Drive System, Method and Excavator Applicable to Electric Crawler Excavators

Abstract

The present invention discloses a drive system, method, and excavator suitable for an electric crawler excavator. The drive system includes a power module, a controller, a first junction box, a center rotor slip ring, a second junction box, a slewing drive module, and a travel drive module. The output ends of the power module and the controller are respectively connected to the first junction box, the first output end of the first junction box is connected to the slewing drive module, and the second output end of the first junction box is connected to one end of the center rotor slip ring. The center rotor slip ring is provided on the excavator's rotor, and the other end is connected to the input end of the second junction box. The output end of the second junction box is connected to the travel drive module. The output end of the slewing drive module is used to connect to the excavator's rotor. The output end of the travel drive module is used to connect to the excavator's travel unit. The present invention can improve the efficiency of the slewing system and reduce energy loss.

Description

Technical Field

[0001] The present invention belongs to the field of engineering machinery, and in particular relates to a driving system and method applicable to an electric crawler excavator, and the excavator. Background Art

[0002] In recent years, the development of electric construction machinery has achieved remarkable success, supported by electric vehicle technology. However, construction machinery differs significantly from automobiles in terms of structure, operating conditions, and operating environment. Electric construction machinery also faces challenges such as high power requirements, short battery life, and limited platform versatility.

[0003] Current electric excavators primarily use electric motors to drive hydraulic pumps, with the hydraulic system responsible for each excavator's movements. Excavators require actuators for digging and unloading, such as the boom, arm, bucket, and bulldozer blade. The hydraulic system is highly coupled, and when multiple actions are executed simultaneously—a compound action—the system struggles to balance flow and pressure requirements, resulting in low overall machine efficiency. Furthermore, low hydraulic component efficiency and the series connection of multiple hydraulic components increase system energy consumption, resulting in shorter machine life for the same battery life.

[0004] Due to the power limitation of the drive system, when the hydraulic pump performs compound actions at a certain power, insufficient flow is likely to occur, resulting in low overall working efficiency of the excavator and inability to balance various actions; and the coupling of the slewing and travel hydraulic systems reduces the flexibility of the control actions, which is not conducive to the realization of intelligent control of the excavator.

[0005] The Chinese invention patent application with application number CN202111302750.0 provides an electric excavator, which includes a crawler-type walking lower body, an upper body, an electric drive system, a working device, and a power control device. An auxiliary power battery pack is fixedly installed on the upper body; a battery installation platform for installing a main power battery and located outside the turning radius of the upper body is provided at the rear of the lower body walking frame, and the main power battery pack and the auxiliary power battery pack are both electrically connected to the power control device; the power control device switches between the electric drive system and the main power battery pack and the auxiliary power battery pack, and controls the main power battery pack to charge the auxiliary power battery pack. The electric excavator of the present invention can use its own lifting capacity to perform battery replacement operations, solving the problem of difficulty in lifting and replacing batteries in confined spaces, such as places where large lifting equipment cannot be used in tunnels.

[0006] The Chinese invention patent application with application number CN202010912647.7 provides a control system for an electric excavator and an electric excavator, comprising: a power subsystem, an AC power supply subsystem, a battery pack power supply subsystem and a control subsystem; the AC power supply subsystem is connected to the power subsystem via a first relay; the battery pack power supply subsystem is connected to the power subsystem via a second relay; when the AC power supply subsystem is normally powered, the first relay is closed and the second relay is disconnected; the control subsystem is used to control the second relay to close when a power failure occurs in the AC power supply subsystem. The present invention provides a control system for an electric excavator and an electric excavator. Since a battery pack power supply subsystem is provided, power can be supplied by the battery pack power supply subsystem when an external power supply fails, thereby ensuring the safety of equipment and personnel.

[0007] Chinese invention patent application number CN201710960003.3 discloses an electric excavator comprising a power mechanism, a slewing mechanism, a steering mechanism, a traveling mechanism, a battery pack, and a central control module. The electric control of the power mechanism effectively conserves hydraulic oil. The slewing mechanism, steering mechanism, and traveling mechanism each feature a hydraulic control mode and electric control module to accommodate diverse operating environments and requirements. This allows for efficient hydraulic energy conservation without impacting excavator operation.

[0008] The Chinese invention patent application with application number CN202121725830.2 provides a crawler electric excavator, including a slewing platform and a battery bracket. The longitudinal beams of the slewing platform include two parallel main beams and side beams located on both sides of the main beams; the front crossbeam and the rear crossbeam located between the side beams and the main beam are both L-shaped structures with the horizontal sides located at the bottom, the horizontal side of the rear crossbeam faces the front side, and the horizontal side of the front crossbeam faces the rear side; the left and right battery brackets of the battery bracket are respectively located on the left and right sides of the main beam in the space surrounded by the side beams, the main beam and the crossbeam and are fixedly connected to the horizontal side of the crossbeam. In the present utility model, the lower ends of the left and right battery brackets are sunken and fixed to the horizontal side of the crossbeam. The mounting surface is lower than the height of the top position of the main beam, so the top height of the cover can be reduced.

[0009] In summary, the above solutions primarily utilize motor-driven hydraulic pumps, with the hydraulic system implementing the various excavator movements. Excavators require motion actuators for digging and unloading, such as the boom, dipper arm, bucket, and bulldozer blade. The system is highly coupled, and when multiple actions are performed simultaneously—a compound action—the hydraulic system is unable to simultaneously address both flow and pressure requirements, resulting in low overall machine efficiency. Furthermore, the low efficiency of hydraulic components, coupled with the series connection of multiple hydraulic components, increases system energy consumption, shortening the overall machine's endurance under the same power consumption conditions. Furthermore, the coupling of slewing and travel movements with the hydraulic system reduces control flexibility, hindering intelligent excavator control.

[0010] The Chinese invention patent application with application number CN202010843828.9 provides a composite drive system and control method for an electric excavator, comprising: a first motor configured to drive the rotary device of the electric excavator; a second motor configured to drive a hydraulic pump to provide hydraulic oil to multiple action actuators of the electric excavator; a load-sensing valve connected between the hydraulic pump and the multiple action actuators and capable of adjusting the oil supply pressure and flow according to the pressure and flow requirements of the multiple action actuators; a pressure sensor configured to measure the pressure of the load-sensing oil port of the load-sensing valve; and a vehicle controller communicatively connected to the pressure sensor and configured to selectively operate the first motor in a single action mode or a composite action mode based on the pressure measurement value of the pressure sensor. The disclosed embodiment can take into account the driving requirements of the electric excavator in both the single action mode and the composite action mode, improve the coordination between the various actions of the electric excavator, and thereby improve the controllability and working efficiency of the electric excavator. It can be seen that the scheme does not explain the driving form and braking travel of the rotary system, and does not involve the driving and braking control of the rotary system and the driving and braking control of the traveling system. Summary of the Invention

[0011] In response to the above problems, the present invention proposes a drive system, method and excavator suitable for an electric crawler excavator, which adopts a rotary drive system consisting of an electromagnetic brake, a motor and a reducer, which can improve the efficiency of the rotary system and reduce energy loss.

[0012] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions:

[0013] In a first aspect, the present invention provides a drive system for an electric crawler excavator, comprising: a power module, a controller, a first junction box, a central rotary body slip ring, a second junction box, a rotary drive module, and a travel drive module;

[0014] The output ends of the power supply module and the controller are respectively connected to the first junction box, the first output end of the first junction box is connected to the rotary drive module, and the second output end thereof is connected to one end of the slip ring of the central rotary body;

[0015] The central rotary body slip ring is provided on the rotary body of the excavator, and the other end thereof is connected to the input end of the second junction box;

[0016] The output end of the second junction box is connected to the travel drive module;

[0017] The output end of the rotary drive module is used to be connected to the rotary body of the excavator;

[0018] The output end of the travel drive module is used to be connected to the travel unit of the excavator.

[0019] Optionally, the rotary drive module includes a rotary motor driver, a rotary motor, a rotary reducer and a rotary electromagnetic brake;

[0020] The rotary reducer, rotary electromagnetic brake and rotary motor together constitute a rotary rotor mechanism;

[0021] One end of the rotary motor driver is connected to the first junction box, and the other end is connected to one end of the rotary rotor mechanism. The other end of the rotary rotor mechanism is used to be connected to the rotary body of the excavator.

[0022] Optionally, the rotary reducer and the rotary electromagnetic brake are respectively connected to the shafts at both ends of the rotary motor to form a rotary rotor mechanism; or, the rotary reducer and the rotary electromagnetic brake are both connected to the shaft at the same end of the rotary motor to form a rotary rotor mechanism.

[0023] Optionally, the travel drive module includes two sets of travel drive mechanisms arranged in parallel; the travel drive mechanisms include a travel motor driver, a travel motor, a travel reducer and a travel electromagnetic brake;

[0024] The walking motor, the walking speed reducer and the walking electromagnetic brake together constitute a walking sub-mechanism;

[0025] One end of the travel motor driver is connected to the second junction box, and the other end is connected to one end of the travel sub-mechanism. The other end of the travel sub-mechanism is used to be connected to the travel unit of the excavator.

[0026] Optionally, the travel reducer and the travel electromagnetic brake are respectively connected to the shafts at both ends of the travel motor to form a travel sub-mechanism; or, the travel reducer and the travel electromagnetic brake are both connected to the shaft at the same end of the travel motor to form a travel sub-mechanism.

[0027] Optionally, the controller transmits a control signal to the travel motor driver through the central rotating body slip ring, and the travel motor controller controls the travel electromagnetic brake to perform contact braking and drives the travel motor to rotate forward or reverse.

[0028] In a second aspect, the present invention provides an excavator comprising the drive system suitable for an electric crawler excavator according to any one of the first aspects.

[0029] In a third aspect, the present invention provides a slewing driving method for a drive system of an electric crawler excavator based on any one of the first aspects, characterized by comprising:

[0030] Collect the handle opening value k of the operator in real time and calculate the handle opening change rate h;

[0031] According to the handle opening value k, the target speed n of the rotary motor is obtained from the curve f using the linear interpolation method; the curve f is a corresponding curve between the handle opening value and the target speed of the rotary motor;

[0032] According to the handle opening change rate h, the basic value n1 of the target speed of the rotary motor is solved, n1 = h*n;

[0033] According to the difference between the actual rotation speed of the rotating body and the target rotation speed of the rotating body, the additional speed value n2 is solved by the fuzzy control algorithm;

[0034] Solve for the final target speed value N of the rotary motor, N=n1+n2.

[0035] Optionally, the handle opening value k is defined as k∈[-1 1], and a linear proportional conversion is performed according to the physical position of the handle;

[0036] When k = 0, the handle is in the middle position, which means that the rotating body does not move;

[0037] The handle is defined as moving from the middle position to a specified direction to represent a left angle operation. At this time, k>0, and when it moves to the extreme position, k=1;

[0038] It is defined that the movement of the handle from the neutral position to the opposite direction represents a right rotation operation, at this time k<0, and when it moves to the extreme position k=-1.

[0039] Optionally, the method for solving the additional speed value n2 includes:

[0040] According to the current actual speed value of the rotary motor, the actual rotation speed v1 of the rotary body is obtained by converting the transmission ratio of the rotary reducer;

[0041] The target rotation speed n of the rotary motor is converted by the transmission ratio of the rotary reducer to obtain the target rotation speed v2 of the rotary body;

[0042] The input variables of the fuzzy control algorithm are the difference e between the actual rotation speed v1 and the target rotation speed v2 of the rotating body, and the rate of change of the difference e', and the output variable is the additional speed value n2;

[0043] The fuzzy control rules adopted by the fuzzy control algorithm are established by the following steps:

[0044] The fuzzy subset of the difference e is defined as {-0.2, -0.1, 0, 0.1, 0.2}, and the corresponding linguistic variables are {vs1, s1, z1, b1, vb1};

[0045] The fuzzy subset of the change rate e' is defined as {-2, -1, 0, 1, 2}, and the corresponding linguistic variables are {vs2, s2, z2, b2, vb2};

[0046] The fuzzy subset of the additional speed value n2 is defined as {-100,-50,0,50,100}, and the corresponding linguistic variables are {vs3,s3,z3,b3,vb3}.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] The present invention adopts an electric rotary drive module composed of an electromagnetic brake, a motor and a reducer. Due to the inherent low energy efficiency of the hydraulic system, an electric rotary system is adopted to improve energy efficiency, thereby improving the efficiency of the rotary system and reducing energy loss.

[0049] The present invention adopts an electric travel drive module composed of an electromagnetic brake, a motor and a reducer to improve the efficiency of the travel system and reduce energy loss.

[0050] The present invention uses independent electric drive systems for the excavator's slewing system and walking system, respectively, to achieve independent walking and slewing control systems, thereby decoupling the slewing system and walking system from the entire machine hydraulic system; since the hydraulic oil pump, the power source of the hydraulic system, cannot simultaneously meet the requirements of large flow and high pressure, this solution is used to resolve the contradiction between the pressure and flow of the hydraulic system. At the same time, the electric slewing and electric walking systems can realize the inertial kinetic energy generated by slewing, walking and ramps; in addition, it is easy to realize functions such as energy recovery and intelligent control. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments and in conjunction with the accompanying drawings, wherein:

[0052] Figure 1 This is a schematic structural diagram of a drive system applicable to an electric crawler excavator according to an embodiment of the present invention;

[0053] Figure 2 This is a control signal transmission path of a travel drive system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of protection of the present invention.

[0055] The application principle of the present invention is described in detail below with reference to the accompanying drawings.

[0056] Example 1

[0057] In an embodiment of the present invention, a drive system suitable for an electric crawler excavator is provided. Figure 1-2 As shown, it includes: a power module, a controller, a first junction box, a central rotary body slip ring, a second junction box, a rotary drive module and a travel drive module;

[0058] The output ends of the power module and the controller are respectively connected to the first junction box, the first output end of the first junction box is connected to the slewing drive module, and the second output end thereof is connected to one end of the slip ring of the central rotating body; in a specific implementation process, the controller is a vehicle controller of an excavator;

[0059] The central rotating body slip ring is provided on the rotating body of the excavator, and the other end thereof is connected to the input end of the second junction box; in actual application, the power module can be a power battery; the power battery is assembled in the upper system, and the power supply of the travel drive system needs to pass through the central rotating body slip ring to connect the power supply to the travel drive module;

[0060] The output end of the second junction box is connected to the travel drive module;

[0061] The output end of the rotary drive module is used to be connected to the rotary body of the excavator;

[0062] The output end of the travel drive module is used to be connected to the travel unit of the excavator.

[0063] In a specific implementation of the embodiment of the present invention, the rotary drive module includes a rotary motor driver, a rotary motor, a rotary reducer and a rotary electromagnetic brake;

[0064] The slewing reducer, slewing electromagnetic brake and slewing motor together constitute a slewing rotor mechanism; in a specific implementation process, the slewing reducer and slewing electromagnetic brake are respectively connected to the shafts at both ends of the slewing motor to constitute a slewing rotor mechanism; or, the slewing reducer and slewing electromagnetic brake are both connected to the shaft at the same end of the slewing motor to constitute a slewing rotor mechanism; in a specific implementation process, the slewing reducer is engaged with the central return body on the excavator to realize transmission;

[0065] One end of the rotary motor driver is connected to the first junction box, and the other end is connected to one end of the rotary rotor mechanism. The other end of the rotary rotor mechanism is used to be connected to the rotary body of the excavator.

[0066] In a specific implementation of the embodiment of the present invention, the travel drive module includes two sets of travel drive mechanisms arranged in parallel; the travel drive mechanisms include a travel motor driver, a travel motor, a travel reducer and a travel electromagnetic brake;

[0067] The travel motor, travel reducer and travel electromagnetic brake together constitute a travel sub-mechanism; in a specific implementation process, the travel reducer and travel electromagnetic brake are respectively connected to the shafts at both ends of the travel motor to constitute a travel sub-mechanism; or, the travel reducer and travel electromagnetic brake are both connected to the shaft at the same end of the travel motor to constitute a travel sub-mechanism;

[0068] One end of the travel motor driver is connected to the second junction box, and the other end is connected to one end of the travel sub-mechanism. The other end of the travel sub-mechanism is used to be connected to the travel unit of the excavator.

[0069] When the driver operates the handle to realize forward or reverse movement, the controller detects the forward or reverse signal input, and transmits the control signal to the travel motor driver through the central rotating body slip ring via a hard-wired signal or a bus signal. The travel motor controller controls the contact braking of the travel electromagnetic brake and drives the travel motor forward or reverse, thereby realizing forward or reverse movement.

[0070] Example 2

[0071] An embodiment of the present invention provides an excavator, comprising the drive system suitable for an electric crawler excavator described in any one of Embodiment 1.

[0072] Example 3

[0073] An embodiment of the present invention provides a slewing driving method for a drive system of an electric crawler excavator based on any one of the embodiments 1, comprising:

[0074] Collect the handle opening value k of the operator in real time and calculate the handle opening change rate h;

[0075] According to the handle opening value k, the target speed n of the rotary motor is obtained from the curve f using the linear interpolation method; the curve f is a corresponding curve between the handle opening value and the target speed value of the rotary motor;

[0076] According to the handle opening change rate h, the basic value n1 of the target speed of the rotary motor is solved, n1 = h*n;

[0077] According to the difference between the actual rotation speed of the rotating body and the target rotation speed of the rotating body, the additional speed value n2 is solved by the fuzzy control algorithm;

[0078] Solve for the final target speed N of the rotary motor, where N = n1 + n2. The rotation direction of the rotary motor and the direction of motion of the rotating body (i.e., the rotary platform) should be determined based on actual motion characteristics and are not defined here. However, when the rotary platform rotates left or right, the motor rotates in opposite directions.

[0079] In a specific implementation of the embodiment of the present invention, the handle opening value k is defined as k∈[-1 1], and a linear proportional conversion is performed according to the physical position of the handle;

[0080] When k = 0, the handle is in the middle position, which means that the rotating body does not move;

[0081] The handle is defined as moving from the middle position to a specified direction to represent a left angle operation. At this time, k>0, and when it moves to the extreme position, k=1;

[0082] It is defined that the movement of the handle from the neutral position to the opposite direction represents a right rotation operation, at this time k<0, and when it moves to the extreme position k=-1.

[0083] In a specific implementation of the embodiment of the present invention, the method for solving the additional speed value n2 includes:

[0084] According to the current actual speed value of the rotary motor, the actual rotation speed v1 of the rotary body is obtained by converting the transmission ratio of the rotary reducer;

[0085] The target rotation speed n of the rotary motor is converted by the transmission ratio of the rotary reducer to obtain the target rotation speed v2 of the rotary body;

[0086] The input variables of the fuzzy control algorithm are the difference e between the actual rotation speed v1 and the target rotation speed v2 of the rotating body, and the rate of change of the difference e', and the output variable is the additional speed value n2;

[0087] The fuzzy control rules adopted by the fuzzy control algorithm are established by the following steps:

[0088] The fuzzy subset of the difference e is defined as {-0.2, -0.1, 0, 0.1, 0.2}, and the corresponding linguistic variables are {vs1, s1, z1, b1, vb1};

[0089] The fuzzy subset of the change rate e' is defined as {-2, -1, 0, 1, 2}, and the corresponding linguistic variables are {vs2, s2, z2, b2, vb2};

[0090] The fuzzy subset of the additional speed value n2 is defined as {-100, -50, 0, 50, 100}, and the corresponding linguistic variables are {vs3, s3, z3, b3, vb3}, see Table 1 for details.

[0091] Table 1

[0092]

[0093]

[0094] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A drive system suitable for an electric crawler excavator, characterized in that: include: Power supply module, controller, first junction box, central rotary body slip ring, second junction box, rotary drive module and travel drive module; The output ends of the power module and the controller are respectively connected to the first junction box, the first output end of the first junction box is connected to the slewing drive module, and the second output end is connected to one end of the central slewing body slip ring; the central slewing body slip ring is provided on the slewing body of the excavator, and the other end is connected to the input end of the second junction box; The output end of the second junction box is connected to the travel drive module; The output end of the rotary drive module is used to be connected to the rotary body of the excavator; The output end of the travel drive module is used to be connected to the travel unit of the excavator; The rotary drive module includes a rotary motor driver, a rotary motor, a rotary reducer and a rotary electromagnetic brake; The rotary reducer, rotary electromagnetic brake and rotary motor together constitute a rotary rotor mechanism; One end of the rotary motor driver is connected to the first junction box, and the other end is connected to one end of the rotary rotor mechanism, and the other end of the rotary rotor mechanism is used to be connected to the rotary body of the excavator; Collect the handle opening value k of the operator in real time and calculate the handle opening change rate h; According to the handle opening value k, the target speed n of the rotary motor is obtained from the curve f using the linear interpolation method; the curve f is a corresponding curve between the handle opening value and the target speed of the rotary motor; According to the handle opening change rate h, the basic value n1 of the target speed of the rotary motor is solved, n1 = h*n; According to the difference between the actual rotation speed of the rotating body and the target rotation speed of the rotating body, the additional speed value n2 is solved by the fuzzy control algorithm; Solve for the final target speed value N of the rotary motor, N=n1+n2.

2. The drive system for an electric crawler excavator according to claim 1, characterized in that: The rotary reducer and the rotary electromagnetic brake are respectively connected to the shafts at both ends of the rotary motor to form a rotary rotor mechanism; or the rotary reducer and the rotary electromagnetic brake are both connected to the shaft at the same end of the rotary motor to form a rotary rotor mechanism.

3. The drive system for an electric crawler excavator according to claim 1, characterized in that: The walking drive module includes two sets of walking drive mechanisms arranged in parallel; the walking drive mechanism includes a walking motor driver, a walking motor, a walking reducer and a walking electromagnetic brake; The walking motor, the walking speed reducer and the walking electromagnetic brake together constitute a walking sub-mechanism; One end of the travel motor driver is connected to the second junction box, and the other end is connected to one end of the travel sub-mechanism. The other end of the travel sub-mechanism is used to be connected to the travel unit of the excavator.

4. The drive system for an electric crawler excavator according to claim 3, characterized in that: The travel reducer and the travel electromagnetic brake are respectively connected to the shafts at both ends of the travel motor to form a travel sub-mechanism; Alternatively, the travel speed reducer and the travel electromagnetic brake are both connected to the shaft at the same end of the travel motor to form a travel sub-mechanism.

5. The drive system for an electric crawler excavator according to claim 1, characterized in that: The controller transmits a control signal to the travel motor driver through the central rotary body slip ring. The travel motor controller controls the travel electromagnetic brake to perform contact braking and drives the travel motor to rotate forward or reverse.

6. An excavator, characterized in that: The invention comprises a drive system suitable for an electric crawler excavator according to any one of claims 1 to 5.

7. A rotary driving method for a driving system of an electric crawler excavator, characterized in that: The drive system includes: a power module, a controller, a first junction box, a central rotary body slip ring, a second junction box, a rotary drive module and a travel drive module; The output ends of the power module and the controller are respectively connected to the first junction box, the first output end of the first junction box is connected to the slewing drive module, and the second output end is connected to one end of the central slewing body slip ring; the central slewing body slip ring is provided on the slewing body of the excavator, and the other end is connected to the input end of the second junction box; The output end of the second junction box is connected to the travel drive module; The output end of the rotary drive module is used to be connected to the rotary body of the excavator; The output end of the travel drive module is used to be connected to the travel unit of the excavator; The rotary reducer and the rotary electromagnetic brake are respectively connected to the shafts at both ends of the rotary motor to form a rotary rotor mechanism; or the rotary reducer and the rotary electromagnetic brake are both connected to the shaft at the same end of the rotary motor to form a rotary rotor mechanism; Collect the handle opening value k of the operator in real time and calculate the handle opening change rate h; According to the handle opening value k, the target speed n of the rotary motor is obtained from the curve f using the linear interpolation method; the curve f is a corresponding curve between the handle opening value and the target speed of the rotary motor; According to the handle opening change rate h, the basic value n1 of the target speed of the rotary motor is solved, n1 = h*n; According to the difference between the actual rotation speed of the rotating body and the target rotation speed of the rotating body, the additional speed value n2 is solved by the fuzzy control algorithm; Solve for the final target speed value N of the rotary motor, N=n1+n2.

8. The rotary driving method according to claim 7, wherein: The handle opening value k is defined as k∈[-11], and is linearly proportionally converted according to the physical position of the handle; When k = 0, the handle is in the middle position, which means that the rotating body does not move; The handle is defined as moving from the middle position to a specified direction to represent a left angle operation, at this time k>0, and when it moves to the extreme position k=1; It is defined that the movement of the handle from the neutral position to the opposite direction represents a right rotation operation, at this time k < 0, and when it moves to the extreme position k = -1.

9. The rotary driving method according to claim 7, wherein: The method for calculating the additional speed value n2 includes: According to the current actual speed value of the rotary motor, the actual rotation speed v1 of the rotary body is obtained by converting the transmission ratio of the rotary reducer; The target rotation speed n of the rotary motor is converted through the transmission ratio of the rotary reducer to obtain the target rotation speed v2 of the rotary body; the input variables of the fuzzy control algorithm are the difference e between the actual rotation speed v1 of the rotary body and the target rotation speed v2, as well as the rate of change of the difference e', and the output variable is the additional rotation speed value n2; The fuzzy control rules adopted by the fuzzy control algorithm are established by the following steps: The fuzzy subset of the difference e is defined as {-0.2, -0.1, 0, 0.1, 0.2}, and the corresponding linguistic variables are {vs1, s1, z1, b1, vb1}; The fuzzy subset of the change rate e' is defined as {-2, -1, 0, 1, 2}, and the corresponding linguistic variables are {vs2, s2, z2, b2, vb2}; The fuzzy subset of the additional speed value n2 is defined as {-100,-50,0,50,100}, and the corresponding linguistic variables are {vs3,s3,z3,b3,vb3}.

Images