Electric rotation control method and system

Abstract

The present invention discloses an electric slewing control method and system, which includes: judging the initial position state of the slewing mechanism according to the state relationship between the slewing motor and the slewing handle; if the initial position state of the slewing mechanism is in the horizontal plane, in response to the slewing control demand given by the driver by operating the slewing handle, issuing an instruction to execute horizontal plane slewing control, including slewing drive control and regenerative braking control, to realize horizontal plane slewing control of the electric slewing system; if the initial position state of the slewing mechanism is in the inclined plane, judging according to the feedback speed of the slewing motor and the operation instruction input of the slewing handle, and executing static control, rising slewing control, falling slewing control and comprehensive control.

Description

Technical Field

[0001] The invention belongs to the technical field of rotary operation machinery and relates to an electric rotary control method and system. Background Art

[0002] A slewing system is a mechanism that enables the rotating part of a machine to rotate about its centerline, enabling the spatial transport of cargo or the work cycle. It typically consists of a drive system, a transmission system, and a slewing bearing, and is widely used in construction machinery such as excavators and cranes. Currently, slewing systems are mostly driven by hydraulic motors, although slewing motors are sometimes used in place of hydraulic motors. Slewing systems driven by slewing motors are called electric slewing systems.

[0003] Electric slewing systems are different from hydraulic slewing systems. Although the slewing motor can provide a certain amount of braking force, it cannot provide lasting braking force. Therefore, a corresponding safety mechanism should be designed to provide backup braking or to provide safety protection for the electric slewing system in certain extreme situations.

[0004] The existing technology has the following deficiencies: Patent application number CN202111216737.3 provides an electric slewing system for controlling the slewing device of construction machinery, but it does not address the control of the electric slewing device on an inclined surface. Patent application number CN201280045119.X provides an electric slewing control device, but this control device controls the output size and output direction of the slewing motor based on the zero slewing speed. Patent application number CN201711035439.8 provides an electric slewing system control method that controls the operating status of the generator and motor according to the different operating states of the mixing drum and engine. It is only applicable to vehicle-mounted fixed electric slewing devices such as concrete mixer trucks. Patent application number CN201310731546.X provides an electric slewing working machine that uses a slewing control unit to set an anti-slip mode to reduce the slewing reaction force, thereby preventing the walking body from slipping relative to the ground. It does not address the control of the electric slewing device on an inclined surface. Summary of the Invention

[0005] Purpose: In order to overcome the deficiencies in the prior art, the present invention provides an electric slewing control method and system, which involves controlling an electric slewing system on a horizontal plane and an inclined plane.

[0006] When the electric slewing system rotates on a horizontal surface, the slewing motor's output torque is used only to drive the slewing mechanism. When the electric slewing system rotates on an inclined surface, the slewing motor's output torque not only drives the slewing mechanism but also overcomes the effects of the machine's own gravity on the slewing motion. When the slewing mechanism is stationary on the inclined surface, the electric slewing system must overcome the mechanism's gravity to keep it stationary. When the slewing mechanism rotates downwards on the inclined surface under the influence of gravity, this type of rotation is called descending rotation. The electric slewing system must control the mechanism's rotation speed to prevent it from rotating too quickly. When the slewing mechanism rotates upwards on the inclined surface against the influence of gravity, this type of rotation is called ascending rotation. The electric slewing device must control the mechanism's drive to overcome its own gravity.

[0007] In view of the above-mentioned multiple rotation states, the electric rotation system should be able to quickly and accurately determine the rotation state of the rotation mechanism and control the rotation motor to respond quickly so that the rotation mechanism can execute the correct rotation state.

[0008] Technical solution: To solve the above technical problems, the technical solution adopted by the present invention is:

[0009] In a first aspect, a method for controlling electric rotation is provided, comprising:

[0010] Determine the initial position state of the rotary mechanism according to the state relationship between the rotary motor and the rotary handle;

[0011] In response to no operation command input from the rotary handle and no speed feedback signal from the rotary motor, determining that the initial position state of the rotary mechanism is in a horizontal plane;

[0012] In response to the driver giving a swing control demand by operating the swing handle, an instruction is issued to execute horizontal plane swing control.

[0013] In some embodiments, the horizontal plane rotation control includes horizontal plane drive control, wherein the horizontal plane drive control includes:

[0014] The fuzzy control algorithm is used to calculate the target speed of the rotary motor according to the input signal of the rotary handle, and the output speed of the rotary motor is controlled according to the target speed of the rotary motor, so that the rotary mechanism enters the rotary motion state;

[0015] During the horizontal plane drive control process, the rotation speed of the rotation mechanism is obtained. In response to the rotation speed being greater than the set safety threshold or the handle opening being reduced, an instruction is sent to control the rotation motor to perform regenerative braking control. The regenerative braking control means: controlling the rotation motor to output at a target speed that is opposite to the current feedback speed, so that the rotation motor acts as a generator and stores the generated electrical energy in the battery system.

[0016] In some embodiments, further, during the horizontal plane regenerative braking control process, if the regenerative braking execution time exceeds a set regenerative braking execution time threshold, a command is issued to drive a safety device to take effect and reduce the rotation speed;

[0017] Furthermore, during the horizontal plane rotation control process, if the safety device switch is turned on, the safety device is controlled to lock the rotation motor and a zero speed instruction is sent to the rotation motor.

[0018] Furthermore, when the rotary motor is in a locked state by the safety device, in response to an input signal from the rotary handle or the disconnection of the safety device switch, the safety device is controlled to release the rotary motor.

[0019] In another embodiment, an electric swing control method includes:

[0020] Determine the initial position state of the rotary mechanism according to the state relationship between the rotary motor and the rotary handle;

[0021] In response to no operation command input from the rotary handle and a speed feedback signal from the rotary motor, determining that the initial position state of the rotary mechanism is on an inclined surface;

[0022] In response to a driver's swing control demand given by operating a swing handle, the swing mechanism is judged to be in a stationary state, an ascending swing state, or a descending swing state according to an input signal from the swing handle;

[0023] (2A) If the rotary motor has a rotation speed and no operation command is input to the rotary handle, the rotary mechanism is in a stationary state, and a command is issued to perform stationary control: the rotary motor is controlled to output a speed value opposite to the feedback speed, so that the rotary motor is "stuck" to operate, so that the rotary mechanism remains stationary;

[0024] (2B) If the feedback speed direction of the rotary motor is opposite to the direction of the rotary handle opening, and the rotary mechanism is in an ascending rotary state on the inclined surface, a command is issued to perform ascending rotary control: a rotary motor control command is provided to drive the rotary mechanism to perform rotary motion in the ascending direction of the inclined surface, so that the rotary mechanism performs ascending rotary motion;

[0025] (2C) If the feedback speed direction of the rotary motor is the same as the direction of the rotary handle opening, and the rotary mechanism is in a descending rotary state on the inclined surface, a command is issued to perform descending rotary control, and a rotary motor control command is provided to the rotary mechanism to perform rotary motion in the descending direction of the inclined surface, so that the rotary mechanism performs descending rotary motion and regenerative energy is recovered;

[0026] During the ascending rotation control and descending rotation control processes, the rotation speed of the rotation mechanism is obtained. If the rotation speed is greater than the safety threshold, a command is issued to drive the safety device to take effect and reduce the rotation speed.

[0027] In some embodiments, during the static control process, if the "stall" operation safety time of the rotary motor exceeds the safety time threshold or the safety device switch is turned on, the safety device is controlled to lock the rotary motor and send a zero speed command to the rotary motor.

[0028] Furthermore, when the rotary motor is in a locked state by the safety device, in response to an input signal from the rotary handle or the disconnection of the safety device switch, the safety device is controlled to release the rotary motor.

[0029] In some embodiments, the descent turn control or descent turn control includes:

[0030] A speed gain is calculated based on a rotation handle input signal, and a target speed of the rotary motor is calculated based on the speed gain and a reference speed of the rotary motor, wherein the reference speed of the rotary motor is a speed value output by the rotary motor when the rotary mechanism is stationary on an inclined surface, and the output speed of the rotary motor is controlled based on the target speed of the rotary motor.

[0031] Furthermore, a speed gain is calculated according to the rotation handle input signal, and a target speed of the rotary motor is calculated according to the speed gain and a reference speed of the rotary motor, including:

[0032] S1, real-time acquisition of the rotary handle opening value k, based on the rotary handle opening value and the time required for the opening change to calculate the rotary handle opening value change rate

[0033] S2, based on the rotary handle opening value k and the rotary handle opening value change rate The speed gain is calculated using fuzzy control algorithm;

[0034] S3, calculating the target speed of the rotary motor based on the calculated speed gain and the reference speed of the rotary motor, including:

[0035] n T =n b +Δn

[0036] Where n T is the target speed of the rotary motor, n b is the reference speed of the rotary motor, which is equal to the speed value output by the rotary motor when the rotary mechanism is stationary on the inclined surface, and Δn is the speed gain.

[0037] In some embodiments, the electric rotation control method further includes:

[0038] During the stationary control process, in response to an operation command input from the rotary handle, the feedback speed of the rotary motor and the opening of the rotary handle are obtained;

[0039] If the feedback speed direction of the rotary motor is opposite to the opening direction of the rotary handle, a command is issued to switch to executing the ascending rotary control;

[0040] If the feedback speed direction of the rotary motor is the same as the opening direction of the rotary handle, a command is issued to switch to executing the descending rotary control;

[0041] and / or, during the ascending slewing control process, obtaining the slewing mechanism slewing speed, the slewing handle opening, and the slewing motor feedback speed; and in response to the slewing mechanism slewing speed being greater than a set ascending slewing speed threshold, the slewing handle opening being greater than a first set handle opening threshold, and the slewing motor feedback speed direction being the same as the slewing handle opening direction, issuing a command to switch to executing descending slewing control;

[0042] And / or, during the descending rotation control process, the rotation speed of the rotation mechanism, the rotation handle opening and the rotation motor feedback speed are obtained, and in response to the rotation speed of the rotation mechanism being less than the set descending rotation speed threshold, the rotation handle opening being greater than the second set handle opening threshold, and the rotation motor feedback speed direction being opposite to the rotation handle opening direction, an instruction is issued to switch to executing the ascending rotation control.

[0043] In a second aspect, an electric swing control system is provided, comprising a main controller and a swing motor, wherein the main controller comprises a memory and a processor, wherein the memory is used to store instructions, and the instructions are used to control the processor to operate so as to execute the electric swing control method according to the first aspect;

[0044] The rotary motor is connected to the main controller and is configured to: drive the rotary mechanism to rotate, or to recover regenerative energy through the descending rotary motion of the rotary mechanism.

[0045] In some embodiments, the electric swing control system further includes:

[0046] The swing handle is connected to the main controller and is configured to: input an operating signal of the electric swing system;

[0047] The safety device is connected to the main controller and is configured to reduce the rotation speed of the rotary motor or lock the rotary motor in an emergency.

[0048] In a third aspect, a rotary working machine is provided, comprising the electric rotary control system.

[0049] Beneficial effects: The present invention provides an electric rotation control method and system, which first determines whether the rotation mechanism is on a horizontal plane or an inclined plane through the feedback signal of the rotation motor, and makes different rotation control methods for the inclined plane and the horizontal plane. Horizontal plane rotation control includes drive control and regenerative braking control, and different control instructions are judged according to the controller's analysis of the rotation operation input and the rotation speed. Inclined plane control is divided into three state control and identification methods: static, ascending rotation and descending rotation. The three states are all identified based on the controller's analysis of the rotation operation input and the feedback motor speed, and different controls are performed on the three states. Design safety devices and formulate corresponding safety measures to protect the operator and the rotation motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a flow chart of an electric rotation control method according to an embodiment of the present invention;

[0051] Figure 2 This is a fuzzy rule diagram for electric rotary horizontal plane control according to an embodiment of the present invention;

[0052] Figure 3 This is a fuzzy rule diagram for the ascending and rotating control of an electric rotary inclined surface according to an embodiment of the present invention;

[0053] Figure 4 This is a fuzzy rule diagram for descending rotation control of an electric rotary inclined surface according to an embodiment of the present invention;

[0054] Figure 5 This is a schematic diagram of the entire vehicle structure of the electric swing system according to an embodiment of the present invention;

[0055] Figure 6 It is a schematic cross-sectional view of the structure of the electric rotary system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The present invention will be further described below with reference to specific embodiments.

[0057] Example 1

[0058] like Figure 1 As shown, an electric rotation control method includes:

[0059] Determine the initial position state of the rotary mechanism according to the state relationship between the rotary motor and the rotary handle;

[0060] (1) in response to no operation command input from the rotary handle and no speed feedback signal from the rotary motor, determining that the initial position state of the rotary mechanism is in a horizontal plane;

[0061] In response to the driver giving a swing control demand by operating the swing handle, an instruction is issued to execute horizontal plane swing control.

[0062] In some embodiments, the horizontal plane rotation control includes horizontal plane drive control, wherein the horizontal plane drive control includes:

[0063] The fuzzy control algorithm is used to calculate the target speed of the rotary motor according to the input signal of the rotary handle, and the output speed of the rotary motor is controlled according to the target speed of the rotary motor, so that the rotary mechanism enters the rotary motion state;

[0064] During the horizontal plane drive control process, the rotation speed of the rotation mechanism is obtained. In response to the rotation speed being greater than the set safety threshold or the handle opening being reduced, an instruction is sent to control the rotation motor to perform regenerative braking control. The regenerative braking control means: controlling the rotation motor to output at a target speed that is opposite to the current feedback speed.

[0065] Furthermore, during the horizontal plane regenerative braking control process, if the regenerative braking execution time exceeds the set regenerative braking execution time threshold, a command is issued to drive the safety device to take effect and reduce the rotation speed;

[0066] During the horizontal plane rotation control process, if the safety device switch is turned on, the safety device is controlled to lock the rotation motor and a zero speed instruction is sent to the rotation motor.

[0067] Furthermore, when the rotary motor is in a locked state by the safety device, in response to an input signal from the rotary handle or the disconnection of the safety device switch, the safety device is controlled to release the rotary motor.

[0068] An electric rotation control method, comprising:

[0069] Determine the initial position state of the rotary mechanism according to the state relationship between the rotary motor and the rotary handle;

[0070] (2) in response to no operation command input from the rotary handle and a speed feedback signal from the rotary motor, determining that the initial position state of the rotary mechanism is on an inclined surface;

[0071] In response to a driver's swing control demand given by operating a swing handle, the swing mechanism is judged to be in a stationary state, an ascending swing state, or a descending swing state according to an input signal from the swing handle;

[0072] (2A) If the rotary motor has a rotation speed and no operation command is input to the rotary handle, the rotary mechanism is in a stationary state, and a command is issued to perform stationary control: the rotary motor is controlled to output a speed value opposite to the feedback speed, so that the rotary motor is "stuck" to operate, so that the rotary mechanism remains stationary;

[0073] (2B) If the feedback speed direction of the rotary motor is opposite to the direction of the rotary handle opening, and the rotary mechanism is in an ascending rotary state on the inclined surface, a command is issued to perform ascending rotary control: a rotary motor control command is provided to drive the rotary mechanism to perform rotary motion in the ascending direction of the inclined surface, so that the rotary mechanism performs ascending rotary motion;

[0074] (2C) If the feedback speed direction of the rotary motor is the same as the direction of the rotary handle opening, and the rotary mechanism is in a descending rotary state on the inclined surface, a command is issued to perform descending rotary control, and a rotary motor control command is provided to the rotary mechanism to perform rotary motion in the descending direction of the inclined surface, so that the rotary mechanism performs descending rotary motion and regenerative energy is recovered;

[0075] During the ascending rotation control and descending rotation control processes, the rotation speed of the rotation mechanism is obtained. If the rotation speed is greater than the safety threshold, a command is issued to drive the safety device to take effect and reduce the rotation speed.

[0076] In some embodiments, during the static control process, if the "stall" operation safety time of the rotary motor exceeds the safety time threshold or the safety device switch is turned on, the safety device is controlled to lock the rotary motor and send a zero speed command to the rotary motor.

[0077] In some embodiments, when the rotary motor is locked by the safety device, in response to an input signal from the rotary handle or the disconnection of the safety device switch, the safety device is controlled to release the rotary motor.

[0078] In some embodiments, the descent turn control or descent turn control includes:

[0079] A speed gain is calculated based on a rotation handle input signal, and a target speed of the rotary motor is calculated based on the speed gain and a reference speed of the rotary motor, wherein the reference speed of the rotary motor is a speed value output by the rotary motor when the rotary mechanism is stationary on an inclined surface, and the output speed of the rotary motor is controlled based on the target speed of the rotary motor.

[0080] Furthermore, a speed gain is calculated according to the rotation handle input signal, and a target speed of the rotary motor is calculated according to the speed gain and a reference speed of the rotary motor, including:

[0081] S1, real-time acquisition of the rotary handle opening value k, based on the rotary handle opening value and the time required for the opening change to calculate the rotary handle opening value change rate

[0082] S2, based on the rotary handle opening value k and the rotary handle opening value change rate The speed gain is calculated using fuzzy control algorithm;

[0083] S3, calculating the target speed of the rotary motor based on the calculated speed gain and the reference speed of the rotary motor, including:

[0084] n T =n b +Δn

[0085] Where n T is the target speed of the rotary motor, n b is the reference speed of the rotary motor, which is equal to the speed value output by the rotary motor when the rotary mechanism is stationary on the inclined surface, and Δn is the speed gain.

[0086] In some embodiments, the electric rotation control method further includes switching control of the rotation mechanism between three states: stationary, ascending rotation, and descending rotation on the inclined surface:

[0087] During the stationary control process, in response to an operation command input from the rotary handle, the feedback speed of the rotary motor and the opening of the rotary handle are obtained;

[0088] If the feedback speed direction of the rotary motor is opposite to the opening direction of the rotary handle, a command is issued to switch to executing the ascending rotary control;

[0089] If the feedback speed direction of the rotary motor is the same as the opening direction of the rotary handle, a command is issued to switch to executing the descending rotary control;

[0090] and / or, during the ascending slewing control process, obtaining the slewing mechanism slewing speed, the slewing handle opening, and the slewing motor feedback speed; and in response to the slewing mechanism slewing speed being greater than a set ascending slewing speed threshold, the slewing handle opening being greater than a first set handle opening threshold, and the slewing motor feedback speed direction being the same as the slewing handle opening direction, issuing a command to switch to executing descending slewing control;

[0091] And / or, during the descending rotation control process, the rotation speed of the rotation mechanism, the rotation handle opening and the rotation motor feedback speed are obtained, and in response to the rotation speed of the rotation mechanism being less than the set descending rotation speed threshold, the rotation handle opening being greater than the second set handle opening threshold, and the rotation motor feedback speed direction being opposite to the rotation handle opening direction, an instruction is issued to switch to executing the ascending rotation control.

[0092] In the embodiments of the present invention, the electric rotary system and the control method are described in detail by taking the motor speed and the fuzzy control algorithm as an example, but there is still a problem of changing the control target and the control algorithm to achieve the same function;

[0093] In some embodiments, combined Figure 1-Figure 4 , describing an embodiment of an electric slewing system and a control method.

[0094] Whether the slewing mechanism is on an inclined surface is determined based on the state relationship between the slewing motor and the slewing operating device. If there is no input of an operation command from the slewing operating device and a speed feedback signal from the slewing motor, the slewing mechanism is determined to be on an inclined surface. If there is no input of an operation command from the slewing operating device and no speed feedback signal from the slewing motor, the slewing mechanism is determined to be on a horizontal surface. Here, the slewing motor speed is positive when the slewing mechanism rotates clockwise, and negative when the slewing mechanism rotates counterclockwise.

[0095] First, if it is determined that the slewing mechanism is on the horizontal plane, in the subsequent horizontal plane slewing control process, the target speed value of the slewing motor on the horizontal plane is controlled by the following steps:

[0096] S1, real-time acquisition and calculation of the rotary handle opening value k in the rotary operating device, and real-time calculation of the rotary handle opening value change rate

[0097] The rotary handle opening value k is defined as k∈[-1 1], and is linearly proportionally converted according to the physical position of the handle. When k=0, the handle is in the neutral position, indicating that the electric rotary system does not perform any movement. The handle is defined to move from the neutral position to a specified direction to represent a clockwise rotation operation. In this case, k>0, and k=1 when the movement reaches the extreme position. Similarly. The handle is defined to move from the neutral position to the opposite direction to represent a counterclockwise rotation operation. In this case, k<0, and k=-1 when the movement reaches the extreme position.

[0098] In particular, if the handle can only indicate clockwise rotation or counterclockwise rotation with a digital signal, it means that when rotating clockwise, k is a constant value of 1, and when rotating counterclockwise, k is a constant value of -1.

[0099] The positive or negative value of k is defined here only to distinguish clockwise or counterclockwise rotation. This value should not be used directly to determine the positive or negative target speed or rotation direction of the rotary motor.

[0100] The rate of change of the rotary handle opening value The rate of change of the rotary handle opening value is calculated according to the rotary handle opening value and the time required for the opening value to change. When , it means that the handle opening does not perform any operation. , it means the handle is operated at the fastest speed.

[0101] S2, adopting fuzzy control method, with the rotary handle opening value k and the rotary handle opening value change rate The fuzzy control rules are formulated with the rotation speed of the rotary motor as input and the rotation speed of the rotary motor as output, and the target rotation speed of the rotary motor is calculated in real time, so that the rotary motor rotates at a constant speed and drives the rotary mechanism to perform an upward rotary motion at a constant speed.

[0102] The input variables of the fuzzy control algorithm are the rotary handle opening value k and the rotary handle opening value change rate. The output variable is the target motor speed. The fuzzy subset of the rotary handle opening value k is defined as {-1,-0.6,-0.2,0,0.2,0.6,1}, and the corresponding linguistic variables are {lf,lm,ls,z,rs,rm,rf}. The rate of change of the rotary handle opening value is The fuzzy subset of is defined as {0, 0.2, 0.6, 1}, and the corresponding linguistic variables are {z, s, m, f}. The fuzzy subset of the target motor speed is defined as {-1000, -600, -200, 0, 200, 600, 1000}, and the corresponding linguistic variables are {nb, nm, ns, z, ps, pm, pb}. The established fuzzy control rules are as follows: Figure 2 shown.

[0103] S3: Calculate the rotational speed of the slewing mechanism in real time based on the actual motor speed of the slewing motor and set a rotational speed safety threshold. If the rotational speed exceeds the safety threshold or the handle opening decreases, the main controller sends a regenerative braking command to the slewing motor, i.e., a target speed that is opposite to the current regenerative speed, causing the slewing motor to operate as a generator and store the generated electrical energy in the battery system.

[0104] S4: Setting a regenerative braking execution time threshold. If the rotational speed of the slewing mechanism exceeds a safety threshold and the main controller sends a regenerative braking command to the slewing motor, but the slewing motor speed does not decrease after exceeding the regenerative braking execution time threshold, the main controller activates the safety device to reduce the slewing speed.

[0105] S5, if the brake switch in the rotary operating device is turned on, the main controller controls the safety device to lock the rotary motor, and at the same time the main controller sends a zero speed command to the rotary motor.

[0106] S6, if the brake switch in the rotary operating device is turned off, the main controller controls the safety device to release the rotary motor.

[0107] Second, if the slewing mechanism is determined to be on an inclined surface, the slewing mechanism has three states on the inclined surface: stationary, ascending rotation, and descending rotation. If the slewing mechanism is stationary on the inclined surface, during the subsequent inclined surface rotation control process, the target speed of the slewing motor when the slewing mechanism is stationary on the inclined surface is controlled by the following steps:

[0108] S1: The main controller receives the motor speed feedback from the slewing motor and determines whether there is input from the slewing operating device. If there is no input from the slewing operating device, the main controller sends a speed value opposite to the feedback speed to the slewing motor, causing the slewing motor to "lock" and maintain the slewing mechanism stationary. If there is input from the slewing operating device, the main controller performs slewing control according to the input signal from the slewing operating device.

[0109] S2: During the control of the stationary state of the inclined surface of the slewing mechanism, a safety time threshold for the "slewing motor stall" is set. If the "slewing motor stall" time exceeds the safety time threshold, the main controller controls the safety device to lock the slewing motor and simultaneously sends a zero speed command to the slewing motor.

[0110] S3: If there is an input to the rotary operating device, the main controller controls the safety device to release the rotary motor.

[0111] S4, if the brake switch in the rotary operating device is turned on, the main controller controls the safety device to lock the rotary motor, and at the same time the main controller sends a zero speed command to the rotary motor.

[0112] S5, if the brake switch in the rotary operating device is turned off, the main controller controls the safety device to release the rotary motor.

[0113] Third, if the direction of the feedback speed of the rotary motor is opposite to the direction of the opening of the rotary handle, the rotary mechanism is in an ascending rotary state on the inclined surface. In the subsequent inclined surface rotation control process, the target speed of the rotary motor when the rotary mechanism is in the ascending rotary state on the inclined surface is controlled by the following steps:

[0114] S1, real-time acquisition and calculation of the rotary handle opening value k of the rotary operating device, and real-time calculation of the rotary handle opening value change rate

[0115] The rotary handle opening value k is defined as k∈[-1 1], and is linearly proportionally converted according to the physical position of the handle. When k=0, the handle is in the neutral position, indicating that the electric rotary system is not moving. The handle is defined to move from the neutral position to a specified direction to represent a clockwise rotation operation. In this case, k>0. When the movement reaches the extreme position, k=1. Similarly. The handle is defined to move from the neutral position to the opposite direction to represent a counterclockwise rotation operation. In this case, k<0. When the movement reaches the extreme position, k=-1.

[0116] In particular, if the handle can only indicate clockwise rotation or counterclockwise rotation with a digital signal, it means that when rotating clockwise, k is a constant value of 1, and when rotating counterclockwise, k is a constant value of -1.

[0117] The positive or negative value of k is defined here only to distinguish clockwise or counterclockwise rotation. This value should not be used directly to determine the positive or negative target speed or rotation direction of the rotary motor.

[0118] The rate of change of the rotary handle opening value The rate of change of the rotary handle opening value is calculated based on the rotary handle opening value and the time required for the opening change. When , it means that the handle opening does not perform any operation. , it means the handle is operated at the fastest speed.

[0119] S2, adopt fuzzy control method, formulate fuzzy control rules, and use the rotary handle opening value k and the rotary handle opening value change rate to determine the value of the fuzzy control rule. The target speed of the rotary motor is calculated in real time by taking the speed gain as input and the speed gain as output, and the speed of the rotary motor when the rotary mechanism is stationary on the inclined surface as the reference speed.

[0120] The input variables of the fuzzy control algorithm are the rotary handle opening value k and the rotary handle opening value change rate. The output variable is the speed gain. The fuzzy subset of the rotary handle opening value k is defined as {-1,-0.6,-0.2,0,0.2,0.6,1}, and the corresponding linguistic variables are {lf,lm,ls,z,rs,rm,rf}. The rate of change of the rotary handle opening value is The fuzzy subset of is defined as {0, 0.2, 0.6, 1}, and the corresponding linguistic variables are {z, s, m, f}. The fuzzy subset of the speed gain is defined as {-1000, -600, -200, 0, 200, 600, 1000}, and the corresponding linguistic variables are {nb, nm, ns, z, ps, pm, pb}. The established fuzzy control rules are as follows: Figure 3 shown.

[0121] S3, calculating the target speed of the rotary motor according to the speed gain calculated by the fuzzy control algorithm and the reference speed of the rotary motor, wherein the calculation formula is as follows:

[0122] n T =n b +Δn

[0123] Where n T is the target speed of the rotary motor, n b is the reference speed of the rotary motor, which is equal to the speed value output by the rotary motor when the rotary mechanism is stationary on the inclined surface. Δn is the speed gain, which is calculated and output by the fuzzy control algorithm.

[0124] S4, calculating the rotation speed of the rotary mechanism in real time based on the actual motor speed of the rotary motor and setting a rotation speed safety threshold. If the rotation speed is greater than the safety threshold, the main controller controls the safety device to function and reduce the rotation speed.

[0125] Fourth, if the direction of the feedback speed of the slewing motor is the same as the direction of the slewing handle opening, the slewing mechanism is in a descending slewing state on the inclined surface. Since the slewing motor generates a speed opposite to the force of gravity on the slewing mechanism during its descending slewing, it will function as a generator and store the generated electrical energy in the battery system. During the subsequent inclined surface slewing control process, the target speed of the slewing motor when the slewing mechanism is in the descending slewing state is controlled by the following steps:

[0126] S1, real-time acquisition and calculation of the rotary handle opening value k of the rotary operating device, and real-time calculation of the rotary handle opening value change rate

[0127] The rotary handle opening value k is defined as k∈[-1 1], and is linearly proportionally converted according to the physical position of the handle. When k=0, the handle is in the neutral position, indicating that the electric rotary system is not moving. The handle is defined to move from the neutral position to a specified direction to represent a clockwise rotation operation. In this case, k>0. When the movement reaches the extreme position, k=1. Similarly. The handle is defined to move from the neutral position to the opposite direction to represent a counterclockwise rotation operation. In this case, k<0. When the movement reaches the extreme position, k=-1.

[0128] In particular, if the handle can only indicate clockwise rotation or counterclockwise rotation with a digital signal, it means that when rotating clockwise, k is a constant value of 1, and when rotating counterclockwise, k is a constant value of -1.

[0129] The positive or negative value of k is defined here only to distinguish clockwise or counterclockwise rotation. This value should not be used directly to determine the positive or negative target speed or rotation direction of the rotary motor.

[0130] The rate of change of the rotary handle opening value The rate of change of the rotary handle opening value is calculated based on the rotary handle opening value and the time required for the opening change. When , it means that the handle opening does not perform any operation. , it means the handle is operated at the fastest speed.

[0131] S2, adopts fuzzy control algorithm, formulates fuzzy rules, and uses the rotary handle opening value k, the rotary handle opening value change rate The target motor speed is calculated in real time by taking the rotational speed gain as input, the rotational speed gain as output, and the rotational speed of the rotary motor when the rotary mechanism is stationary on the inclined surface as the reference speed.

[0132] The input variables of the fuzzy control algorithm are the rotary handle opening value k and the rotary handle opening value change rate. The output variable is the speed gain. The fuzzy subset of the rotary handle opening value k is defined as {-1,-0.6,-0.2,0,0.2,0.6,1}, and the corresponding linguistic variables are {lf,lm,ls,z,rs,rm,rf}. The rate of change of the rotary handle opening value is The fuzzy subset of is defined as {0, 0.2, 0.6, 1}, and the corresponding linguistic variables are {z, s, m, f}. The fuzzy subset of the speed gain is defined as {-1000, -600, -200, 0, 200, 600, 1000}, and the corresponding linguistic variables are {nb, nm, ns, z, ps, pm, pb}. The established fuzzy control rules are as follows: Figure 4 shown.

[0133] S3, calculating the target speed of the rotary motor according to the speed gain calculated by the fuzzy control algorithm and the reference speed of the rotary motor, wherein the calculation formula is as follows:

[0134] n T =n b +Δn

[0135] Where n T is the target speed of the rotary motor, n b is the reference speed of the rotary motor, which is equal to the speed value output by the rotary motor when the rotary mechanism is stationary on the inclined surface. Δn is the speed gain, which is calculated and output by the fuzzy control algorithm.

[0136] S4, calculating the rotation speed of the rotary mechanism in real time based on the actual motor speed of the rotary motor and setting a rotation speed safety threshold. If the rotation speed is greater than the safety threshold, the main controller controls the safety to take effect and reduce the rotation speed.

[0137] Fifth, when the rotary mechanism rotates on an inclined surface, there are three states at the same time: static, ascending rotation and descending rotation. In order to achieve reasonable switching of the rotation state, different rotation states should be judged and identified.

[0138] S1, judgment conditions for switching from static to ascending rotation:

[0139] The feedback rotation speed direction of the rotary motor is opposite to the opening direction of the rotary handle.

[0140] S2, judgment conditions for switching from static to descending rotation:

[0141] The feedback rotation speed direction of the rotary motor is the same as the opening direction of the rotary handle.

[0142] S3, judgment conditions for switching from ascending rotation to descending rotation:

[0143] a) The rotation speed is greater than the set rising rotation speed threshold;

[0144] b) the handle opening is greater than a first set handle opening threshold;

[0145] c) The direction of the feedback speed of the rotary motor is the same as the direction of the opening of the rotary handle.

[0146] S4, judgment conditions for switching from descending rotation to ascending rotation:

[0147] a) The rotation speed is less than the set descending rotation speed threshold;

[0148] b) the handle opening is greater than a second set handle opening threshold;

[0149] c) The feedback speed direction of the rotary motor is opposite to the opening direction of the rotary handle.

[0150] Example 2

[0151] An electric swing control system includes a main controller and a swing motor, wherein the main controller includes a memory and a processor, the memory being used to store instructions, the instructions being used to control the processor to operate so as to execute the electric swing control method according to embodiment 1;

[0152] The rotary motor is connected to the main controller and is configured to: drive the rotary mechanism to rotate, or to recover regenerative energy through the descending rotary motion of the rotary mechanism.

[0153] In some embodiments, the electric swing control system further includes:

[0154] The swing handle is connected to the main controller and is configured to: input an operating signal of the electric swing system;

[0155] The safety device is connected to the main controller and is configured to reduce the rotation speed of the rotary motor or lock the rotary motor in an emergency.

[0156] In some embodiments, as Figure 5 and Figure 6 As shown, the electric rotary control system includes: a main controller, a rotary motor and controller, a safety device, a rotary operating device, a battery system, and a hydraulic system, which are used to execute the above-mentioned electric rotary system control method, realize different rotary controls of the electric rotary system on the horizontal plane and the inclined plane, and provide safety protection for the rotary motion.

[0157] A main controller, the main controller includes a memory and a processor, the memory is used to store instructions, the instructions are used to control the operation of the processor to execute the electric rotation control method described in Example 1; it is used to receive and analyze the input signal of the rotation operating device and convert it into control instructions to send to each component.

[0158] The rotary motor and controller are used for rotary motion driving and power generation and are connected to the main controller. The rotary motor is a motor that integrates driving and power generation and can be used to drive the rotary mechanism to rotate and also to drive the motor to generate electricity.

[0159] The safety device is used to reduce motor speed or lock the motor in an emergency, providing safety protection. In some specific embodiments, the safety device includes a brake and a solenoid valve. The brake is used to slow down or lock the motor and is connected to the solenoid valve. The solenoid valve is used to control whether the brake slows down or locks the motor and is connected to the main controller. Of course, the brake in the entire device can also be replaced with other devices that have the same function.

[0160] The slewing operating device is used to input operating signals for the slewing system. The slewing operating device includes a slewing handle and a brake switch. The slewing handle receives operating signals for the electric slewing system and is connected to the main controller to control the slewing motion of the electric slewing system. The brake switch receives brake input signals and is connected to the main controller to control the activation and deactivation of the brake.

[0161] The battery system supplies power to the components of the electric swing system and stores the electrical energy generated by the swing motor.

[0162] The hydraulic system includes a main pump, a main pump motor, and a controller. The main pump is used to provide high-pressure hydraulic oil to the brakes. The main pump motor and controller are used to drive the main pump and are connected to the main controller. If the entire machine has a hydraulic system, this hydraulic system can be shared with the entire hydraulic system, eliminating the need for a separate component.

[0163] Example 3

[0164] A rotary operation machine comprises the above-mentioned electric rotary control system.

[0165] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0166] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0167] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0168] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An electric rotation control method, characterized in that: include: Determine the initial position state of the rotary mechanism according to the state relationship between the rotary motor and the rotary handle; In response to no operation command input from the rotary handle and a speed feedback signal from the rotary motor, determining that the initial position state of the rotary mechanism is on an inclined surface; In response to a driver's swing control demand given by operating a swing handle, the swing mechanism is judged to be in a stationary state, an ascending swing state, or a descending swing state according to an input signal from the swing handle; (2A) If the rotary motor has a rotation speed and no operation command is input to the rotary handle, the rotary mechanism is in a stationary state, and a command is issued to perform stationary control: the rotary motor is controlled to output a speed value opposite to the feedback speed, so that the rotary motor is "stuck" to operate, so that the rotary mechanism remains stationary; (2B) If the feedback speed direction of the rotary motor is opposite to the direction of the rotary handle opening, and the rotary mechanism is in an ascending rotary state on the inclined surface, a command is issued to perform ascending rotary control: a rotary motor control command is provided to drive the rotary mechanism to perform rotary motion in the ascending direction of the inclined surface, so that the rotary mechanism performs ascending rotary motion; (2C) If the feedback speed direction of the rotary motor is the same as the direction of the rotary handle opening, and the rotary mechanism is in a descending rotary state on the inclined surface, a command is issued to perform descending rotary control, and a rotary motor control command is provided to the rotary mechanism to perform rotary motion in the descending direction of the inclined surface, so that the rotary mechanism performs descending rotary motion and regenerative energy is recovered; During the ascending rotation control and descending rotation control processes, the rotation speed of the rotation mechanism is obtained. If the rotation speed is greater than the safety threshold, a command is issued to drive the safety device to take effect and reduce the rotation speed.

2. The electric rotation control method according to claim 1, characterized in that: During the static control process, if the "stall" running time safety time of the rotary motor exceeds the safety time threshold or the safety device switch is turned on, the safety device is controlled to lock the rotary motor and a zero speed command is sent to the rotary motor.

3. The electric rotation control method according to claim 2, characterized in that: When the rotary motor is in a locked state by the safety device, in response to an input signal from the rotary handle or the disconnection of the safety device switch, the safety device is controlled to release the rotary motor.

4. The electric rotation control method according to claim 1, characterized in that: Descent slew control or descending slew control, including: A speed gain is calculated based on a rotation handle input signal, and a target speed of the rotary motor is calculated based on the speed gain and a reference speed of the rotary motor, wherein the reference speed of the rotary motor is a speed value output by the rotary motor when the rotary mechanism is stationary on an inclined surface, and the output speed of the rotary motor is controlled based on the target speed of the rotary motor.

5. The electric rotation control method according to claim 4, characterized in that: The speed gain is calculated according to the rotation handle input signal, and the target speed of the rotary motor is calculated according to the speed gain and the reference speed of the rotary motor, including: S1, real-time acquisition of the rotary handle opening value k, based on the rotary handle opening value and the time required for the opening change to calculate the rotary handle opening value change rate S2, based on the rotary handle opening value k and the rotary handle opening value change rate The speed gain is calculated using fuzzy control algorithm; S3, calculating the target speed of the rotary motor based on the calculated speed gain and the reference speed of the rotary motor, including: n T =n b +Δn Where n T is the target speed of the rotary motor, n b is the reference speed of the rotary motor, which is equal to the speed value output by the rotary motor when the rotary mechanism is stationary on the inclined surface, and Δn is the speed gain.

6. The electric swing control method according to any one of claims 1 to 5, characterized in that: include: During the stationary control process, in response to an operation command input from the rotary handle, the feedback speed of the rotary motor and the opening of the rotary handle are obtained; If the feedback speed direction of the rotary motor is opposite to the opening direction of the rotary handle, a command is issued to switch to executing the ascending rotary control; If the feedback speed direction of the rotary motor is the same as the opening direction of the rotary handle, a command is issued to switch to executing the descending rotary control.

7. The electric swing control method according to any one of claims 1 to 5, characterized in that: include: During the ascending rotation control process, the rotation speed of the rotation mechanism, the rotation handle opening and the rotation motor feedback speed are obtained. In response to the rotation speed of the rotation mechanism being greater than the set ascending rotation speed threshold, the rotation handle opening being greater than the first set handle opening threshold, and the rotation motor feedback speed direction being the same as the rotation handle opening direction, an instruction is issued to switch to executing descending rotation control.

8. The electric swing control method according to any one of claims 1 to 5, characterized in that: include: During the descending rotation control process, the rotation speed of the rotation mechanism, the rotation handle opening and the rotation motor feedback speed are obtained. In response to the rotation speed of the rotation mechanism being less than the set descending rotation speed threshold, the rotation handle opening being greater than the second set handle opening threshold, and the rotation motor feedback speed direction being opposite to the rotation handle opening direction, an instruction is issued to switch to executing the ascending rotation control.

9. An electric swing control system, characterized in that: Including main controller and rotary motor, The main controller includes a memory and a processor, the memory is used to store instructions, and the instructions are used to control the processor to operate to execute the electric rotation control method according to any one of claims 1 to 8; The rotary motor is connected to the main controller and is configured to: drive the rotary mechanism to rotate, or to recover regenerative energy through the descending rotary motion of the rotary mechanism.

10. The electric swing control system according to claim 9, characterized in that: Also includes: The swing handle is connected to the main controller and is configured to: input an operating signal of the electric swing system; The safety device is connected to the main controller and is configured to reduce the rotation speed of the rotary motor or lock the rotary motor in an emergency.

11. A rotary working machine, characterized in that: Including the electric rotation control system according to any one of claims 9-10.

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