potentiometer of the handle is in the neutral position, a command is issued that the speed of the drive motor is 0 and the control current of the steering valve is 0.

[0011] In one implementation, when the brake is released, the longitudinal potentiometer of the handle is in the non-neutral position, and the gear is in neutral, a command is issued that the speed of the drive motor is 0 and the control current of the steering valve is 0.

[0012] As one implementation method, the formula for calculating the steering valve control current is:

[0013]

[0014] in, and These are the currents for the left steering valve and the right steering valve, respectively. To set the vehicle speed; 、 、 、 、 These represent the slopes of the low-sensitivity zone for left-turning, the slope of the high-sensitivity zone for left-turning, the median slope of the left-turning sensitivity zone, the slope of the low-sensitivity zone for right-turning, and the slope of the high-sensitivity zone for right-turning, respectively. 、 These are respectively setting the first current value and setting the second current value; For the handle voltage; and These are the lower and upper limits of the low-sensitivity region, respectively. For driving speed; when or When, it is the low-sensitivity area; when or This is the high-sensitivity zone; and These are the lower and upper limits of the median dead zone, respectively. and These are the lower and upper limits of the high-sensitivity region, respectively. This represents the maximum current value.

[0015] A second aspect of the present invention provides a dynamic performance matching and control system for a pure electric grader.

[0016] A dynamic performance matching and control system for a pure electric grader includes: The braking status determination module is used to determine the braking status based on the brake button signal. The motor command speed calculation module is used to calculate the motor command speed based on the voltage signal of the handle longitudinal potentiometer when the braking state is released, the handle longitudinal potentiometer is in the non-neutral position, and the gear is not in neutral. The steering valve control current calculation module is used to calculate the steering valve control current based on the lateral voltage of the steering wheel when the gear is set to low gear and the steering wheel is active. It also detects in real time whether there is a rising edge when the steering wheel leaves the center position. If there is, the steering wheel is active and the steering valve control current is calculated based on the voltage returned from the steering wheel angle. When the gear is set to high gear and the steering wheel is active, the steering valve control current is calculated based on the voltage returned from the steering wheel angle. The speed command output module is used to determine whether there is an overload based on the feedback current of the driving motor. When there is an overload, the limit load control is activated to reduce the motor speed; otherwise, the speed command is directly output to the motor.

[0017] A third aspect of the present invention provides a computer-readable storage medium.

[0018] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described method for dynamic performance matching and control of a pure electric grader.

[0019] A fourth aspect of the present invention provides a computer program product.

[0020] A computer program product includes a computer program / instructions that, when executed by a processor, implement the steps in the above-described method for dynamic performance matching and control of a pure electric grader.

[0021] The fifth aspect of the present invention provides a pure electric grader.

[0022] A pure electric grader includes a grader body and a circuit control device mounted on the grader body. The circuit control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in the pure electric grader dynamic performance matching and control method described above.

[0023] Compared with the prior art, the beneficial effects of the present invention are: (1) The present invention determines the motor command speed based on the braking state, the voltage of the longitudinal potentiometer of the handle and the gear position, and determines the effectiveness of the handle steering and steering wheel steering based on different gear positions. Then, it controls the motor speed by combining the overload situation judged by the feedback current of the drive motor. This achieves the goal of real-time analysis of working conditions and load requirements, automatic adjustment of motor speed and other key parameters, so as to maximize energy efficiency and optimize performance.

[0024] (2) The present invention uses an automatic speed control method for working motors based on optimal efficiency to control the motor speed. By simulating and calculating all motor efficiencies and pump efficiencies corresponding to a preset fixed step size within the motor speed range, the motor speed corresponding to the maximum product of motor efficiency and pump efficiency is found, ensuring that optimal efficiency can be achieved under different operating conditions, thereby improving the operating efficiency and adaptability of the pure electric grader.

[0025] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0027] Figure 1 This is a simplified schematic diagram of the power transmission and single-motor independent drive driving system scheme according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the control handle according to an embodiment of the present invention; Figure 3 This is a diagram showing the relationship between the steering valve control current and the left handle lateral potentiometer in an embodiment of the present invention. Figure 4 This is a diagram showing the relationship between the control current of the hinged valve and the torsion potentiometer of the left handle in an embodiment of the present invention. Figure 5 Figure 1 shows the ultimate load control process according to an embodiment of the present invention; Figure 6Figure 2 shows the ultimate load control process according to an embodiment of the present invention; Figure 7 This is a flowchart of the automatic speed control of the working motor based on optimal efficiency according to an embodiment of the present invention; Figure 8 This is a connection diagram of the working motor and load-sensitive pump according to an embodiment of the present invention; Figure 9 This is a flowchart of the dynamic performance matching and control method for a pure electric grader according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the dynamic performance matching and control system for a pure electric grader according to an embodiment of the present invention. Detailed Implementation

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0029] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0030] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0031] like Figure 1 As shown, the power source of the grader in this embodiment of the invention is a battery pack composed of multiple battery packs, equipped with an external charging interface to support fast charging. The power battery pack is connected to the power system through a motor drive controller, thereby driving the motor. The motor is connected to a two-speed gearbox, which is connected to the drive axle. This connection facilitates steering, eliminates parasitic power, and provides good straight-line driving performance. The two-speed gearbox also allows for better matching performance, enabling the drive motor to operate in a more efficient range, thus improving transmission efficiency.

[0032] like Figure 2 As shown, a dual-handle control system is adopted, integrating the complex operation of the grader into two control handles. The movement of the machine is controlled by moving and rotating the handles, and steering and articulated steering are achieved through buttons on the handles.

[0033] like Figure 9 As shown, this embodiment of the invention provides a method for dynamic performance matching and control of a pure electric grader, including: Step 1: Determine the braking status based on the brake button signal.

[0034] In practice, the braking status is determined based on whether there is a brake button signal. When a brake button signal is present, the brake status is determined to be released. If there is no brake button signal, the braking status is determined to be non-released.

[0035] Step 2: When the brake is released, the longitudinal potentiometer on the handle is not in the neutral position, and the gear is not in neutral, calculate the motor command speed based on the voltage signal from the longitudinal potentiometer on the handle.

[0036] Specifically, when the braking state is not released, a command is issued to set the driving motor speed to 0 and the steering valve control current to 0. When the longitudinal potentiometer of the handle is in the neutral position, it issues a command that the speed of the drive motor is 0 and the control current of the steering valve is 0.

[0037] When the brake is released, the longitudinal potentiometer on the handle is in the non-neutral position, and the gear is in neutral, a command is issued that the speed of the drive motor is 0 and the control current of the steering valve is 0.

[0038] Step 3: When the gear is set to low gear, the steering wheel is active. The steering valve control current is calculated based on the lateral voltage of the steering wheel. The system detects in real time whether there is a rising edge when the steering wheel leaves the center position. If there is, the steering wheel is active. The steering valve control current is calculated based on the voltage returned from the steering wheel angle. When the gear is set to high gear, the steering wheel is active. The steering valve control current is calculated based on the voltage returned from the steering wheel angle.

[0039] like Figure 3 As shown, due to the small swing stroke of the handle, it is usually only The grader's direction of travel is highly sensitive to changes in the handlebar position. Therefore, to avoid affecting steering stability and handling accuracy at high speeds, handlebar steering is only used when the grader is operating at low speeds (e.g., 0-15 km / h). When using a steering wheel, the wheel can rotate over a wider range, and changes in direction are less sensitive to changes in the steering wheel angle. Therefore, using the steering wheel at high speeds (e.g., 15-48 km / h) ensures vehicle steering stability, safety, and handling accuracy. The control system determines steering requirements by detecting the voltage of the lateral potentiometer on the left handlebar and, through a steering control algorithm, sends a calculated current to the corresponding solenoid in the steering valve. The magnitude of the steering valve current is related to the steering potentiometer voltage, steering sensitivity, and current travel speed.

[0040] The following is the formula for calculating the control current of the steering valve:

[0041]

[0042] in, and These are the currents for the left steering valve and the right steering valve, respectively. To set the vehicle speed, for example, 3 km / h; 、 、 、 、 These represent the slopes of the low-sensitivity zone for left-turning, the slope of the high-sensitivity zone for left-turning, the median slope of the left-turning sensitivity zone, the slope of the low-sensitivity zone for right-turning, and the slope of the high-sensitivity zone for right-turning. All of these slopes are related to current and voltage. 、 These are respectively setting the first current value and setting the second current value; For the handle voltage; and These are the lower and upper limits of the low-sensitivity region, respectively. For driving speed ； and These are the lower and upper limits of the median dead zone, respectively. and These are the lower and upper limits of the high-sensitivity region, respectively. This represents the maximum current value. Among them, the handle voltage required for handle steering. The response is a piecewise proportional change: When the handle voltage is in the middle dead zone At that time, there was no response; When the handle voltage or At this time, the response sensitivity is low, which is the low sensitivity region; When the handle voltage or At this time, the response sensitivity is relatively high, which is the high sensitivity region; Driving speed is At that time, the grader travels at a lower speed, and the response current value for the same handle voltage is smaller; travel speed At that time, as the grader's speed increases, the response current value for the same handle voltage is larger; among them, The setting can be customized according to the actual situation, such as 3km / h.

[0043] Depending on the wiring and control methods of the steering valve, each control parameter can be set according to specific circumstances, thereby obtaining the function equations for each proportional line segment. The relationship between sensitivity range, vehicle speed, and slope is shown in Table 1. Table 1. Relationship between sensitivity range, vehicle speed, and slope

[0044] Specifically, the lateral potentiometer has a range of 0.5-4.5V, with low sensitivity responding to voltage increments of 0.1V and high sensitivity responding to voltage increments of 0.05V.

[0045] like Figure 4 As shown, articulated (bending) steering is achieved by twisting the left handle, and the control current of the articulation valve is related to the degree of twisting of the left handle. Figure 5 and 6 As shown, when a grader is operating, if the motor's output power can meet the load requirements, the motor can operate at the set speed. When the load exceeds a certain limit, the motor will slow down, and the current will continue to increase, causing the motor to overheat and even enter a "stall state," which can damage the motor. Therefore, limit load control is necessary. This adjustment process can be completed through the motor controller or the main controller.

[0046] Step 4: Determine if there is an overload based on the feedback current of the drive motor. If there is an overload, activate the limit load control to reduce the motor speed; otherwise, directly output a speed command to the motor.

[0047] In the actual implementation process, it responds to speed commands and outputs a constant speed. When the load increases, it automatically increases the motor output torque until it reaches the maximum torque under the commanded speed. When the load increases to a certain level, for example, when the load torque increases to equal or close to the maximum torque (T_max(ω)) that the motor can provide at the current speed, and continues to operate at 70%... Once the motor output torque reaches the maximum torque corresponding to the current speed, the motor speed begins to decrease in order to obtain a greater output torque, until the output torque equals the load. If the load decreases, the motor will adjust in the opposite way, gradually increasing the speed until it returns to the set speed.

[0048] During the initiation of ultimate load control, the motor output torque reaches the maximum torque corresponding to the current speed, and the motor speed begins to decrease in order to obtain a greater output torque until the output torque is equal to the load.

[0049] During the initiation of ultimate load control, the motor speed is controlled using an automatic speed regulation method based on optimal efficiency. Specifically, the process of controlling the motor speed using this method is as follows: Simulate and calculate the efficiency of all motors and pumps within the motor speed range at a preset fixed step size; Find the motor speed that corresponds to the maximum product of motor efficiency and pump efficiency, and use it as the optimal motor speed.

[0050] The speed is reduced slightly during the first controller scan cycle after the ultimate load occurs. In the next controller cycle, the system continues to check whether the load remains at the limit load. If it does, the control cycle will decrease by one cycle. Until the ultimate load condition is lifted.

[0051] like Figure 7 and Figure 8 As shown, the principle of automatic speed control of the working motor based on optimal efficiency is: to increase the motor efficiency generated by the speed of all motors. and LS pump efficiency The simulation is performed, and then an optimal value is found from the results. Here Below, the product of the efficiency of the working motor and the LS pump. The rotational speed reaches its maximum. Since the rotational speed is a continuous value, its range can be defined and discretized to reduce computational load, which has little impact on the result.

[0052] motor speed These are the variables that need to be traversed in the optimization algorithm. To simplify the calculation, the rotation speed can be started from the minimum. To the maximum A value is taken at fixed intervals within the range, for example, a step size of 100 rpm. It is a discrete array The minimum rotational speed can be determined by the flow rate requirement. The flow requirement is calculated based on the pump's maximum displacement. The flow rate requirement can be calculated by detecting the driver's actions and using the corresponding hydraulic cylinder parameters. For example, if the driver performs a complex action consisting of N movements, the flow rate requirement is... .

[0053] motor operating torque From the formula The efficiency of the working motor is calculated. Its operating speed and working torque Related. According to and Find the motor efficiency in the motor efficiency map. LS pump operating speed LS pump operating displacement It is a self-adjusting quantity based on flow demand and load pressure, and can be adjusted according to... The operating pressure of the LS pump was calculated. As measured by the pressure sensor, the efficiency of the LS pump is related to its operating displacement. Operating speed and work pressure The correlation is used to calculate the efficiency of the LS pump. The overall efficiency of the working device drive system is... .

[0054] Because pressure variations are significant and highly random, and because it relies on sensors, the above method can be tailored for simplification and to meet engineering needs. For example, instead of detecting the current pressure signal, a typical pressure value can be taken. The rest of the process is the same.

[0055] like Figure 10 As shown, this embodiment of the invention provides a dynamic performance matching and control system for a pure electric grader, comprising: The braking status determination module is used to determine the braking status based on the brake button signal. The motor command speed calculation module is used to calculate the motor command speed based on the voltage signal of the handle longitudinal potentiometer when the braking state is released, the handle longitudinal potentiometer is in the non-neutral position, and the gear is not in neutral. The steering valve control current calculation module is used to calculate the steering valve control current based on the lateral voltage of the steering wheel when the gear is set to low gear and the steering wheel is active. It also detects in real time whether there is a rising edge when the steering wheel leaves the center position. If there is, the steering wheel is active and the steering valve control current is calculated based on the voltage returned from the steering wheel angle. When the gear is set to high gear and the steering wheel is active, the steering valve control current is calculated based on the voltage returned from the steering wheel angle. The speed command output module is used to determine whether there is an overload based on the feedback current of the driving motor. When there is an overload, the limit load control is activated to reduce the motor speed; otherwise, the speed command is directly output to the motor.

[0056] It should be noted that each module in the dynamic performance matching and control system of the pure electric grader corresponds one-to-one with each step in the dynamic performance matching and control method of the pure electric grader described above, and their specific implementation processes are the same, so they will not be repeated here.

[0057] In one or more embodiments, a pure electric grader is also provided, including a grader body and a circuit control device mounted on the grader body. The circuit control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the above-described... Figure 9 The steps in the dynamic performance matching and control method of the pure electric grader are shown.

[0058] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit, it performs the various functions defined in the apparatus of this application.

[0059] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0060] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for dynamic performance matching and control of a pure electric grader, characterized in that, include: Determine the braking status based on the brake button signal; When the brake is released, the longitudinal potentiometer on the handle is not in the neutral position, and the gear is not in neutral, the motor command speed is calculated based on the voltage signal of the longitudinal potentiometer on the handle. When the gear is set to low gear, the steering wheel is active. The steering valve control current is calculated based on the lateral voltage of the steering wheel. The system detects in real time whether there is a rising edge when the steering wheel leaves the center position. If there is, the steering wheel is active. The steering valve control current is calculated based on the steering wheel angle return voltage. When the gear is set to high gear, the steering wheel is active. The steering valve control current is calculated based on the steering wheel angle return voltage. The system determines whether the motor is overloaded based on the feedback current from the drive motor. If overloaded, it activates the limit load control to reduce the motor speed; otherwise, it directly outputs a speed command to the motor.

2. The dynamic performance matching and control method for a pure electric grader as described in claim 1, characterized in that, During the initiation of ultimate load control, the motor output torque reaches the maximum torque corresponding to the current speed, and the motor speed begins to decrease in order to obtain a greater output torque until the output torque is equal to the load.

3. The dynamic performance matching and control method for a pure electric grader as described in claim 1, characterized in that, During the initiation of ultimate load control, the motor speed is controlled by an automatic speed regulation method based on optimal efficiency of the working motor.

4. The dynamic performance matching and control method for a pure electric grader as described in claim 3, characterized in that, The process of controlling motor speed using the optimal efficiency-based automatic speed control method is as follows: Simulate and calculate the efficiency of all motors and pumps within the motor speed range at a preset fixed step size; Find the motor speed that corresponds to the maximum product of motor efficiency and pump efficiency, and use it as the optimal motor speed.

5. The dynamic performance matching and control method for a pure electric grader as described in claim 1, characterized in that, When the braking state is not released, a command is issued to set the driving motor speed to 0 and the steering valve control current to 0. Or, when the longitudinal potentiometer of the handle is in the neutral position, a command is issued that the speed of the drive motor is 0 and the control current of the steering valve is 0. Alternatively, when the brake is released, the longitudinal potentiometer on the handle is in the non-neutral position, and the gear is in neutral, a command is issued that the speed of the drive motor is 0 and the control current of the steering valve is 0.

6. The dynamic performance matching and control method for a pure electric grader as described in claim 1, characterized in that, Formula for calculating the control current of the steering valve: in, and These are the currents for the left steering valve and the right steering valve, respectively. To set the vehicle speed; 、 、 、 、 These represent the slopes of the low-sensitivity zone for left-turning, the slope of the high-sensitivity zone for left-turning, the median slope of the left-turning sensitivity zone, the slope of the low-sensitivity zone for right-turning, and the slope of the high-sensitivity zone for right-turning, respectively. 、 These are respectively setting the first current value and setting the second current value; For the handle voltage; and These are the lower and upper limits of the low-sensitivity region, respectively. For driving speed; when or When, it is the low-sensitivity area; when or This is the high-sensitivity zone; and These are the lower and upper limits of the median dead zone, respectively. and These are the lower and upper limits of the high-sensitivity region, respectively. This represents the maximum current value.

7. A dynamic performance matching and control system for a pure electric grader, characterized in that, include: The braking status determination module is used to determine the braking status based on the brake button signal. The motor command speed calculation module is used to calculate the motor command speed based on the voltage signal of the handle longitudinal potentiometer when the braking state is released, the handle longitudinal potentiometer is in the non-neutral position, and the gear is not in neutral. The steering valve control current calculation module is used to calculate the steering valve control current based on the lateral voltage of the steering wheel when the gear is set to low gear and the steering wheel is active. It also detects in real time whether there is a rising edge when the steering wheel leaves the center position. If there is, the steering wheel is active and the steering valve control current is calculated based on the voltage returned from the steering wheel angle. When the gear is set to high gear and the steering wheel is active, the steering valve control current is calculated based on the voltage returned from the steering wheel angle. The speed command output module is used to determine whether there is an overload based on the feedback current of the driving motor. When there is an overload, the limit load control is activated to reduce the motor speed; otherwise, the speed command is directly output to the motor.

8. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the steps in the dynamic performance matching and control method for a pure electric grader as described in any one of claims 1-6.

9. A computer program product, characterized in that, It includes a computer program / instruction that, when executed by a processor, implements the steps in the dynamic performance matching and control method for a pure electric grader as described in any one of claims 1-6.

10. A pure electric grader, characterized in that, The method includes a grader body and a circuit control device mounted on the grader body. The circuit control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in the dynamic performance matching and control method for a pure electric grader as described in any one of claims 1-6.

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