CN109778938B - Excavator power self-adaptive control device and method based on crushing working condition - Google Patents
Excavator power self-adaptive control device and method based on crushing working condition Download PDFInfo
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- CN109778938B CN109778938B CN201910065582.4A CN201910065582A CN109778938B CN 109778938 B CN109778938 B CN 109778938B CN 201910065582 A CN201910065582 A CN 201910065582A CN 109778938 B CN109778938 B CN 109778938B
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Abstract
The invention discloses a self-adaptive control device and a self-adaptive control method for power of an excavator based on crushing working conditions, wherein the self-adaptive control device comprises a main controller, and an engine controller, a rotating speed sensor, a first main pump pressure sensor, a second main pump pressure sensor, a rotary pilot pressure sensor, a crushing pilot pressure sensor, a first main pump proportional valve and a second main pump proportional valve which are connected with the main controller; the rotation speed sensor is also connected with an engine controller. According to the invention, the pressure value output by the crushing pressure sensor or the rotary pressure sensor is acquired by the main controller, the crushing operation state and the non-crushing operation state under the crushing working condition are effectively identified based on the acquired pressure value, and the power control of two different operation states is automatically switched, so that the requirements of different power requirements under different working conditions are met, and the energy-saving effect of the excavator can be effectively improved through power self-adaptation.
Description
Technical Field
The invention belongs to the technical field of excavator electro-hydraulic control, and particularly relates to an excavator power self-adaptive control device and method based on a crushing working condition.
Background
In the 21 st century, the demand of excavators is continuously rising along with the rapid development of economy in China, the rapid development of the fields of national infrastructure, mine exploitation and the like. The hydraulic breaking hammer is a novel breaking tool and has the characteristics of low noise, excellent breaking performance, energy conservation, environmental protection and the like. From the viewpoint of measuring the hammer rate of a key technical index excavator for the development of the hammer breaking industry, the hammer rate of the excavator in China is only 6.2% in 2006, and only ten years of time in 2016 is up to 20% in China, and according to statistics, the hammer rate of the excavator in developed countries such as Europe and America reaches 35%, and the hammer rate of the excavator in countries such as Japan and Korean reaches 60%, so that the hydraulic hammer has a huge development space in China.
In recent years, the environmental protection department in China begins to strengthen the supervision and control of environmental protection and strictly control the use amount of explosives in engineering, so that the excavator carrying the breaking hammer has more and more important functions in engineering construction and mining.
At present, domestic and foreign manufacturers are limited in power control of the breaking hammer, and automatic switching of power cannot be achieved, so that power matching of a breaking working condition is often required to improve system power in order to meet power requirements of other actions of an excavator under the breaking working condition, unnecessary overflow waste is generated during breaking work, and a good energy-saving effect cannot be achieved.
Disclosure of Invention
Aiming at the problems, the invention provides an excavator power self-adaptive control device and method based on crushing working conditions.
The technical purpose is achieved, the technical effect is achieved, and the invention is realized through the following technical scheme:
in a first aspect, the present invention provides an adaptive control device for excavator power based on crushing condition, comprising:
a main controller;
the engine controller is connected with the main controller;
the rotating speed sensor is used for monitoring the rotating speed of an engine in the excavator, and the output end of the rotating speed sensor is connected with the input end of the engine controller;
a first main pump pressure sensor and a second main pump pressure sensor; the first main pump pressure sensor and the second main pump pressure sensor are respectively used at oil outlets of a first main pump and a second main pump arranged on the excavator, and are used for respectively detecting the pressure at the oil outlets of the first main pump and the second main pump, and the output ends of the first main pump and the second main pump are connected with the input end of the main controller;
the rotary pilot pressure sensor is arranged in a rotary pilot loop of the excavator and used for collecting oil pressure output by the rotary pilot loop;
the crushing pilot pressure sensor is arranged in a crushing pilot loop of the excavator and used for collecting oil pressure output by the crushing pilot loop;
the first main pump proportional valve and the second main pump proportional valve are respectively used for being connected with a first main pump and a second main pump in the excavator, control ends of the first main pump and the second main pump are connected with an output end of the main controller, and discharge capacities of the first main pump and the second main pump are controlled according to control signals output by the main controller.
Preferably, the first main pump pressure sensor, the second main pump pressure sensor, the gyration pilot pressure sensor and the crushing pilot pressure sensor all adopt voltage type sensors and output voltage signals of 0.5-4.5V.
Preferably, the first main pump pressure sensor, the second main pump pressure sensor, the gyration pilot pressure sensor and the crushing pilot pressure sensor all adopt current type sensors and output current signals of 4-20 mA.
In a second aspect, the invention provides an excavator power self-adaptive control method based on a crushing condition, which comprises the following steps:
(1) when an operator opens the pilot safety electromagnetic valve, the pilot safety electromagnetic valve is electrified, and a hydraulic pilot loop connected with the pilot safety electromagnetic valve is communicated;
(2) after an operator starts an engine of the excavator, the engine controller acquires a rotating speed signal of the engine from the rotating speed sensor and sends the rotating speed signal to the main controller through the bus;
(3) when the main controller judges that the engine is started, the main controller starts to detect a pressure signal output by a crushing pilot pressure sensor arranged at the output end of a crushing pilot loop, if the pressure value output by the crushing pilot pressure sensor is greater than or equal to the opening pressure of a crushing pilot valve core in a main valve of an excavator, the main controller automatically enters a crushing mode and adjusts the current value of a second main pump proportional valve connected with a second main pump to a preset target value, and in the adjusting process, the main controller collects the pressure signal output by the second main pump pressure sensor in real time to judge whether the discharge capacity of the second main pump meets the set requirement or not, wherein the second main pump pressure sensor is arranged at an oil outlet of the second main pump and is used for supplying oil to the crushing pilot loop;
(4) when the main controller detects that the pressure value output by the rotary pilot pressure sensor is greater than the opening pressure of a rotary pilot valve core in a main valve or the signal of the first main pump pressure sensor is greater than the no-load pressure value of the first main pump, and the main controller detects that the pressure value output by the crushing pilot pressure sensor is less than the opening pressure of the crushing pilot valve core, the main controller enters a standard working mode, the main controller adjusts the current values of the second main pump proportional valve and the first main pump proportional valve to preset target values, the first main pump pressure sensor is arranged at an oil outlet of the first main pump, the first main pump is used for supplying oil to a rotary loop, and the first main pump proportional valve is connected with the first main pump to control the discharge capacity of the first main pump.
Preferably, during the adjusting in step (3), the step of acquiring, by the main controller, a pressure signal output by a second main pump pressure sensor in real time to determine whether the displacement of the second main pump meets a set requirement further includes:
the main controller simultaneously adjusts the current value of the first main pump proportional valve to zero.
Preferably, when the main controller determines that the transmitter is started, the method specifically comprises the following steps:
and the main controller detects that the rotating speed of the engine is greater than a set threshold value, and then judges that the engine is started.
Preferably, the first main pump idling pressure value refers to idling oil pressure generated when the whole vehicle does not have any action.
Preferably, the first main pump pressure sensor, the second main pump pressure sensor, the gyration pilot pressure sensor and the crushing pilot pressure sensor all adopt voltage type sensors and output voltage signals of 0.5-4.5V.
Preferably, the first main pump pressure sensor, the second main pump pressure sensor, the gyration pilot pressure sensor and the crushing pilot pressure sensor all adopt current type sensors and output current signals of 4-20 mA.
Preferably, the main controller adjusts current values of the second main pump proportional valve and the first main pump proportional valve to predetermined target values, specifically:
and the main controller adjusts the current values of the second main pump proportional valve and the first main pump proportional valve to preset target values so as to meet the power required by the excavator during rotation and walking.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a self-adaptive control device and a self-adaptive control method for excavator power based on crushing working conditions, which are characterized in that a main controller is used for collecting pressure values output by a crushing pressure sensor or a rotary pressure sensor, the crushing working state and the non-crushing working state under the crushing working conditions are effectively identified based on the obtained pressure values, and the power control of two different working states is automatically switched, so that the requirements of different power requirements under different working conditions are met, and the energy-saving effect of the excavator can be effectively improved through power self-adaptation.
Drawings
FIG. 1 is a schematic overall structure diagram of an excavator power adaptive control device based on a crushing condition according to an embodiment of the invention;
FIG. 2 is a schematic flow chart of an adaptive control method for excavator power based on crushing condition according to an embodiment of the present invention;
in the figure:
1. the main control system comprises a main controller, 2, a first main pump pressure sensor, 3, a second main pump pressure sensor, 4, a rotary pilot pressure sensor, 5, a crushing pilot pressure sensor, 6, a first main pump proportional valve, 7, a second main pump proportional valve, 8, a pilot safety electromagnetic valve, 9, an engine controller and 10, a rotating speed sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.
Most of the prior art excavators include: the hydraulic crushing system comprises a pilot pump, a first main pump, a second main pump, a hydraulic pilot circuit, a pilot safety solenoid valve, a rotary pilot circuit, a crushing pilot circuit, a main valve, a rotary circuit and a crushing circuit;
the pilot pump is connected with the first main pump and the second main pump in series;
the input end of the pilot safety electromagnetic valve is connected with the output end of the pilot pump, and the output end of the pilot safety electromagnetic valve is connected with the input end of the hydraulic pilot loop;
the output end of the hydraulic pilot circuit is respectively connected with the rotary pilot circuit and the crushing pilot circuit, when a circuit pilot switch connected with the rotary pilot circuit is opened, the hydraulic pilot circuit supplies oil to the rotary pilot circuit, and when a crushing pilot switch connected with the crushing pilot circuit is opened, the hydraulic pilot circuit supplies oil to the crushing pilot circuit;
the main valve comprises a crushing pilot valve core and a crushing pilot valve core, when the rotary pilot valve core is opened, oil in the first main pump flows into the rotary loop through the main valve, when the crushing pilot valve core is opened, oil in the second main pump flows into the crushing loop through the main valve, and the crushing hammer is located on the crushing loop.
Based on the excavator, as shown in fig. 1, an embodiment of the present invention provides an excavator power adaptive control device based on a crushing condition, including:
a main controller 1;
an engine controller 9, wherein the engine controller 9 is connected with the main controller 1, and preferably, the engine controller 9 and the main controller are connected through a bus;
a rotation speed sensor 10, wherein the rotation speed sensor 10 is used for monitoring the rotation speed of an engine in the excavator, and the output end of the rotation speed sensor is connected with the input end of the engine controller 9;
a first main pump pressure sensor 2 and a second main pump pressure sensor 3; the first main pump pressure sensor 2 and the second main pump pressure sensor 3 are respectively used for being arranged at oil outlets of a first main pump and a second main pump on an excavator, respectively detecting the pressure at the oil outlets of the first main pump and the second main pump, and the output ends of the first main pump and the second main pump are connected with the input end of the main controller 1;
the rotary pilot pressure sensor 4 is arranged in the rotary pilot loop and used for collecting oil pressure output by the rotary pilot loop;
the crushing pilot pressure sensor 5 is arranged in the crushing pilot loop and used for collecting oil pressure output by the crushing pilot loop; in specific implementation, a crushing foot switch is connected to the crushing pilot circuit, when an operator turns on the crushing foot switch, an oil path of the crushing pilot circuit is connected, namely the hydraulic pilot circuit supplies oil to the crushing pilot circuit, and a crushing hammer starts to work;
the main control system comprises a first main pump proportional valve 6 and a second main pump proportional valve 7, wherein the first main pump proportional valve 6 and the second main pump proportional valve 7 are respectively used for being connected with a first main pump and a second main pump in the excavator, control ends of the first main pump proportional valve and the second main pump are connected with an output end of a main controller 1, and discharge capacities of the first main pump and the second main pump are controlled according to control signals output by the main controller 1;
in a preferred implementation manner of the embodiment of the present invention, the rotation speed sensor 10, the first main pump pressure sensor 2, the second main pump pressure sensor 3, the gyration pilot pressure sensor 4, and the crush pilot pressure sensor 5 all adopt voltage type sensors, and output voltage signals of 0.5-4.5V, or are current type sensors, and output current signals of 4-20 mA.
In summary, the working process of the excavator power adaptive control device based on the crushing condition in the embodiment of the invention specifically comprises the following steps:
(1) when an operator opens the pilot safety solenoid valve 8, the pilot safety solenoid valve 8 is electrified, and a hydraulic pilot circuit connected with the pilot safety solenoid valve 8 is connected, namely a pilot pump supplies oil to the hydraulic pilot circuit;
(2) when an operator starts an engine of the excavator, the engine controller 9 acquires a rotating speed signal of the engine from the rotating speed sensor 10 and sends the rotating speed signal to the main controller 1 through a bus;
(3) when it is determined that the main controller 1 has been activated (i.e. when it is detected that the rotation speed of the engine is greater than a set threshold, which may be set to 650rpm, for example), and the oil circuit of the crushing pilot circuit is turned on (in particular, when it is implemented, the turning on is achieved by an operator opening a crushing foot switch connected to the crushing pilot circuit), the main controller 1 starts to detect the pressure signal output by the crushing pilot pressure sensor 5, and if the pressure value detected by the crushing pilot pressure sensor 5 is greater than or equal to the opening pressure of the crushing pilot spool in the main valve, the main controller 1 automatically enters a crushing mode, that is, the second main pump supplies oil to the crushing circuit through the main valve, and adjusts the current value of the second main pump proportional valve 7 to a predetermined target value, and then the power control of the second main pump is used to meet the crushing power control requirement, in the adjusting process, the main controller 1 acquires a pressure signal output by the second main pump pressure sensor 3 in real time to judge whether the discharge capacity of the second main pump meets the set requirement; meanwhile, in order to further realize energy conservation, the main controller 1 simultaneously adjusts the current value of the first main pump proportional valve 6 to be zero, and the absorbed power of the second main pump is reduced to be the lowest;
(4) when the main controller 1 detects that the pressure value detected by the rotary pilot pressure sensor 4 is greater than the opening pressure of the rotary pilot valve core in the main valve or the signal of the first main pump pressure sensor 2 is greater than the idle pressure value of the first main pump, the first main pump no-load pressure value refers to no-load oil pressure generated when the whole vehicle does not have any action, generally about 3MP, and when the main controller 1 detects that the pressure value output by the crushing pilot pressure sensor 5 is smaller than the opening pressure of the crushing pilot valve core, the main controller 1 enters a standard working mode (namely, rotation and walking actions of the excavator are guaranteed), the main controller 1 adjusts the value current values of the second main pump proportional valve 7 and the first main pump proportional valve 6 to preset target values, and the absorption power of the first main pump and the second main pump is increased, so that the power requirement of the excavator in the standard working mode is met.
Example 2
As shown in fig. 2, an embodiment of the present invention provides an adaptive control method for excavator power based on crushing conditions, which specifically includes the following steps:
step 3, when it is determined that the main controller 1 has been started (i.e. when it is detected that the rotation speed of the engine is greater than a set threshold, which is set according to actual conditions, for example, 650rpm, and the oil circuit of the crushing pilot circuit is connected (in specific implementation, the connection is achieved by an operator opening a crushing foot switch connected to the crushing pilot circuit), the main controller 1 starts to detect the pressure signal output by the crushing pilot pressure sensor 5, and if the pressure value detected by the crushing pilot pressure sensor 5 is greater than or equal to the opening pressure of the crushing pilot spool in the main valve, the main controller 1 automatically enters into a crushing mode, that is, the second main pump supplies oil to the crushing pilot circuit through the main valve, and adjusts the current value of the second main pump proportional valve 7 to a predetermined target value, and then the power control of the second main pump is used for meeting the crushing power control requirement, in the adjusting process, the main controller 1 acquires a pressure signal output by the second main pump pressure sensor 3 in real time to judge whether the discharge capacity of the second main pump meets the set requirement; meanwhile, in order to further realize energy conservation, the main controller 1 simultaneously adjusts the current value of the first main pump proportional valve 6 to be zero, and the absorbed power of the second main pump is reduced to be the lowest;
step 4, when the main controller 1 detects that the pressure value detected by the rotary pilot pressure sensor 4 is greater than the opening pressure of the rotary pilot valve core in the main valve or the signal of the first main pump pressure sensor 2 is greater than the idle pressure value of the first main pump, the first main pump no-load pressure value refers to no-load oil pressure generated when the whole vehicle does not have any action, generally about 3MP, and when the main controller 1 detects that the pressure value output by the crushing pilot pressure sensor 5 is smaller than the opening pressure of the crushing pilot valve core, the main controller 1 enters a standard operation mode, the main controller 1 adjusts the value current of the second main pump proportional valve 7 and the first main pump proportional valve 6 to a predetermined target value, the power required by the excavator during rotation and walking is met, the absorbed power of the first main pump and the absorbed power of the second main pump are improved, and the power requirement of the excavator in a standard working mode is met.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an excavator power adaptive control based on broken operating mode which characterized in that includes:
a main controller;
the engine controller is connected with the main controller;
the rotating speed sensor is used for monitoring the rotating speed of an engine in the excavator, and the output end of the rotating speed sensor is connected with the input end of the engine controller;
a first main pump pressure sensor and a second main pump pressure sensor; the first main pump pressure sensor and the second main pump pressure sensor are respectively used at oil outlets of a first main pump and a second main pump arranged on the excavator, and are used for respectively detecting the pressure at the oil outlets of the first main pump and the second main pump, and the output ends of the first main pump and the second main pump are connected with the input end of the main controller;
the rotary pilot pressure sensor is arranged in a rotary pilot loop of the excavator and used for collecting oil pressure output by the rotary pilot loop;
the crushing pilot pressure sensor is arranged in a crushing pilot loop of the excavator and used for collecting oil pressure output by the crushing pilot loop;
the system comprises a first main pump proportional valve and a second main pump proportional valve, wherein the first main pump proportional valve and the second main pump proportional valve are respectively used for being connected with a first main pump and a second main pump in the excavator, control ends of the first main pump proportional valve and the second main pump are connected with an output end of a main controller, and discharge capacities of the first main pump and the second main pump are controlled according to control signals output by the main controller;
(1) when an operator opens the pilot safety electromagnetic valve, the pilot safety electromagnetic valve is electrified, and a hydraulic pilot loop connected with the pilot safety electromagnetic valve is communicated;
(2) after an operator starts an engine of the excavator, the engine controller acquires a rotating speed signal of the engine from the rotating speed sensor and sends the rotating speed signal to the main controller through the bus;
(3) when the main controller judges that the engine is started, the main controller starts to detect a pressure signal output by a crushing pilot pressure sensor arranged at the output end of a crushing pilot loop, if the pressure value output by the crushing pilot pressure sensor is greater than or equal to the opening pressure of a crushing pilot valve core in a main valve of an excavator, the main controller automatically enters a crushing mode and adjusts the current value of a second main pump proportional valve connected with a second main pump to a preset target value, and in the adjusting process, the main controller collects the pressure signal output by the second main pump pressure sensor in real time to judge whether the discharge capacity of the second main pump meets the set requirement or not, wherein the second main pump pressure sensor is arranged at an oil outlet of the second main pump and is used for supplying oil to the crushing pilot loop;
(4) when the main controller detects that the pressure value output by the rotary pilot pressure sensor is greater than the opening pressure of a rotary pilot valve core in a main valve or the signal of the first main pump pressure sensor is greater than the no-load pressure value of the first main pump, and the main controller detects that the pressure value output by the crushing pilot pressure sensor is less than the opening pressure of the crushing pilot valve core, the main controller enters a standard working mode, the main controller adjusts the current values of the second main pump proportional valve and the first main pump proportional valve to preset target values, the first main pump pressure sensor is arranged at an oil outlet of the first main pump, the first main pump is used for supplying oil to a rotary loop, and the first main pump proportional valve is connected with the first main pump to control the discharge capacity of the first main pump.
2. The adaptive control device for excavator power based on crushing condition of claim 1, wherein: the first main pump pressure sensor, the second main pump pressure sensor, the rotary pilot pressure sensor and the crushing pilot pressure sensor are all voltage type sensors and output voltage signals of 0.5-4.5V.
3. The adaptive control device for excavator power based on crushing condition of claim 1, wherein: the first main pump pressure sensor, the second main pump pressure sensor, the rotary pilot pressure sensor and the crushing pilot pressure sensor are all current type sensors and output current signals of 4-20 mA.
4. The excavator power self-adaptive control method based on the crushing working condition is characterized by comprising the following steps of:
(1) when an operator opens the pilot safety electromagnetic valve, the pilot safety electromagnetic valve is electrified, and a hydraulic pilot loop connected with the pilot safety electromagnetic valve is communicated;
(2) after an operator starts an engine of the excavator, the engine controller acquires a rotating speed signal of the engine from the rotating speed sensor and sends the rotating speed signal to the main controller through the bus;
(3) when the main controller judges that the engine is started, the main controller starts to detect a pressure signal output by a crushing pilot pressure sensor arranged at the output end of a crushing pilot loop, if the pressure value output by the crushing pilot pressure sensor is greater than or equal to the opening pressure of a crushing pilot valve core in a main valve of an excavator, the main controller automatically enters a crushing mode and adjusts the current value of a second main pump proportional valve connected with a second main pump to a preset target value, and in the adjusting process, the main controller collects the pressure signal output by the second main pump pressure sensor in real time to judge whether the discharge capacity of the second main pump meets the set requirement or not, wherein the second main pump pressure sensor is arranged at an oil outlet of the second main pump and is used for supplying oil to the crushing pilot loop;
(4) when the main controller detects that the pressure value output by the rotary pilot pressure sensor is greater than the opening pressure of a rotary pilot valve core in a main valve or the signal of the first main pump pressure sensor is greater than the no-load pressure value of the first main pump, and the main controller detects that the pressure value output by the crushing pilot pressure sensor is less than the opening pressure of the crushing pilot valve core, the main controller enters a standard working mode, the main controller adjusts the current values of the second main pump proportional valve and the first main pump proportional valve to preset target values, the first main pump pressure sensor is arranged at an oil outlet of the first main pump, the first main pump is used for supplying oil to a rotary loop, and the first main pump proportional valve is connected with the first main pump to control the discharge capacity of the first main pump.
5. The adaptive control method for excavator power based on crushing condition of claim 4, characterized by comprising the following steps: in the adjusting process in step (3), the main controller collects the pressure signal output by the second main pump pressure sensor in real time to determine whether the displacement of the second main pump meets the set requirement, and then the method further comprises:
the main controller simultaneously adjusts the current value of the first main pump proportional valve to zero.
6. The adaptive control method for excavator power based on crushing condition of claim 4, characterized by comprising the following steps: when the main controller judges that the transmitter is started, the method specifically comprises the following steps:
and the main controller detects that the rotating speed of the engine is greater than a set threshold value, and then judges that the engine is started.
7. The adaptive control method for excavator power based on crushing condition of claim 4, characterized by comprising the following steps: the first main pump idling pressure value refers to idling oil pressure generated when the whole vehicle does not have any action.
8. The adaptive control method for excavator power based on crushing condition of claim 4, characterized by comprising the following steps: the first main pump pressure sensor, the second main pump pressure sensor, the rotary pilot pressure sensor and the crushing pilot pressure sensor are all voltage type sensors and output voltage signals of 0.5-4.5V.
9. The adaptive control method for excavator power based on crushing condition of claim 4, characterized by comprising the following steps: the first main pump pressure sensor, the second main pump pressure sensor, the rotary pilot pressure sensor and the crushing pilot pressure sensor are all current type sensors and output current signals of 4-20 mA.
10. The adaptive control method for excavator power based on crushing condition of claim 4, characterized by comprising the following steps: the main controller adjusts current values of the second main pump proportional valve and the first main pump proportional valve to preset target values, specifically:
and the main controller adjusts the current values of the second main pump proportional valve and the first main pump proportional valve to preset target values so as to meet the power required by the excavator during rotation and walking.
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| CN115030248B (en) * | 2022-06-29 | 2024-04-19 | 中联重科土方机械有限公司 | Positive flow excavator, crushing control method thereof, crushing control device and controller |
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| CN203977477U (en) * | 2014-08-05 | 2014-12-03 | 山河智能装备股份有限公司 | A kind of excavator having for different operating modes switching hydraulic circuits |
| CN109024752A (en) * | 2018-08-10 | 2018-12-18 | 徐州徐工挖掘机械有限公司 | Excavator walking operating condition adaptive control system, control method and excavator |
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