A method and device for controlling the travel performance of an excavator

Abstract

The application relates to the technical field of engineering machinery control, and discloses a walking performance control method and device of an excavator, the method comprising the following steps: acquiring a current opening degree of an electronic accelerator pedal; determining a control parameter group corresponding to a predetermined walking mode, wherein the control parameter group at least comprises a current change rate parameter and a starting current; calculating a target walking proportional current value at a current time based on the current opening degree, the control parameter group, a target time period accumulated since a starting time of the excavator and a predetermined time domain function; and outputting the target walking proportional current value to a walking proportional electromagnetic valve to control the walking acceleration of the excavator. It can be seen that the application can improve the working condition adaptability and flexibility of the walking performance control of the excavator.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery control technology, and in particular to a method and device for controlling the walking performance of an excavator. Background Technology

[0002] Walking performance is one of the key performance indicators of wheeled hydraulic excavators, which is directly related to the overall machine's operability, operating efficiency, and user experience.

[0003] Currently, the travel control methods used in hydraulic wheeled excavators are mostly based on a fixed mapping relationship between the throttle opening and the target engine speed, established during pre-tuning. However, practice has revealed significant shortcomings in this traditional control method. First, its control strategy is simplistic; once the mapping relationship is set, the machine's travel characteristics (such as rapid or gentle starts, and acceleration speed) are fixed, lacking adjustability. This makes the machine unable to adapt to complex and ever-changing work scenarios. For example, in confined spaces requiring precise operation, users may desire a gentle start and gradual acceleration for accurate positioning, which current technology struggles to meet. Similarly, during site transitions, users may desire rapid response and efficient travel, and a fixed mode cannot provide the optimal experience.

[0004] Therefore, it is particularly important to propose a technical solution to improve the working condition adaptability and flexibility of excavator travel performance control. Summary of the Invention

[0005] This invention provides a method and apparatus for controlling the walking performance of an excavator, which can improve the adaptability and flexibility of the walking performance control of the excavator under working conditions.

[0006] To address the aforementioned technical problems, the first aspect of this invention discloses a method for controlling the walking performance of an excavator, the method comprising: Get the current opening of the electronic throttle pedal; Determine a set of control parameters corresponding to a predetermined walking mode, wherein the set of control parameters includes at least a current change rate parameter and a starting current; Based on the current opening degree, the control parameter group, the target time period accumulated from the start time of the excavator, and the predetermined time domain function, calculate the target travel proportional current value at the current moment; The target travel ratio current value is output to the travel ratio solenoid valve to control the travel acceleration of the excavator.

[0007] As an optional implementation, in a first aspect of the invention, the predetermined time-domain function is used to determine the relationship between the target travel proportional current value and time based on the current opening degree, the control parameter set, and the target time period; the step of calculating the target travel proportional current value at the current moment based on the current opening degree, the control parameter set, the target time period accumulated from the start time of the excavator, and the predetermined time-domain function includes: A nonlinear transformation is performed on the current opening to obtain a nonlinear opening value; Determine the linearity coefficients associated with the control parameter set, the linearity coefficients being used to characterize the dynamic adjustable range of the target travel proportional current value relative to the current opening degree; Based on the current change rate parameter, the linearity coefficient, the nonlinear opening value, and the target time period, calculate the target current change component corresponding to the current opening. The target travel ratio current value at the current moment is calculated based on the target current change component and the starting current.

[0008] As an optional implementation, in the first aspect of the present invention, calculating the target current change component corresponding to the current opening degree based on the current change rate parameter, the linearity coefficient, the nonlinear opening value, and the target time period includes: Based on the current change rate parameter, the linearity coefficient and the nonlinear opening value, the reference current change component corresponding to the walking mode is calculated. The reference current change component is used to represent the theoretical change of the target walking ratio current value in the walking mode and per unit time. Based on the reference current change component and the target time period, the current initial current change component of the excavator is calculated. The current initial current change component is used to represent the theoretical cumulative change of the target travel ratio current value from the starting moment. Based on the initial current change component and the preset program running cycle, the target current change component corresponding to the current opening degree is calculated. The program running cycle is used to define the control timing reference for calculating the target travel proportional current value.

[0009] As an optional implementation, in the first aspect of the invention, determining the linearity coefficients associated with the control parameter set includes: Obtain the preset maximum allowable current value corresponding to the walking mode; Calculate the linearity coefficients associated with the control parameter set based on the maximum allowable current value and the starting current.

[0010] As an optional implementation, in the first aspect of the present invention, the method further includes: Determine the target value of the main pump control proportional current corresponding to the walking mode; Based on the current change rate parameter, the change rate of the main pump control proportional current is determined. Based on the target value and rate of change of the main pump control proportional current, a main pump control current signal is generated; The main pump control current signal is output to the main pump proportional solenoid valve to control the output power of the main pump to match the walking acceleration.

[0011] As an optional implementation, in the first aspect of the present invention, determining the rate of change of the main pump control proportional current based on the current change rate parameter includes: Obtain the value of the current change rate parameter; Based on a predefined travel-pump control mapping relationship, the rate of change of the main pump control proportional current corresponding to the value of the current change rate parameter is determined. The travel-pump control mapping relationship is used to establish the correspondence between the travel system current change parameter and the main pump system current change parameter.

[0012] As an optional implementation, in the first aspect of the present invention, generating the main pump control current signal based on the target value and rate of change of the main pump control proportional current includes: Based on the rate of change of the main pump control proportional current and the target time period accumulated from the start time, calculate the main pump control current change component; The instantaneous value of the main pump control current at the current moment is determined based on the target value of the main pump control proportional current and the change component of the main pump control current. The main pump control current signal is generated based on the instantaneous value of the main pump control current.

[0013] A second aspect of the present invention discloses a travel performance control device for an excavator, the device comprising: The acquisition module is used to acquire the current opening degree of the electronic throttle pedal; A determination module is used to determine a set of control parameters corresponding to a pre-determined walking mode, wherein the set of control parameters includes at least a current change rate parameter and a starting current. The calculation module is used to calculate the target travel proportional current value at the current moment based on the current opening degree, the control parameter group, the target time period accumulated from the start time of the excavator, and a predetermined time domain function. The control module is used to output the target travel ratio current value to the travel ratio solenoid valve to control the travel acceleration of the excavator.

[0014] As an optional implementation, in a second aspect of the invention, the predetermined time-domain function is used to determine the relationship between the target travel proportional current value and time based on the current opening degree, the control parameter set, and the target time period; the specific method by which the calculation module calculates the target travel proportional current value at the current moment based on the current opening degree, the control parameter set, the target time period accumulated from the start time of the excavator, and the predetermined time-domain function includes: A nonlinear transformation is performed on the current opening to obtain a nonlinear opening value; Determine the linearity coefficients associated with the control parameter set, the linearity coefficients being used to characterize the dynamic adjustable range of the target travel proportional current value relative to the current opening degree; Based on the current change rate parameter, the linearity coefficient, the nonlinear opening value, and the target time period, calculate the target current change component corresponding to the current opening. The target travel ratio current value at the current moment is calculated based on the target current change component and the starting current.

[0015] As an optional implementation, in a second aspect of the present invention, the specific method by which the calculation module calculates the target current change component corresponding to the current opening based on the current change rate parameter, the linearity coefficient, the nonlinear opening value, and the target time period includes: Based on the current change rate parameter, the linearity coefficient and the nonlinear opening value, the reference current change component corresponding to the walking mode is calculated. The reference current change component is used to represent the theoretical change of the target walking ratio current value in the walking mode and per unit time. Based on the reference current change component and the target time period, the current initial current change component of the excavator is calculated. The current initial current change component is used to represent the theoretical cumulative change of the target travel ratio current value from the starting moment. Based on the initial current change component and the preset program running cycle, the target current change component corresponding to the current opening degree is calculated. The program running cycle is used to define the control timing reference for calculating the target travel proportional current value.

[0016] As an optional implementation, in a second aspect of the invention, the calculation module determines the linearity coefficients associated with the control parameter set in the following specific ways: Obtain the preset maximum allowable current value corresponding to the walking mode; Calculate the linearity coefficients associated with the control parameter set based on the maximum allowable current value and the starting current.

[0017] As an optional implementation, in a second aspect of the invention, the determining module is further configured to determine a target value of the main pump control proportional current corresponding to the walking mode; The determining module is further configured to determine the rate of change of the main pump control proportional current based on the current change rate parameter. The device also includes: The generation module is used to generate a main pump control current signal based on the target value and rate of change of the main pump control proportional current. The control module is also used to output the main pump control current signal to the main pump proportional solenoid valve to control the output power of the main pump to match the walking acceleration.

[0018] As an optional implementation, in a second aspect of the present invention, the specific method by which the determining module determines the rate of change of the main pump control proportional current based on the current change rate parameter includes: Obtain the value of the current change rate parameter; Based on a predefined travel-pump control mapping relationship, the rate of change of the main pump control proportional current corresponding to the value of the current change rate parameter is determined. The travel-pump control mapping relationship is used to establish the correspondence between the travel system current change parameter and the main pump system current change parameter.

[0019] As an optional implementation, in the second aspect of the present invention, the specific method by which the generation module generates the main pump control current signal based on the target value and rate of change of the main pump control proportional current includes: Based on the rate of change of the main pump control proportional current and the target time period accumulated from the start time, calculate the main pump control current change component; The instantaneous value of the main pump control current at the current moment is determined based on the target value of the main pump control proportional current and the change component of the main pump control current. The main pump control current signal is generated based on the instantaneous value of the main pump control current.

[0020] A third aspect of the present invention discloses another excavator travel performance control device, the device comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the excavator travel performance control method disclosed in the first aspect of the present invention.

[0021] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute the excavator travel performance control method disclosed in the first aspect of the present invention.

[0022] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: In this embodiment of the invention, the current opening degree of the electronic throttle pedal is obtained; a control parameter set corresponding to a pre-determined travel mode is determined, the control parameter set including at least a current change rate parameter and a starting current; based on the current opening degree, the control parameter set, the target time period accumulated from the excavator's starting moment, and a predetermined time domain function, the target travel proportional current value at the current moment is calculated; the target travel proportional current value is output to the travel proportional solenoid valve to control the excavator's travel acceleration. It is evident that implementing this invention can improve the adjustability of travel performance by configuring different control parameter sets for different travel modes, thereby allowing operators to select matching travel characteristics according to personal driving preferences or specific working conditions, thus meeting diverse user needs and achieving personalized customization of excavator travel performance. By calculating the target current value based on the current opening degree, the control parameter set, and the accumulated target time period, the accuracy of travel acceleration control is improved, thereby facilitating smooth and linear management of the excavator's starting and acceleration processes, improving the overall handling feel of the machine, achieving an upgrade from fixed speed control to variable acceleration dynamic control, and enhancing the working condition adaptability and flexibility of the excavator's travel performance control. By correlating walking performance with time variables through time-domain functions, the rigidity of walking performance control can be reduced, which helps to make the walking response more in line with the driver's dynamic operating intentions. This, in turn, helps to improve the intuitiveness and coordination of human-machine interaction and realize intelligent walking adaptive control. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart illustrating a method for controlling the walking performance of an excavator according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating another method for controlling the walking performance of an excavator disclosed in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a walking performance control device for an excavator disclosed in an embodiment of the present invention; Figure 4 This is a schematic diagram of another excavator travel performance control device disclosed in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of another excavator travel performance control device disclosed in an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] This invention discloses a method and device for controlling the travel performance of an excavator. By configuring different control parameter sets for different travel modes, the adjustability of travel performance is improved. This allows operators to select travel characteristics that match their personal driving preferences or specific working conditions, thus meeting diverse user needs and enabling personalized customization of excavator travel performance. The method improves the accuracy of travel acceleration control by calculating the target current value based on the current opening degree, control parameter set, and accumulated target time period. This facilitates smooth and linear management of the excavator's start-up and acceleration processes, improving the overall handling feel and upgrading from fixed speed control to variable acceleration dynamic control, thereby enhancing the adaptability and flexibility of the excavator's travel performance control. Furthermore, the method correlates travel performance with time variables through a time-domain function, reducing the rigidity of travel performance control. This allows the travel response to better match the driver's dynamic operating intentions, improving the intuitiveness and coordination of human-machine interaction and achieving intelligent adaptive travel control. Detailed descriptions follow.

[0029] Example 1 Please see Figure 1 , Figure 1 This is a flowchart illustrating a method for controlling the walking performance of an excavator, as disclosed in an embodiment of the present invention. Figure 1 The described method for controlling the walking performance of excavators can be applied to hydraulic wheeled construction machinery products, and also to intelligent devices associated with these products. These intelligent devices include, but are not limited to, one or more of the following: switching devices, cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and intelligent connected devices. This invention does not limit the scope of these applications. Figure 1 As shown, the method for controlling the walking performance of this excavator may include the following operations: Get the current opening of the electronic throttle pedal; In this embodiment of the invention, optionally, the acquisition of the current opening degree of the electronic accelerator pedal can be a direct input of the driver's driving intention. This can be obtained through an angle sensor or displacement sensor mounted on the pedal, whose output signal is voltage or current. This signal is read by the analog-to-digital converter (ADC) port of the main controller and mapped to a standardized opening degree value (e.g., 0% to 100%). Example: The main controller cyclically reads the signal from the accelerator pedal sensor at a fixed sampling period (e.g., 10ms), and after filtering, obtains the current opening degree P.

[0030] Determine the control parameter set corresponding to the predetermined walking mode. The control parameter set shall include at least the current change rate parameter and the starting current. In this embodiment of the invention, optionally, for the control parameter set corresponding to the determined and pre-determined walking mode: the walking mode (such as gentle, standard, sport, custom) is a macroscopic selection of performance, while the control parameter set is the specific "recipe" for achieving the performance of that mode. Among them, the "current change rate parameter" determines the speed of acceleration, and the "starting current" determines the magnitude of the power at the moment of starting, directly affecting the impact sensation. Example: On the human-machine interface of the display, the operator can select a preset mode. The main controller internally stores the parameter set corresponding to each mode. For example, when "gentle mode" is selected, the main controller calls a preset set (current change rate parameter A, starting current I0) from memory.

[0031] 103. Based on the current opening degree, control parameter group, target time period accumulated from the start time of the excavator, and predetermined time domain function, calculate the target travel proportional current value at the current moment; In this embodiment of the invention, optionally, the target travel proportional current value at the current moment is calculated based on the current opening degree, control parameter group, target time period, and predetermined time domain function: The "target time period" can refer to the accumulated time t from the start of this travel (e.g., the throttle opening changes from 0 to greater than 0). The "time domain function" describes how the target current I dynamically changes with time t and throttle opening P, i.e., I = f(P, A, I0, t), its purpose being to achieve control over acceleration (the rate of change of current) rather than just speed (the absolute value of current). Example: After detecting the start of travel, the main controller starts a timer or counter to accumulate the target time period t. Within each control cycle (i.e., program execution cycle T, e.g., 5ms), P, A, I0, and t are substituted into the time domain function to calculate the target current value I(t) that should be output at the current moment.

[0032] In this embodiment of the invention, as an optional implementation, the predetermined time-domain function is used to determine the relationship between the target travel proportional current value and time based on the current opening degree, the control parameter set, and the target time period; the calculation of the target travel proportional current value at the current moment based on the current opening degree, the control parameter set, the target time period accumulated from the excavator's start-up moment, and the predetermined time-domain function includes: Perform a nonlinear transformation on the current opening to obtain a nonlinear opening value; Determine the linearity coefficients associated with the control parameter set. These linearity coefficients characterize the dynamic adjustable range of the target travel proportional current value relative to the current opening. Based on the current change rate parameter, linearity coefficient, nonlinear opening value and target time period, calculate the target current change component corresponding to the current opening; Calculate the target travel proportional current value at the current moment based on the target current change component and the starting current.

[0033] In this embodiment of the invention, optionally, a nonlinear transformation is performed on the current throttle opening to obtain a nonlinear opening value: This improves handling intuition, allowing for more precise control at smaller throttle openings and a more rapid response at larger openings. The nonlinear transformation enhances control sensitivity in the high-opening range. This can be achieved by performing a power operation. For example, squaring the current opening P yields the nonlinear opening value P_nonlinear = P². Thus, when P = 50%, P_nonlinear = 25%; when P = 100%, P_nonlinear = 100%. This results in a smooth change in the first half of the pedal travel and a dramatic change in the second half.

[0034] Further, optionally, regarding the aforementioned linearity coefficient: this coefficient defines the maximum adjustable range of the target travel proportional current relative to the throttle opening in the current travel mode. It is essentially a scaling factor that maps the throttle opening to a reasonable current range. The linearity coefficient B can be calculated using the maximum allowable output current Imax and the starting current I0 in this mode, i.e., B = (Imax - I0) / 100%. For example, if Imax = 800mA and I0 = 100mA in a certain mode, then B = (800-100) / 100 = 7. This means that for every 1% increase in throttle opening, the maximum possible current increases by 7mA.

[0035] Alternatively, for the aforementioned calculated target current change component: this component represents the current increase required due to the accumulation of time from the initial current I0. It serves as a bridge connecting the throttle opening, time, and the final output current. A preliminary current increment can be obtained by multiplying the current change rate parameter A, the linearity coefficient B, and the nonlinear opening value P_nonlinear by time t. Then, typically considering control accuracy, this increment is normalized by dividing it by the program running period T to obtain the final target current change component ΔI. That is, ΔI = (A * B * P_nonlinear *t) / T.

[0036] Alternatively, for calculating the target travel proportional current value at the current moment, the starting reference current (I0) can be added to the time-accumulated change component (ΔI) to obtain the final control command. The calculated target current change component ΔI can be added to the starting current I0, i.e., I(t) = I0 + ΔI. Simultaneously, it is necessary to ensure that I(t) does not exceed the maximum allowable current Imax for this mode.

[0037] As can be seen, implementing this optional embodiment can improve the control sensitivity in the high-opening range by performing a nonlinear transformation on the current opening degree, thereby facilitating a stronger power response in the latter half of the accelerator pedal travel. This, in turn, helps meet the operator's power demands when rapid acceleration is required, achieving a gradient distribution of power output. Introducing a linearity coefficient to characterize the dynamic adjustable range of the current improves the clarity and systematic nature of the control system parameter definition, enabling precise correlation between the macroscopic selection of the driving mode and the microscopic range of the current output. This, in turn, helps ensure the rationality of performance boundaries under different modes, achieving standardized management of the performance range. By calculating the current change component first and then synthesizing it with the starting current, the modularity of the control logic is improved, thus decoupling the starting reference from the acceleration process, facilitating independent adjustment and optimization. This, in turn, enhances the maintainability and scalability of the control algorithm, enabling the decomposition and simplification of complex control tasks.

[0038] In this optional embodiment, as an optional implementation, the above-mentioned calculation of the target current change component corresponding to the current opening degree based on the current change rate parameter, linearity coefficient, nonlinear opening value, and target time period includes: Based on the current change rate parameter, linearity coefficient and nonlinear opening value, the reference current change component corresponding to the walking mode is calculated. The reference current change component is used to represent the theoretical change of the target walking ratio current value in the walking mode per unit time. Based on the reference current change component and the target time period, calculate the current initial current change component of the excavator. The initial current change component is used to represent the theoretical cumulative change of the target travel ratio current value from the start time. Based on the initial current change component and the preset program running cycle, the target current change component corresponding to the current opening degree is calculated. The program running cycle is used to define the control timing reference for calculating the target travel proportional current value.

[0039] In this embodiment of the invention, optionally, the above-mentioned calculation reference current change component represents the theoretical current change per unit time, without considering the time accumulation effect. It integrates the mode (A), performance boundary (B), and driver command (P_nonlinear), and is the "rate reference" for current change. The current change rate parameter A, the linearity coefficient B, and the nonlinearity value P_nonlinear can be directly multiplied, i.e., Rate_base = A * B * P_nonlinear. Its unit can be understood as mA / unit time.

[0040] Further, optionally, for the above calculation of the initial current change component: this component represents the theoretical total change in current from the starting time (t=0) to the current time (t). It is the integral result of the "rate base" in the time dimension. The above-mentioned reference current change component Rate_base can be multiplied by the target time period t accumulated from the start, i.e., ΔI_raw = Rate_base * t.

[0041] Alternatively, for calculating the target current change component as described above: since the digital control system is discrete and operates in cycles T, it is necessary to distribute the continuous "theoretical total change" into each control cycle to achieve smooth control. Dividing by the program running cycle T is to accomplish this distribution, obtaining the current change that should be accumulated in the current cycle. The initial current change component ΔI_raw can be divided by the preset program running cycle T to obtain the target current change component ΔI after cycle calibration, i.e., ΔI = ΔI_raw / T. This ensures that the overall trend of current change is consistent regardless of the length of the control cycle.

[0042] As can be seen, implementing this optional embodiment can improve the clarity of current change trend management per unit time by calculating the reference current change component, thereby helping to establish a clear rate of change reference for the entire acceleration process. This, in turn, helps to ensure the smoothness and predictability of the acceleration process and achieve stable acceleration establishment. By multiplying the reference component by the target time period to obtain the initial change component, the accuracy of time accumulation effect control can be improved, thus accurately reflecting the complete acceleration demand from the starting point to the current moment. This, in turn, helps to ensure the synchronization of the acceleration process with the passage of time and achieve linear accumulation of current growth. By introducing a program execution cycle to calibrate the initial change component, the timing accuracy of the digital control system can be improved. This allows the theoretically calculated continuous change quantity to be discretized into execution instructions that match the actual control cycle, thereby helping to eliminate control errors or jitter caused by asynchronous control cycles and achieving high-precision, smooth discrete control.

[0043] In this optional embodiment, as another optional implementation, the determination of the linearity coefficients related to the control parameter set includes: Obtain the preset maximum allowable current value corresponding to the walking mode; Calculate the linearity coefficients related to the control parameter set based on the maximum allowable current value and the starting current.

[0044] In this embodiment of the invention, optionally, a maximum allowable current value Imax can be preset for each walking mode. This value is determined based on factors such as hydraulic system safety, engine power, and component performance limits. For example, Imax_soft for gentle mode may be set lower to ensure safety and smoothness, while Imax_sport for sport mode may be set higher to unleash maximum performance. The linearity coefficient B is calculated using the formula B = (Imax - I0) / 100%. This means that the linearity coefficient B is not an arbitrarily set value, but is jointly determined by the system's performance boundary (Imax) and starting characteristics (I0), ensuring that the current adjustment range fully utilizes the system's capabilities without exceeding safety limits.

[0045] As can be seen, implementing this optional embodiment can improve the consistency between parameter settings and system safety boundaries by calculating the linearity coefficient based on the maximum allowable current value and the starting current. This helps ensure that the current output range is always within the safety limits of the hydraulic system and electrical components, thereby preventing equipment damage or performance degradation due to overcurrent and providing a hard guarantee for the safe operation of the system. By directly linking the linearity coefficient to the system performance boundary, the rationality of performance differences in different walking modes is improved. This helps ensure that gentle mode, standard mode, and sport mode have power output ranges that truly conform to their definitions, thereby ensuring the effectiveness and reliability of performance differentiation between modes and achieving substantial differences in mode function.

[0046] 104. Output the target travel ratio current value to the travel ratio solenoid valve to control the travel acceleration of the excavator.

[0047] In this embodiment of the invention, optionally, for the above-mentioned output of the target travel proportional current value to the travel proportional solenoid valve: the calculated digital command is converted into a physical control signal. The travel proportional solenoid valve opens its valve port proportionally according to the current value, thereby controlling the pilot oil pressure to the travel motor, and finally the main valve core moves, adjusting the speed of the travel motor. Example: The main controller converts the calculated target current value I(t) into a PWM signal with a corresponding duty cycle through its integrated PWM (Pulse Width Modulation) module. This PWM signal drives an external power amplifier circuit to generate an average current proportional to the value of I(t), which is output to the coil of the travel proportional solenoid valve.

[0048] As can be seen, implementing the embodiments of the present invention can improve the adjustability of walking performance by configuring different control parameter sets for different walking modes. This allows operators to select matching walking characteristics according to their personal driving preferences or specific working conditions, thereby meeting diverse user needs and achieving personalized customization of excavator walking performance. It can improve the accuracy of walking acceleration control by calculating the target current value based on the current opening degree, control parameter set, and accumulated target time period. This facilitates smooth and linear management of the excavator's start-up and acceleration processes, improving the overall handling feel and upgrading from fixed speed control to variable acceleration dynamic control, thus enhancing the working condition adaptability and flexibility of the excavator's walking performance control. Furthermore, it can correlate walking performance with time variables through time-domain functions, reducing the rigidity of walking performance control. This allows the walking response to better match the driver's dynamic operating intentions, improving the intuitiveness and coordination of human-machine interaction and achieving intelligent walking adaptive control.

[0049] Example 2 Please see Figure 2 , Figure 2 This is a flowchart illustrating another method for controlling the walking performance of an excavator according to an embodiment of the present invention. Figure 2 The described method for controlling the walking performance of excavators can be applied to hydraulic wheeled construction machinery products, and also to intelligent devices associated with these products. These intelligent devices include, but are not limited to, one or more of the following: switching devices, cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and intelligent connected devices. This invention does not limit the scope of these applications. Figure 2 As shown, the method for controlling the walking performance of this excavator may include the following operations: 201. Obtain the current opening of the electronic throttle pedal; 202. Determine the control parameter set corresponding to the predetermined walking mode. The control parameter set shall include at least the current change rate parameter and the starting current. 203. Based on the current opening degree, control parameter group, target time period accumulated from the start time of the excavator, and predetermined time domain function, calculate the target travel proportional current value at the current moment; 204 outputs the target travel ratio current value to the travel ratio solenoid valve to control the travel acceleration of the excavator.

[0050] In this embodiment of the invention, for the supplementary explanation of steps 201-204, please refer to the supplementary explanation of steps 101-104 in Embodiment 1. This embodiment of the invention will not repeat the explanation.

[0051] 205. Determine the target value of the main pump control proportional current corresponding to the walking mode; In this embodiment of the invention, optionally, regarding the aforementioned determination of the target value for the main pump control proportional current: different travel modes have different power requirements. This target value sets the maximum power level that the main pump should provide in that mode, directly affecting the maximum travel speed and working capacity. Similar to the travel mode parameters, the target value Ip_target for the main pump control proportional current may also be pre-bound to each travel mode. For example, Standard mode and Sport mode may set Ip_target to the maximum value (100%), while Gentle mode may set it to a lower value (e.g., 80%) to limit power and further ensure smoothness.

[0052] 206. Determine the rate of change of the main pump control proportional current based on the current change rate parameter; In this embodiment of the invention, optionally, regarding the determination of the change rate of the main pump control proportional current: to ensure that the output rhythm of the engine power is synchronized with the demand for travel acceleration, and to avoid insufficient power ("small engine pulling a large cart") or excessive power ("large engine pulling a small cart"), the change rate of the main pump current needs to match the change rate of the travel current. The main controller can determine the change rate K_pump of the main pump control proportional current based on the current change rate parameter A selected for the travel system, through a predefined correspondence (e.g., a lookup table or a proportional function). For example, when A is large (motion mode), K_pump also corresponds to a large value, causing the pump power to increase rapidly.

[0053] In this embodiment of the invention, as an optional implementation, the above-mentioned determination of the change rate of the main pump control proportional current based on the current change rate parameter includes: Obtain the value of the current change rate parameter; Based on the predefined travel-pump control mapping relationship, the change rate of the main pump control proportional current corresponding to the value of the current change rate parameter is determined. The travel-pump control mapping relationship is used to establish the correspondence between the travel system current change parameter and the main pump system current change parameter.

[0054] In this embodiment of the invention, optionally, the aforementioned "travel-pump control mapping relationship" is a set of correspondences pre-determined through bench testing and overall machine debugging, and stored in the controller's memory. This relationship can be a simple linear proportional relationship (e.g., K_pump = C * A, where C is a proportionality constant) or a more complex nonlinear mapping table. After obtaining the value of the current change rate parameter A for the current travel mode, the main controller can directly obtain the corresponding main pump control proportional current change rate K_pump by querying this mapping relationship. This ensures coordinated operation between the power system and the execution system.

[0055] As can be seen, implementing this optional embodiment can determine the main pump current change rate through a predefined travel-pump control mapping relationship, improving the coordination between power response and travel demand. This helps to keep the engine speed increase, main pump displacement change, and travel motor acceleration request synchronized in terms of timing and intensity, thereby eliminating response lag in the powertrain and achieving seamless power connection. By establishing parameter mapping relationships between systems, the complexity of control parameter tuning is reduced, allowing for the automatic matching of reasonable pump control parameters by adjusting travel control parameters. This simplifies the tuning process and improves the engineering applicability and portability of the control strategy.

[0056] 207. Generate the main pump control current signal based on the target value and rate of change of the main pump control proportional current; In this embodiment of the invention, optionally, the above-mentioned generation and output of the main pump control current signal is as follows: Meaning and function: Its principle is similar to walking control, that is, to generate a main pump control current signal that changes smoothly over time, so that the pump power output increases steadily and is perfectly matched with the walking acceleration process.

[0057] Implementation method: The main controller uses the same time variable t as the walking control, calculates the instantaneous value of the main pump current at the current moment according to the formula Ip(t) = Ip_target + K_pump * t (it is necessary to ensure that Ip(t) does not exceed Ip_target), and outputs the signal to the proportional solenoid valve of the main pump through another PWM channel.

[0058] In this embodiment of the invention, as another optional implementation, the above-mentioned generation of the main pump control current signal based on the target value and rate of change of the main pump control proportional current includes: Based on the rate of change of the main pump control proportional current and the target time period accumulated from the start-up moment, the change component of the main pump control current is calculated. The instantaneous value of the main pump control current at the current moment is determined based on the target value of the main pump control proportional current and the change component of the main pump control current. The main pump control current signal is generated based on the instantaneous value of the main pump control current.

[0059] In this embodiment of the invention, optionally, for the above-mentioned calculation of the main pump control current change component: similar to walking control, this component represents the amount of change in the main pump current that should accumulate from the start. The determined rate of change of the main pump control proportional current K_pump can be multiplied by the target time period t accumulated from the start time to obtain the main pump control current change component ΔIp, that is, ΔIp = K_pump * t.

[0060] Alternatively, for determining the instantaneous value of the main pump control current as described above: the changing component can be combined with the target value to calculate the specific current value that should be output at the current moment. The target value Ip_target of the main pump control proportional current can be added to the changing component ΔIp of the main pump control current to obtain the instantaneous value of the main pump control current at the current moment: Ip(t) = Ip_target + ΔIp. Similarly, it is necessary to ensure that Ip(t) does not exceed Ip_target.

[0061] Alternatively, for the generation of the main pump control current signal described above, the method is similar to / the same as that for the generation of the travel control signal. The main controller converts the calculated digital value of Ip(t) into a proportional analog current signal through the PWM module and power drive circuit, and outputs it to the proportional solenoid valve of the main pump.

[0062] As can be seen, implementing this optional embodiment can improve the smoothness of the main pump output power growth by calculating the component of the main pump control current change and synthesizing it with its target value. This helps avoid sudden changes in the main pump displacement causing shock loads to the engine, thus protecting the engine, maintaining its stable operation, and achieving smooth loading of the power system. By making the main pump current signal also change smoothly over time, the pressure impact on the hydraulic system is reduced, which helps reduce stress fatigue in hydraulic lines and components, thereby extending the life of the hydraulic system, reducing the failure rate, and achieving long-term operation with high reliability. The main pump can be managed using timing control logic similar to that used for travel control, improving the uniformity and consistency of the overall control strategy. This helps ensure the synchronization of travel acceleration and driving force growth, improving the driving experience, and further simplifying the controller's software architecture, improving code execution efficiency and reliability.

[0063] 208. Output the main pump control current signal to the main pump proportional solenoid valve to control the output power of the main pump to match the walking acceleration.

[0064] As can be seen, implementing the embodiments of the present invention can improve the power matching degree between the travel system and the power system by determining the target value and rate of change of the main pump control current corresponding to the travel mode. This helps to avoid engine stalling, stalling, or insufficient power caused by the main pump power response lagging or leading during travel acceleration, thereby ensuring the smoothness and efficiency of the acceleration process and achieving dynamic optimal energy allocation of the whole machine. By matching the main pump power output with the travel acceleration demand, energy waste and system heat generation can be reduced, thus avoiding excess power overflow loss while providing the required power. This further improves the fuel economy and reliability of the hydraulic system, achieving energy-saving and consumption-reducing operation. Through the linkage control of the travel system and the main pump system, the coordination between the various subsystems of the whole machine can be improved, which is conducive to optimizing the performance of the excavator as a whole system rather than controlling individual components in isolation, thereby helping to tap the performance potential of the whole machine.

[0065] Example 3 Please see Figure 3 , Figure 3 This is a schematic diagram of a walking performance control device for an excavator disclosed in an embodiment of the present invention. The walking performance control device for the excavator can be applied to hydraulic wheeled construction machinery products, and can also be applied to intelligent devices associated with hydraulic wheeled construction machinery products. These intelligent devices include, but are not limited to, one or more of the following: switching devices, cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and intelligent connected devices. The present invention does not limit the application of these devices. Figure 3 As shown, the travel performance control device of the excavator may include: The acquisition module 301 is used to acquire the current opening degree of the electronic throttle pedal; The determination module 302 is used to determine a set of control parameters corresponding to a pre-determined walking mode. The set of control parameters includes at least the current change rate parameter and the starting current. The calculation module 303 is used to calculate the target travel proportional current value at the current moment based on the current opening degree, the control parameter group, the target time period accumulated from the start time of the excavator, and a predetermined time domain function. The control module 304 is used to output the target travel ratio current value to the travel ratio solenoid valve to control the travel acceleration of the excavator.

[0066] As can be seen, implementing the embodiments of the present invention can improve the adjustability of walking performance by configuring different control parameter sets for different walking modes. This allows operators to select matching walking characteristics according to their personal driving preferences or specific working conditions, thereby meeting diverse user needs and achieving personalized customization of excavator walking performance. It can improve the accuracy of walking acceleration control by calculating the target current value based on the current opening degree, control parameter set, and accumulated target time period. This facilitates smooth and linear management of the excavator's start-up and acceleration processes, improving the overall handling feel and upgrading from fixed speed control to variable acceleration dynamic control, thus enhancing the working condition adaptability and flexibility of the excavator's walking performance control. Furthermore, it can correlate walking performance with time variables through time-domain functions, reducing the rigidity of walking performance control. This allows the walking response to better match the driver's dynamic operating intentions, improving the intuitiveness and coordination of human-machine interaction and achieving intelligent walking adaptive control.

[0067] In this embodiment of the invention, as an optional implementation, the aforementioned predetermined time-domain function is used to determine the relationship between the target travel proportional current value and time based on the current opening degree, the control parameter set, and the target time period; the specific method by which the calculation module 303 calculates the target travel proportional current value at the current moment based on the current opening degree, the control parameter set, the target time period accumulated from the start time of the excavator, and the predetermined time-domain function includes: Perform a nonlinear transformation on the current opening to obtain a nonlinear opening value; Determine the linearity coefficients associated with the control parameter set. These linearity coefficients characterize the dynamic adjustable range of the target travel proportional current value relative to the current opening. Based on the current change rate parameter, linearity coefficient, nonlinear opening value and target time period, calculate the target current change component corresponding to the current opening; Calculate the target travel proportional current value at the current moment based on the target current change component and the starting current.

[0068] As can be seen, implementing this optional embodiment can improve the control sensitivity in the high-opening range by performing a nonlinear transformation on the current opening degree, thereby facilitating a stronger power response in the latter half of the accelerator pedal travel. This, in turn, helps meet the operator's power demands when rapid acceleration is required, achieving a gradient distribution of power output. Introducing a linearity coefficient to characterize the dynamic adjustable range of the current improves the clarity and systematic nature of the control system parameter definition, enabling precise correlation between the macroscopic selection of the driving mode and the microscopic range of the current output. This, in turn, helps ensure the rationality of performance boundaries under different modes, achieving standardized management of the performance range. By calculating the current change component first and then synthesizing it with the starting current, the modularity of the control logic is improved, thus decoupling the starting reference from the acceleration process, facilitating independent adjustment and optimization. This, in turn, enhances the maintainability and scalability of the control algorithm, enabling the decomposition and simplification of complex control tasks.

[0069] In this optional embodiment, as an optional implementation method, the calculation module 303 calculates the target current change component corresponding to the current opening based on the current change rate parameter, linearity coefficient, nonlinear opening value, and target time period in the following specific ways: Based on the current change rate parameter, linearity coefficient and nonlinear opening value, the reference current change component corresponding to the walking mode is calculated. The reference current change component is used to represent the theoretical change of the target walking ratio current value in the walking mode per unit time. Based on the reference current change component and the target time period, calculate the current initial current change component of the excavator. The initial current change component is used to represent the theoretical cumulative change of the target travel ratio current value from the start time. Based on the initial current change component and the preset program running cycle, the target current change component corresponding to the current opening degree is calculated. The program running cycle is used to define the control timing reference for calculating the target travel proportional current value.

[0070] As can be seen, implementing this optional embodiment can improve the clarity of current change trend management per unit time by calculating the reference current change component, thereby helping to establish a clear rate of change reference for the entire acceleration process. This, in turn, helps to ensure the smoothness and predictability of the acceleration process and achieve stable acceleration establishment. By multiplying the reference component by the target time period to obtain the initial change component, the accuracy of time accumulation effect control can be improved, thus accurately reflecting the complete acceleration demand from the starting point to the current moment. This, in turn, helps to ensure the synchronization of the acceleration process with the passage of time and achieve linear accumulation of current growth. By introducing a program execution cycle to calibrate the initial change component, the timing accuracy of the digital control system can be improved. This allows the theoretically calculated continuous change quantity to be discretized into execution instructions that match the actual control cycle, thereby helping to eliminate control errors or jitter caused by asynchronous control cycles and achieving high-precision, smooth discrete control.

[0071] In this optional embodiment, as another optional implementation, the specific method by which the calculation module 303 determines the linearity coefficients related to the control parameter set includes: Obtain the preset maximum allowable current value corresponding to the walking mode; Calculate the linearity coefficients related to the control parameter set based on the maximum allowable current value and the starting current.

[0072] As can be seen, implementing this optional embodiment can improve the consistency between parameter settings and system safety boundaries by calculating the linearity coefficient based on the maximum allowable current value and the starting current. This helps ensure that the current output range is always within the safety limits of the hydraulic system and electrical components, thereby preventing equipment damage or performance degradation due to overcurrent and providing a hard guarantee for the safe operation of the system. By directly linking the linearity coefficient to the system performance boundary, the rationality of performance differences in different walking modes is improved. This helps ensure that gentle mode, standard mode, and sport mode have power output ranges that truly conform to their definitions, thereby ensuring the effectiveness and reliability of performance differentiation between modes and achieving substantial differences in mode function.

[0073] In an optional embodiment, the determination module 302 described above is further configured to determine the target value of the main pump control proportional current corresponding to the walking mode. The determination module 302 is also used to determine the rate of change of the main pump control proportional current based on the current change rate parameter. Optional, such as Figure 4 As shown, the device also includes: The generation module 305 is used to generate a main pump control current signal based on the target value and rate of change of the main pump control proportional current. The control module 304 is also used to output the main pump control current signal to the main pump proportional solenoid valve to control the output power of the main pump to match the walking acceleration.

[0074] As can be seen, implementing the embodiments of the present invention can improve the power matching degree between the travel system and the power system by determining the target value and rate of change of the main pump control current corresponding to the travel mode. This helps to avoid engine stalling, stalling, or insufficient power caused by the main pump power response lagging or leading during travel acceleration, thereby ensuring the smoothness and efficiency of the acceleration process and achieving dynamic optimal energy allocation of the whole machine. By matching the main pump power output with the travel acceleration demand, energy waste and system heat generation can be reduced, thus avoiding excess power overflow loss while providing the required power. This further improves the fuel economy and reliability of the hydraulic system, achieving energy-saving and consumption-reducing operation. Through the linkage control of the travel system and the main pump system, the coordination between the various subsystems of the whole machine can be improved, which is conducive to optimizing the performance of the excavator as a whole system rather than controlling individual components in isolation, thereby helping to tap the performance potential of the whole machine.

[0075] In this optional embodiment, as an optional implementation, the specific method by which the determining module 302 determines the rate of change of the main pump control proportional current based on the current change rate parameter includes: Obtain the value of the current change rate parameter; Based on the predefined travel-pump control mapping relationship, the change rate value of the main pump control proportional current corresponding to the value of the current change rate parameter is determined. The travel-pump control mapping relationship is used to establish the correspondence between the travel system current change parameter and the main pump system current change parameter.

[0076] As can be seen, implementing this optional embodiment can determine the main pump current change rate through a predefined travel-pump control mapping relationship, improving the coordination between power response and travel demand. This helps to keep the engine speed increase, main pump displacement change, and travel motor acceleration request synchronized in terms of timing and intensity, thereby eliminating response lag in the powertrain and achieving seamless power connection. By establishing parameter mapping relationships between systems, the complexity of control parameter tuning is reduced, allowing for the automatic matching of reasonable pump control parameters by adjusting travel control parameters. This simplifies the tuning process and improves the engineering applicability and portability of the control strategy.

[0077] In this optional embodiment, as another optional implementation, the specific method by which the generation module 305 generates the main pump control current signal based on the target value and rate of change of the main pump control proportional current includes: Based on the rate of change of the main pump control proportional current and the target time period accumulated from the start-up moment, the change component of the main pump control current is calculated. The instantaneous value of the main pump control current at the current moment is determined based on the target value of the main pump control proportional current and the change component of the main pump control current. The main pump control current signal is generated based on the instantaneous value of the main pump control current.

[0078] As can be seen, implementing this optional embodiment can improve the smoothness of the main pump output power growth by calculating the component of the main pump control current change and synthesizing it with its target value. This helps avoid sudden changes in the main pump displacement causing shock loads to the engine, thus protecting the engine, maintaining its stable operation, and achieving smooth loading of the power system. By making the main pump current signal also change smoothly over time, the pressure impact on the hydraulic system is reduced, which helps reduce stress fatigue in hydraulic lines and components, thereby extending the life of the hydraulic system, reducing the failure rate, and achieving long-term operation with high reliability. The main pump can be managed using timing control logic similar to that used for travel control, improving the uniformity and consistency of the overall control strategy. This helps ensure the synchronization of travel acceleration and driving force growth, improving the driving experience, and further simplifying the controller's software architecture, improving code execution efficiency and reliability.

[0079] Example 4 Please see Figure 5 , Figure 5 This is a schematic diagram of another excavator travel performance control device disclosed in an embodiment of the present invention. This excavator travel performance control device can be applied to hydraulic wheeled construction machinery products, and also to intelligent devices associated with hydraulic wheeled construction machinery products. These intelligent devices include, but are not limited to, one or more of the following: switching devices, cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and intelligent connected devices. The embodiments of the present invention do not impose limitations on this. Figure 5 As shown, the travel performance control device of the excavator may include: Memory 401 that stores executable program code.

[0080] Processor 402 coupled to memory 401.

[0081] The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the excavator travel performance control method described in Embodiment 1 or Embodiment 2 of the present invention.

[0082] Example 5 This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute the steps in the excavator travel performance control method described in Embodiment 1 or Embodiment 2 of this invention.

[0083] Example 6 This invention discloses a computer program product, which includes a non-transitory computer storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps in the excavator travel performance control method described in Embodiment 1 or Embodiment 2.

[0084] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0085] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0086] Finally, it should be noted that the excavator walking performance control method and device disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention, and are only used to illustrate the technical solutions of the present invention, not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the walking performance of an excavator, characterized in that, The method includes: Get the current opening of the electronic throttle pedal; Determine a set of control parameters corresponding to a predetermined walking mode, wherein the set of control parameters includes at least a current change rate parameter and a starting current; Based on the current opening degree, the control parameter group, the target time period accumulated from the start time of the excavator, and the predetermined time domain function, calculate the target travel proportional current value at the current moment; The target travel ratio current value is output to the travel ratio solenoid valve to control the travel acceleration of the excavator. Furthermore, the predetermined time-domain function is used to determine the relationship between the target travel proportional current value and time based on the current opening degree, the control parameter set, and the target time period; the calculation of the target travel proportional current value at the current moment based on the current opening degree, the control parameter set, the target time period accumulated from the start time of the excavator, and the predetermined time-domain function includes: A nonlinear transformation is performed on the current opening to obtain a nonlinear opening value; Determine the linearity coefficients associated with the control parameter set, the linearity coefficients being used to characterize the dynamic adjustable range of the target travel proportional current value relative to the current opening degree; Based on the current change rate parameter, the linearity coefficient, the nonlinear opening value, and the target time period, calculate the target current change component corresponding to the current opening. Calculate the target travel ratio current value at the current moment based on the target current change component and the starting current; Furthermore, the method further includes: Determine the target value of the main pump control proportional current corresponding to the walking mode; Based on the current change rate parameter, the change rate of the main pump control proportional current is determined. Based on the target value and rate of change of the main pump control proportional current, a main pump control current signal is generated; The main pump control current signal is output to the main pump proportional solenoid valve to control the output power of the main pump to match the walking acceleration.

2. The method for controlling the walking performance of an excavator according to claim 1, characterized in that, The step of calculating the target current change component corresponding to the current opening degree based on the current change rate parameter, the linearity coefficient, the nonlinear opening degree value, and the target time period includes: Based on the current change rate parameter, the linearity coefficient and the nonlinear opening value, the reference current change component corresponding to the walking mode is calculated. The reference current change component is used to represent the theoretical change of the target walking ratio current value in the walking mode and per unit time. Based on the reference current change component and the target time period, the current initial current change component of the excavator is calculated. The current initial current change component is used to represent the theoretical cumulative change of the target travel ratio current value from the starting moment. Based on the initial current change component and the preset program running cycle, the target current change component corresponding to the current opening degree is calculated. The program running cycle is used to define the control timing reference for calculating the target travel proportional current value.

3. The method for controlling the walking performance of an excavator according to claim 1, characterized in that, Determining the linearity coefficients associated with the control parameter set includes: Obtain the preset maximum allowable current value corresponding to the walking mode; Calculate the linearity coefficients associated with the control parameter set based on the maximum allowable current value and the starting current.

4. The method for controlling the walking performance of an excavator according to claim 1, characterized in that, Determining the rate of change of the main pump control proportional current based on the current change rate parameter includes: Obtain the value of the current change rate parameter; Based on a predefined travel-pump control mapping relationship, the rate of change of the main pump control proportional current corresponding to the value of the current change rate parameter is determined. The travel-pump control mapping relationship is used to establish the correspondence between the travel system current change parameter and the main pump system current change parameter.

5. The method for controlling the walking performance of an excavator according to claim 1, characterized in that, The step of generating a main pump control current signal based on the target value and rate of change of the main pump control proportional current includes: Based on the rate of change of the main pump control proportional current and the target time period accumulated from the start time, calculate the main pump control current change component; The instantaneous value of the main pump control current at the current moment is determined based on the target value of the main pump control proportional current and the change component of the main pump control current. The main pump control current signal is generated based on the instantaneous value of the main pump control current.

6. A travel performance control device for an excavator, characterized in that, The device is used to perform the excavator travel performance control method as described in any one of claims 1-5, and the device comprises: The acquisition module is used to acquire the current opening degree of the electronic throttle pedal; A determination module is used to determine a set of control parameters corresponding to a pre-determined walking mode, wherein the set of control parameters includes at least a current change rate parameter and a starting current. The calculation module is used to calculate the target travel proportional current value at the current moment based on the current opening degree, the control parameter group, the target time period accumulated from the start time of the excavator, and a predetermined time domain function. The control module is used to output the target travel ratio current value to the travel ratio solenoid valve to control the travel acceleration of the excavator.

7. A travel performance control device for an excavator, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the excavator's travel performance control method as described in any one of claims 1-5.

8. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the excavator's travel performance control method as described in any one of claims 1-5.

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