Control Method, Controller, System and Crane for Slewing Operation

Abstract

The present application provides a control method, a controller, a system and a crane for slewing operation, belonging to the field of construction machinery. The method includes: obtaining the opening degree of the slewing handle, when the opening degree of the slewing handle reaches the slewing critical opening degree, determining the minimum current required by the slewing solenoid valve, so as to control the minimum current to keep the slewing handle at a smaller opening degree, preventing the ineffective stroke of the slewing handle caused by a large opening degree, improving the effective stroke of the slewing handle and thus reducing the slewing start time; when the opening degree of the slewing handle reaches the maximum opening degree, determining the maximum current required by the slewing solenoid valve, thus preventing the occurrence of jitter. Making the current associated with the load and the counterweight, avoiding the operation situations of small torque with large load and large torque with small load, thus preventing the occurrence of jitter, reducing the ineffective stroke of the handle, solving the problem of start delay, and improving the smoothness of the slewing operation.

Description

Technical Field

[0001] This application relates to the field of construction machinery, and particularly to a control method, a controller, a system, and a crane for slewing operation. Background Art

[0002] Currently, the slewing drive of a slewing crane is usually realized by a hydraulic system. Due to characteristics such as seal leakage in components such as hydraulic pumps, hydraulic motors, and solenoid valves in the hydraulic system, and the leakage amount varying with different loads, pressures, etc., problems such as large braking impact, jitter, and delay occur during the slewing operation of the crane.

[0003] Regarding the problems of large braking impact, jitter, and delay, the current main solution is to set the minimum current and maximum current for slewing operation. However, this method is only effective for some working conditions, and these problems still exist in other working conditions. Summary of the Invention

[0004] In view of this, this application provides a control method, a controller, a system, and a crane for slewing operation, which solves the technical problems of large braking impact, jitter, and delay in the existing slewing operation, and improves the smoothness of the slewing operation.

[0005] In one aspect of this application, a control method for slewing operation is proposed, including: obtaining the slewing handle opening of the slewing handle; when the slewing handle opening reaches the slewing critical opening, determining the minimum current required for the slewing solenoid valve based on the torque percentage, the counterweight percentage, and the first current value, and determining the first working current of the slewing solenoid valve in a preset first section as greater than or equal to the minimum current; when the slewing handle opening reaches the maximum opening, determining the maximum current required for the slewing solenoid valve based on the boom length percentage and the second current value, and determining the second working current of the slewing solenoid valve in a preset second section as less than or equal to the maximum current.

[0006] In a possible embodiment, after determining the maximum current required for the slewing solenoid valve based on the boom length and the second current value when the slewing handle opening reaches the maximum opening, it further includes: during slewing braking, determining the initial braking current of the overflow solenoid valve based on the torque percentage, the third current value, and the braking duration ratio, and determining the working current of the overflow solenoid valve as less than or equal to the initial braking current, where the braking duration ratio is the ratio of the remaining braking duration to the total braking duration.

[0007] In a possible embodiment, determining the minimum current required for the slewing solenoid valve based on the torque percentage, the counterweight percentage, and the first current value includes: when the torque percentage is greater than or equal to the first preset torque percentage, determining the minimum current required for the slewing solenoid valve according to the torque percentage, the counterweight percentage, and the first current value.

[0008] In a possible embodiment, determining the maximum current required for the slewing solenoid valve based on the arm length percentage and the second current value includes: obtaining the arm length, and if the arm length is greater than the basic arm length, determining the maximum current required for the slewing solenoid valve according to the arm length percentage and the second current value.

[0009] In a possible embodiment, determining the initial braking current of the overflow valve based on the torque percentage, the third current value, and the braking duration ratio includes: when the torque percentage is greater than the first preset torque percentage, determining the initial braking current of the overflow valve according to the torque percentage, the third current value, and the braking duration ratio.

[0010] In a possible embodiment, when the handle opening reaches the slewing critical opening, determining the minimum current required for the slewing solenoid valve based on the torque percentage, the counterweight percentage, and the first current value, and then further includes: determining the initial starting pressure of the slewing motor based on the minimum current, and controlling the slewing motor to output the initial starting pressure.

[0011] In a possible embodiment, during slewing braking, after determining the initial braking current of the overflow solenoid valve based on the torque percentage, the third current value, and the braking duration ratio, it further includes: determining the initial braking pressure of the slewing motor based on the initial braking current, and controlling the slewing motor to output the initial braking pressure.

[0012] As another aspect of the present application, a controller is provided, including: a handle opening acquisition module for acquiring the slewing handle opening of the slewing handle; a minimum current determination module for, when the slewing handle opening reaches the slewing critical opening, determining the minimum current required for the slewing solenoid valve based on the torque percentage, the counterweight percentage, and the first current value, and determining the first working current of the slewing solenoid valve in a preset first process section to be greater than or equal to the minimum current; a maximum current determination module for, when the slewing handle opening reaches the maximum opening, determining the maximum current required for the slewing solenoid valve based on the arm length percentage and the second current value, and determining the second working current of the slewing solenoid valve in a preset second process section to be less than or equal to the maximum current.

[0013] As a third aspect of the present application, a control system for slewing operation is provided, including: a slewing handle for controlling the slewing operation of the crane; a slewing solenoid valve for controlling the pressure output by the slewing motor; and the controller as described above; wherein the controller is communicatively connected to the slewing handle and the slewing solenoid valve.

[0014] As a fourth aspect of the present application, a crane is provided, including the control system for slewing operation as described above.

[0015] The present application provides a control method, a controller, a system and a crane for slewing operation. The method includes: obtaining the opening degree of the slewing handle, and when the opening degree of the slewing handle reaches the slewing critical opening degree, determining the minimum current required for the slewing solenoid valve based on the torque percentage, the counterweight percentage and the first current value, and determining the first working current of the slewing solenoid valve in a preset first section as greater than or equal to the minimum current; thereby controlling the minimum current to control the slewing handle to maintain a smaller opening degree, preventing the ineffective stroke of the slewing handle caused by a large opening degree, improving the effective stroke of the slewing handle and thus reducing the slewing start-up time. When the opening degree of the slewing handle reaches the maximum opening degree, determining the maximum current required for the slewing solenoid valve based on the boom length percentage and the second current value, and determining the second working current of the slewing solenoid valve in a preset second section as less than or equal to the maximum current, thereby preventing jitter from occurring. That is, dynamically controlling the minimum current and the maximum current according to the torque and the counterweight, associating the current with the load and the counterweight, avoiding the operation conditions of small torque and large load and large torque and small load, thereby preventing jitter from occurring, reducing the ineffective stroke of the handle, solving the problem of start-up delay, and improving the smoothness of the slewing operation. Description of the Drawings

[0016] By describing the embodiments of the present application in more detail in conjunction with the drawings, the above and other objects, features and advantages of the present application will become more obvious. The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the present application together with the embodiments of the present application, and do not constitute a limitation to the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 The figure shows a schematic flow chart of a control method for slewing operation provided by an embodiment of the present application;

[0018] Figure 2 The figure shows a schematic flow chart of a control method for slewing operation provided by another embodiment of the present application;

[0019] Figure 3The figure shows a schematic flowchart of a control method for slewing operation provided by another embodiment of the present application;

[0020] Figure 4 The figure shows a schematic flowchart of a control method for slewing operation provided by another embodiment of the present application;

[0021] Figure 5 The figure shows a schematic structural diagram of a controller for slewing operation provided by an embodiment of the present application

[0022] Figure 6 The figure shows a schematic working principle diagram of a control system for slewing operation provided by an embodiment of the present application;

[0023] Figure 7 The figure shows a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0024] In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically defined. In the embodiments of the present application, all directional indications (such as up, down, left, right, front, back, top, bottom...) are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include unlisted steps or units, or may optionally further include other steps or units inherent to these processes, methods, products or devices.

[0025] In addition, the mention of "embodiment" in this article means that the specific features, structures or characteristics described in combination with the embodiment can be included in at least one embodiment of the present application. The phrase appears in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0026] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0027] Currently, when a slewing crane is slewing, there are often problems such as large braking impact, jitter, and delay. These problems greatly reduce the user experience and also affect the safety and accuracy of the slewing operation. The most commonly used solution currently is to adjust parameters such as the minimum current and maximum current to control the effect of the slewing operation. However, parameters such as the minimum current and maximum current can only be set for some working conditions and are not applicable to all working conditions.

[0028] In addition, the current required by the slewing solenoid valve during slewing operation is closely related to the size of the suspended load. The greater the suspended load, the greater the starting current required, and the opening of the slewing handle also needs to be increased, which will cause a delay in the slewing action. During the slewing process, when the maximum slewing speed remains unchanged, the longer the boom length, the greater the braking impact. When slewing and braking, the greater the suspended load, the greater the braking impact. Therefore, a method for dynamically controlling the slewing operation according to the suspended load and boom length is needed.

[0029] Figure 1 The following shows a schematic flow diagram of a control method for a slewing operation provided by an embodiment of the present application. As Figure 1 shown, the control method for the slewing operation includes:

[0030] Step S100: Obtain the slewing handle opening of the slewing handle.

[0031] In this embodiment, obtain the current working current of the slewing solenoid valve, and determine the current slewing handle opening of the slewing handle based on the corresponding relationship between the working current and the slewing handle opening.

[0032] Step S101: When the slewing handle opening reaches the slewing critical opening, determine the minimum current required for the slewing solenoid valve based on the moment percentage, counterweight percentage, and the first current value, and determine the first working current of the slewing solenoid valve in the preset first working section to be greater than or equal to the minimum current.

[0033] When the slewing handle opening reaches the critical opening, it indicates the start of the slewing operation. At this time, the current required by the slewing solenoid valve is the minimum current during the slewing operation.

[0034] In this embodiment, obtain the current suspended load of the suspended load from the moment limiter, and determine the moment percentage as the ratio of the current suspended load to the maximum suspended load that the crane can bear; obtain the current counterweight of the counterweight block from the moment limiter, and determine the counterweight percentage as the ratio of the current counterweight to the maximum counterweight. Among them, the moment limiter is an independent safety operating system completely controlled by a computer, which can detect the current suspended load mass of the crane and the angle of the boom, and can display information such as its rated load capacity, actual load, working radius, and the angle of the boom.

[0035] Specifically, compare the torque percentage with the first preset torque percentage. When the torque percentage is greater than or equal to the first preset torque percentage, determine the minimum current required for the swing solenoid valve according to the torque percentage, the counterweight percentage, and the first current value.

[0036] Specifically, calculate the torque percentage, the counterweight percentage, and the first current value based on formula (1) to generate the minimum current required for the swing solenoid valve:

[0037] I min = a + I d1 *(K1 + K2); formula (1)

[0038] I min represents the minimum current required for the swing solenoid valve, a is the first constant, I d1 represents the first current value, K1 represents the torque percentage, K2 represents the counterweight percentage, where the value of K1 is equal to the ratio of the current load to the maximum load, and the value of K2 is equal to the ratio of the current counterweight to the maximum counterweight.

[0039] Among them, the first preset torque percentage can be set to 1%, the first constant a can be set to 280 mA, and the first current value can be 60 mA.

[0040] Based on formula (1), it can be seen that the minimum current required for the swing solenoid valve is proportional to the torque percentage: the larger the torque percentage, the larger the minimum current; the minimum current required for the swing solenoid valve is proportional to the counterweight percentage: the larger the counterweight percentage, the larger the minimum current. In this way, the minimum current at the start of the swing operation is determined based on the torque percentage and the counterweight percentage, so that the swing solenoid valve can more accurately control the opening of the swing handle during subsequent operations. It avoids the operating conditions of small torque and large load and large torque and small load. Especially when the torque percentage and the counterweight percentage are relatively large, control the minimum current to keep the swing handle at a relatively small opening, preventing the ineffective stroke of the swing handle caused by a large opening. In addition, it can also increase the effective stroke of the swing handle and thus reduce the swing start time.

[0041] In other embodiments, if the torque percentage is less than the first preset torque percentage, then set the minimum current I min required for the swing solenoid valve to 280 mA.

[0042] After determining the minimum current, determine the first working current of the swing solenoid valve in the first preset section to be greater than or equal to the minimum current. Among them, the first preset section is the section where the handle opening is from the swing critical opening to the maximum opening. During the first preset section, the first working current required by the swing solenoid valve gradually increases.

[0043] Step S102: When the opening degree of the slewing handle reaches the maximum opening degree, determine the maximum current required for the slewing solenoid valve based on the arm length percentage and the second current value, and determine the second working current of the slewing solenoid valve in the preset second process section to be less than or equal to the maximum current.

[0044] When the opening degree of the slewing handle reaches the maximum opening degree, the current required for the slewing solenoid valve is the maximum current.

[0045] In this embodiment, the arm length is obtained from the torque limiter, and the arm length refers to the actual extended arm length. The ratio of the arm length to the full arm length is determined as the arm length percentage.

[0046] Compare the arm length with the basic arm length. If the arm length is greater than the basic arm length, determine the maximum current required for the slewing solenoid valve according to the arm length percentage and the second current value.

[0047] Specifically, calculate the arm length percentage and the second current value based on formula (two) to generate the maximum current required for the slewing solenoid valve:

[0048] I max = b - I d2 *K L ; Formula (two)

[0049] I max represents the maximum current required for the slewing solenoid valve, b is the second constant, I d2 represents the second current value, K L represents the arm length percentage, where the value of K L is equal to the ratio of the arm length to the full arm length.

[0050] Among them, the basic arm length is set according to experience. The second constant b can be 650 mA, and the second current value can be 100 mA. According to formula (two), the maximum current required for the solenoid valve is proportional to the arm length. The longer the arm length, the greater the corresponding maximum current. Generally, when the slewing handle reaches the maximum opening degree, the speed is also the maximum. The longer the arm length, the more obvious the jitter during slewing. In this embodiment, the maximum current of the solenoid valve is determined based on the arm length to reduce the jitter caused by too long arm length during slewing and improve the slewing stability. Determining the maximum current based on the arm length effectively avoids the jitter caused by providing too large a current at a short arm length.

[0051] After determining the maximum current of the slewing solenoid valve, determine the second working current of the slewing solenoid valve in the preset second process section to be less than the maximum current. The preset second process section is the section from the maximum handle opening degree to the start of slewing braking.

[0052] In other embodiments, if the arm length is less than or equal to the basic arm length, then the maximum current I required for the slewing solenoid valve minSet to 650 mA.

[0053] In this embodiment, through the above steps, the minimum current control slewing handle is controlled to maintain a small opening degree, preventing the ineffective stroke of the slewing handle caused by a large opening degree, improving the effective stroke of the slewing handle and thus reducing the slewing start time; when the opening degree of the slewing handle reaches the maximum opening degree, the maximum current required for the slewing solenoid valve is determined based on the arm length percentage and the second current value, and the second working current of the slewing solenoid valve in the preset second section is determined to be less than or equal to the maximum current, thereby preventing jitter. That is, the minimum current and the maximum current are dynamically controlled according to the torque and the counterweight, making the current associated with the load and the counterweight, avoiding the operation conditions of small torque and large load and large torque and small load, thus preventing jitter, reducing the ineffective stroke of the handle, solving the problem of start-up delay, and improving the smoothness of the slewing operation.

[0054] Figure 2 The following is a schematic flow chart of a control method for slewing operation provided by another embodiment of the present application. As Figure 2 shown, after step S102, it further includes:

[0055] Step S103: When slewing braking, determine the initial braking current of the overflow solenoid valve based on the torque percentage, the third current value, and the braking duration ratio, and determine the working current of the overflow solenoid valve to be less than or equal to the initial braking current.

[0056] When slewing braking, obtain the current load of the suspended load from the torque limiter, and determine the ratio of the current load to the maximum load that the crane can bear as the torque percentage. Compare the torque percentage with the first preset torque:

[0057] When the torque percentage is greater than the first preset torque percentage, determine the initial braking current of the overflow valve according to the torque percentage, the third current value, and the braking duration ratio.

[0058] Specifically, calculate the torque percentage, the third current value, and the braking duration ratio based on formula (III) to generate the initial braking current of the overflow valve:

[0059] I x = c - I d3 * K1 * (T1 / T); Formula (III)

[0060] I x represents the initial braking current of the overflow valve, c is the third constant, I d3represents the third current value, and T1 / T represents the braking duration ratio, where T1 is the remaining braking duration and T is the total braking duration.

[0061] Among them, the first preset torque percentage can be set to 1%, the third constant c can be set to 650 mA, the third current value can be 100 mA, and the total braking duration T is a fixed value, generally 2 - 3 s.

[0062] This embodiment determines the initial braking current based on the torque percentage K1, realizes the dynamic control of the initial braking current, and can reduce the braking impact.

[0063] The initial braking current I of the overflow valve x is inversely proportional to the remaining braking duration T. The shorter the remaining braking duration T, the x larger the initial braking current I. The initial braking current I x is inversely proportional to the torque percentage K1. That is, the larger the load mass, the smaller the initial braking current, preventing the severe impact caused by too large an initial braking current during large load lifting. In other embodiments, the initial braking torque is also set according to the torque percentage K1, and the braking torque gradually decreases as the remaining braking duration decreases, thereby making the braking tend to be gentle and achieving smooth braking.

[0064] After determining the initial braking current, the working current of the overflow solenoid valve is determined to be less than or equal to the initial braking current. Since the initial braking current I of the overflow valve x is inversely proportional to the remaining braking duration T, the working current of the overflow valve will gradually decrease, thereby realizing controlled braking and making the braking area gentle.

[0065] This embodiment is based on the above - mentioned scheme, determines the initial braking current of the overflow solenoid valve according to the torque percentage, the third current value, and the braking duration ratio, makes the initial braking current related to the torque percentage and the braking duration ratio, thereby obtaining a gentle braking effect and reducing the braking impact.

[0066] Figure 3 The figure shows a schematic flow chart of a control method for slewing operation provided by another embodiment of the present application. As Figure 3 shown, after step S101, it further includes:

[0067] Step S1011: Determine the initial starting pressure of the slewing motor based on the minimum current, and control the slewing motor to output the initial starting pressure.

[0068] The pressure of the slewing motor is obtained through a pressure sensor installed on the pipeline of the slewing motor. The pressure sensor is connected to the controller, so that the pressure sensor sends the detected pressure signal to the controller.

[0069] The minimum current has a certain mapping relationship with the initial starting pressure. Under the test conditions in advance, the preset minimum currents are input one by one, and the pressure of the slewing motor obtained by the pressure sensor is used as the corresponding initial starting pressure. After a series of tests like this, the mapping table of the minimum current and the initial starting pressure can be obtained.

[0070] After determining the minimum current, the corresponding initial starting pressure can be found from the mapping table of the minimum current and the initial starting pressure. After determining the initial pressure, control the slewing motor to output the initial starting pressure.

[0071] Thus, based on the minimum current, the corresponding initial starting pressure is determined. The larger the minimum current, the higher the initial starting pressure. Therefore, on the premise of meeting the operation requirements, the dynamic control of the slewing motor pressure is realized, which can increase the effective stroke of the handle and improve the smoothness of slewing.

[0072] Figure 4 The following is a schematic flowchart of a control method for slewing operation provided by another embodiment of the present application. As Figure 4 shown, after step S103, it further includes:

[0073] Step S1031: Determine the initial braking pressure of the slewing motor based on the initial braking current, and control the slewing motor to output the initial braking pressure.

[0074] After starting braking, determine the initial braking pressure of the slewing motor based on the initial braking current.

[0075] The initial braking current has a certain mapping relationship with the initial braking pressure. Under the test conditions in advance, the preset initial braking currents are input one by one, and the pressure of the slewing motor obtained by the pressure sensor is used as the corresponding initial braking pressure. After a series of tests like this, the mapping table of the initial braking current and the initial braking pressure can be obtained.

[0076] After determining the initial braking current, the corresponding initial braking pressure can be found from the mapping table of the initial braking current and the initial braking pressure. After determining the initial pressure, control the slewing motor to output the initial braking pressure to achieve smooth braking.

[0077] Thus, based on the initial braking current, the corresponding initial braking pressure is determined. The initial braking pressure gradually becomes smaller during the braking process, thereby realizing the dynamic control of the slewing motor braking pressure, which can improve the smoothness of braking and the stopping effect.

[0078] As another aspect of the present application, the present application provides a controller for slewing operation. Figure 5 The following is a schematic structural diagram of a controller for slewing operation provided by the present application. Among them, the controller 3 for slewing operation includes:

[0079] The handle opening acquisition module 31 is configured to acquire the rotation handle opening of the slewing handle.

[0080] The minimum current determination module 32 is configured to, when the rotation handle opening reaches the rotation critical opening, determine the minimum current required for the slewing solenoid valve based on the torque percentage, the counterweight percentage, and the first current value, and determine the first working current of the slewing solenoid valve in a preset first section to be greater than or equal to the minimum current.

[0081] The maximum current determination module 33 is configured to, when the rotation handle opening reaches the maximum opening, determine the maximum current required for the slewing solenoid valve based on the boom length percentage and the second current value, and determine the second working current of the slewing solenoid valve in a preset second section to be less than or equal to the maximum current.

[0082] As a third aspect of the present application, the present application provides a control system for slewing operations. Figure 6 The following shows a schematic diagram of the working principle of a controller for slewing operations provided by the present application. Among them, the controller for slewing operations includes:

[0083] A slewing handle 1, where the slewing handle 1 is used to control the slewing operation of the crane; a slewing solenoid valve 2, and the slewing solenoid valve 2 is used to control the pressure output by the slewing motor.

[0084] And the controller 3 as described above. The controller 3 is communicatively connected to the slewing handle 1 and the slewing solenoid valve 2.

[0085] In addition, the controller for slewing operations further includes an overflow solenoid valve, and the overflow solenoid valve is used to control the pressure output by the slewing motor.

[0086] Next, reference is made to Figure 7 to describe an electronic device according to an embodiment of the present application. Figure 7 The following shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0087] As Figure 7 shown, the electronic device 600 includes one or more processors 601 and a memory 602.

[0088] The processor 601 may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.

[0089] The memory 601 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program information may be stored on the computer-readable storage media, and the processor 601 may run the program information to implement the control method of the slewing operation of various embodiments of the present application described above or other desired functions.

[0090] In one example, the electronic device 600 may further include: an input device 603 and an output device 604, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0091] The input device 603 may include, for example, a keyboard, a mouse, etc.

[0092] The output device 604 may output various information to the outside. The output device 604 may include, for example, a display, a communication network, and remote output devices connected thereto, etc.

[0093] Of course, for simplicity, Figure 7 only some of the components related to the present application in the electronic device 600 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device 600 may further include any other appropriate components.

[0094] In addition to the above methods and devices, the embodiments of the present application may also be computer program products, which include computer program information, and when the computer program information is run by a processor, the processor is caused to execute the steps in the control method of the slewing operation according to various embodiments of the present application described in this specification.

[0095] The computer program products may be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present application. The programming languages include object-oriented programming languages, such as Java, C++, etc., and also include conventional procedural programming languages, such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0096] In addition, an embodiment of the present application may also be a computer-readable storage medium storing computer program information, which, when run by a processor, causes the processor to execute the steps in the control method for the slewing operation according to various embodiments of the present application described in this specification.

[0097] The computer-readable storage medium may employ any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0098] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for illustrative and facilitating understanding purposes, rather than limitations. The above details do not limit the present application to necessarily implement using the above specific details.

[0099] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended words, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or", and can be used interchangeably with each other, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to", and can be used interchangeably with each other.

[0100] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0101] The above description of the disclosed aspects enables any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0102] The above are only the preferred embodiments of the creation of this application, and are not intended to limit the creation of this application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the creation of this application shall be included within the protection scope of the creation of this application.

Claims

1. A control method for rotary operation, characterized in that, Including: Obtain the opening degree of the slewing handle; When the opening degree of the slewing handle reaches the slewing critical opening degree, determine the minimum current required for the slewing solenoid valve based on the torque percentage, the counterweight percentage, and the first current value, and determine the first working current of the slewing solenoid valve in the preset first section to be greater than or equal to the minimum current; When the opening degree of the slewing handle reaches the maximum opening degree, determine the maximum current required for the slewing solenoid valve based on the boom length percentage and the second current value, and determine the second working current of the slewing solenoid valve in the preset second section to be less than or equal to the maximum current.

2. The method according to claim 1, characterized in that, After determining the maximum current required for the slewing solenoid valve based on the boom length and the second current value when the opening degree of the slewing handle reaches the maximum opening degree, it further includes: During slewing braking, determine the initial braking current of the relief solenoid valve based on the torque percentage, the third current value, and the braking duration ratio, and determine the working current of the relief solenoid valve to be less than or equal to the initial braking current, where the braking duration ratio is the ratio of the remaining braking duration to the total braking duration.

3. The method according to claim 1, wherein The determining the minimum current required for the slewing solenoid valve based on the torque percentage, the counterweight percentage, and the first current value includes: When the torque percentage is greater than or equal to the first preset torque percentage, determine the minimum current required for the slewing solenoid valve according to the torque percentage, the counterweight percentage, and the first current value.

4. The method according to claim 1, wherein The determining the maximum current required for the slewing solenoid valve based on the boom length percentage and the second current value includes: Obtain the boom length. If the boom length is greater than the basic boom length, determine the maximum current required for the slewing solenoid valve according to the boom length percentage and the second current value.

5. The method according to claim 2, wherein The determining the initial braking current of the relief valve based on the torque percentage, the third current value, and the braking duration ratio includes: When the torque percentage is greater than the first preset torque percentage, determine the initial braking current of the relief valve according to the torque percentage, the third current value, and the braking duration ratio.

6. The method according to claim 1, characterized in that After determining the minimum current required for the slewing solenoid valve based on the torque percentage, the counterweight percentage, and the first current value when the handle opening degree reaches the slewing critical opening degree, it further includes: Determine the initial starting pressure of the slewing motor based on the minimum current, and control the slewing motor to output the initial starting pressure.

7. The method according to claim 2, wherein After determining the initial braking current of the relief solenoid valve based on the torque percentage, the third current value, and the braking duration ratio during slewing braking, it further includes: Determine the initial braking pressure of the slewing motor based on the initial braking current, and control the slewing motor to output the initial braking pressure.

8. A controller, including: A handle opening degree acquisition module for obtaining the opening degree of the slewing handle; A minimum current determination module for determining the minimum current required for the slewing solenoid valve based on the torque percentage, the counterweight percentage, and the first current value when the opening degree of the slewing handle reaches the slewing critical opening degree, and determining the first working current of the slewing solenoid valve in the preset first section to be greater than or equal to the minimum current; A maximum current determination module, configured to determine a maximum current required for the slewing solenoid valve based on the arm length percentage and a second current value when the opening degree of the slewing handle reaches the maximum opening degree, and determine a second working current of the slewing solenoid valve in a preset second work section to be less than or equal to the maximum current.

9. A control system for rotary operation, characterized in that, Comprising: A slewing handle for controlling the slewing operation of the crane; A slewing solenoid valve for controlling the pressure output by the slewing motor; And the controller according to claim 8; Wherein, the controller is communicatively connected to the slewing handle and the slewing solenoid valve.

10. A crane, characterized in that, Including the control system for the slewing operation according to claim 9.

Images