Method, device, processor and storage medium for controlling the rotation drive of a construction machine

Abstract

The embodiment of the application provides a kind of engineering machinery rotary drive control method, device, processor and storage medium, belong to engineering equipment technical field.The method comprises: obtaining the running information of the boom of engineering machinery when rotating, determining the total resistance torque of the boom based on the running information, determining the target rotary drive pressure difference corresponding to the two ends of rotary motor based on the total resistance torque and the equipment information of engineering machinery, respectively obtaining the first real-time pressure and the second real-time pressure of the two ends of rotary motor, and determining whether to continue to control the boom rotating based on the first real-time pressure, the second real-time pressure and the target rotary drive pressure difference.The total resistance torque corresponding to the running information of the boom is determined to realize the output control of rotary motor, effectively reduces the damage or scratches object caused by the forced operation of boom, and improves the use safety of engineering machinery.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering equipment, in particular to a method and device for controlling the rotation driving of an engineering machine, a processor and a storage medium. BACKGROUND

[0002] The main actions of the boom system of the pump truck during operation are amplitude variation and horizontal rotation. The chassis of the pump truck is usually connected with the rotating platform, the rotating platform and the outer ring of the rotating support are fixed by a circle of bolts, the rotating platform is connected with the boom system, and the hydraulic system is connected with the rotating platform. The hydraulic system is used for driving the rotating platform to drive the rotating platform to rotate. Specifically, in the process of horizontal rotation, the hydraulic rotating motor drives the rotating support in the rotating platform, and the rotating platform and the boom system are driven by the rotating support. When the boom system is fully loaded, the driving torque provided by the hydraulic system is the largest, and when the boom system is in other postures, the maximum driving torque provided by the hydraulic system will be much larger than the current resistance torque of the boom system. When the end of the boom is entangled or the end of the boom hits an obstacle, if the operator does not discover in time, the driving torque provided by the hydraulic rotating motor will continue to increase until the maximum driving torque, which is easy to cause the boom system to be deformed due to the driving action of the maximum driving torque. SUMMARY

[0003] In view of the above problems in the prior art, the purpose of the embodiments of the present application is to provide a method and device for controlling the rotation driving of an engineering machine, a processor and a storage medium.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a method for controlling the rotation driving of an engineering machine, comprising:

[0005] obtaining operation information of a boom of the engineering machine during rotation operation;

[0006] determining a total resistance torque of the boom based on the operation information;

[0007] determining a target rotation driving pressure difference corresponding to both ends of a rotating motor based on the total resistance torque and equipment information of the engineering machine;

[0008] obtaining a first real-time pressure and a second real-time pressure at both ends of the rotating motor, respectively;

[0009] determining whether to continue to control the rotation operation of the boom based on the first real-time pressure, the second real-time pressure and the target rotation driving pressure difference.

[0010] In the embodiments of the present application, the operation information includes boom structure information, arm head wind information, rotating handle information and rotating platform inclination information, the total resistance torque of the boom is determined based on the operation information, which comprises:

[0011] determine the first resistance torque based on the boom structure information;

[0012] determine the second resistance torque based on the boom structure information, the slewing platform inclination information and the slewing handle information;

[0013] determine the third resistance torque based on the boom structure information and the arm head wind force information;

[0014] determine the fourth resistance torque based on the boom structure information and the slewing handle information;

[0015] sum the first resistance torque, the second resistance torque, the third resistance torque and the fourth resistance torque as the total resistance torque of the boom.

[0016] In the embodiment of the present application, the boom comprises a plurality of boom sections, the boom structure information comprises boom section attitude information and boom section cylinder pressure information corresponding to each boom section, and the first resistance torque is determined based on the boom structure information, comprising:

[0017] determine the boom section weight of each boom section based on the boom section attitude information and the boom section cylinder pressure information;

[0018] determine the first resistance torque based on the sum of all boom section weights;

[0019] determine the fourth resistance torque based on the boom structure information and the slewing handle information, comprising:

[0020] determine the boom angular acceleration of the boom based on the slewing handle information;

[0021] determine the rotational inertia of each boom section based on the boom section attitude information and the boom section weight;

[0022] determine the fourth resistance torque based on the sum of all rotational inertias and the boom angular acceleration.

[0023] In the embodiment of the present application, the second resistance torque is determined based on the boom structure information, the slewing platform inclination information and the slewing handle information, comprising:

[0024] determine the slewing direction based on the slewing handle information;

[0025] determine the slewing relationship between the boom and the slewing platform of the engineering machine based on the slewing direction and the slewing platform inclination information;

[0026] determine the second resistance torque based on the slewing relationship, the boom structure information and the slewing platform inclination information.

[0027] In the embodiment of the present application, the boom comprises a plurality of boom sections, the boom structure information comprises boom section attitude information and boom section cylinder pressure information corresponding to each boom section, and the second resistance torque is determined based on the slewing relationship, the boom structure information and the platform inclination angle, comprising:

[0028] determine the arm segment weight of the arm segment based on the arm segment posture information and the arm segment cylinder pressure information;

[0029] determine the bending moment of the arm segment based on the arm segment posture information and the arm segment weight information;

[0030] determine the second resistance moment based on the sum of the bending moments of all the arm segments, the rotation relationship and the platform tilt angle.

[0031] In the embodiment of the present application, the boom includes a plurality of arm segments, the boom structure information includes arm segment posture information and arm segment wind- facing area corresponding to each arm segment, and the third resistance moment is determined based on the boom structure information and the arm head wind force information, including:

[0032] determine the wind pressure information of the arm segment based on the arm segment posture information and the arm head wind force information;

[0033] determine the equivalent wind resistance moment of the arm segment based on the wind pressure information, the arm segment wind-facing area and the arm segment posture information;

[0034] sum the equivalent wind resistance moments of all the arm segments as the third resistance moment.

[0035] In the embodiment of the present application, whether to continue to control the boom rotation operation is determined based on the first real-time pressure, the second real-time pressure and the target rotation driving pressure difference, including:

[0036] determine the real-time pressure difference between the first real-time pressure and the second real-time pressure;

[0037] continue to control the boom rotation operation in the case that the real-time pressure difference is less than the target rotation driving pressure difference.

[0038] In the embodiment of the present application, further comprising:

[0039] stop controlling the boom rotation operation in the case that the real-time pressure difference is not less than the target rotation driving pressure difference, and output field confirmation information;

[0040] continue to control the boom rotation operation in the case that the confirmation feedback information indicates that the field is normal.

[0041] The second aspect of the present application provides a processor configured to implement the steps of the above-mentioned construction machinery rotation driving control method when executed.

[0042] The third aspect of the present application provides a construction machinery rotation driving control device, including:

[0043] two pressure sensors respectively arranged at both ends of the rotation motor for detecting the first real-time pressure and the second real-time pressure at both ends of the rotation motor;

[0044] a boom information module for detecting boom structure information;

[0045] a wind sensor configured to detect wind information of the arm head of the boom;

[0046] a level meter configured to detect a tilt angle of the slewing platform of the slewing platform;

[0047] a processor as described above.

[0048] In the embodiment of the present application, the boom comprises a plurality of arm sections, and the boom information module comprises:

[0049] an arm section tilt angle sensor configured to detect attitude information of the arm section;

[0050] an arm section oil cylinder pressure sensor configured to detect oil cylinder pressure information of the arm section.

[0051] The fourth aspect of the present application provides a machine readable storage medium, which stores instructions for causing a machine to execute the method for controlling slewing drive of the engineering machine as described above.

[0052] According to the above technical solution, the running information of the boom of the engineering machine during slewing operation is obtained, the total slewing resistance torque of the boom is determined based on the running information, the target slewing drive pressure difference corresponding to the two ends of the slewing motor is determined based on the total slewing resistance torque and the equipment information of the engineering machine, the first real-time pressure and the second real-time pressure of the two ends of the slewing motor are obtained respectively, and it is determined whether to continue to control the slewing operation of the boom based on the first real-time pressure, the second real-time pressure and the target slewing drive pressure difference. The output control of the slewing motor is realized by the total slewing resistance torque determined based on the corresponding running information of the boom, effectively reducing the situation of damage or scratching of objects caused by forced operation of the boom, and improving the use safety of the engineering machine.

[0053] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

[0054] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific implementation to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the drawings:

[0055] Figure 1 FIG. 1 is a flowchart of the method for controlling slewing drive of the engineering machine according to an embodiment of the present application. DETAILED DESCRIPTION

[0056] The specific implementation of the present application will be described in detail below in combination with the drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present application, and does not limit the present application.

[0057] It should be noted that if the application embodiments involve directionality indications (such as up, down, left, right, front, back, etc.), the directionality indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directionality indications also change accordingly.

[0058] In addition, if the application embodiments involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the protection scope claimed by the present application.

[0059] Figure 1 The flowchart of the engineering machinery slewing drive control method according to an embodiment of the present application is shown. As shown in the figure, Figure 1 In the embodiment of the present application, an engineering machinery slewing drive control method is provided, which is described by taking a processor as an example. The method can include the following steps:

[0060] Step S100, obtaining the running information of the boom of the engineering machinery during slewing operation;

[0061] In the embodiment, it should be noted that the engineering machinery includes a boom that can perform slewing movement, such as a pump truck, an aerial work platform, a crane, a fire truck, etc. The pump truck is taken as an example for description in the embodiment. The driving torque required by the boom of the engineering machinery in different states during slewing operation is not the same. Based on the running information of the boom during slewing operation, the current state of the boom can be determined, and then the driving torque required for driving the boom to complete the current slewing operation can be determined.

[0062] Step S200, determining the total slewing resistance torque of the boom based on the running information;

[0063] It should be noted that the boom needs to overcome the slewing resistance torque during slewing operation to drive the boom to operate. The running information of the boom during slewing operation can reflect the total slewing resistance torque currently received by the boom, so that the driving torque required for overcoming the total slewing resistance torque is determined based on the total slewing resistance torque to achieve the driving of the boom. Determining the total slewing resistance torque of the boom based on the running information can ensure that the driving torque determined based on the total slewing resistance torque is within the torque range that can be borne by the boom in the current state.

[0064] Step S300, determining the target swing drive pressure difference corresponding to the swing motor two ends based on the total swing resistance moment and the equipment information of the engineering machinery;

[0065] It should be noted that the swing drive pressure difference corresponding to the swing motor two ends can represent the driving moment size that the current swing motor can output. The target swing drive pressure difference represents the driving moment size that the current swing motor needs to output. The target swing drive pressure difference is determined based on the total swing resistance moment, and different engineering machinery has certain differences in driving moment due to differences in model, type, etc. Therefore, the equipment information corresponding to the engineering machinery needs to be obtained, so as to determine the target swing drive pressure difference corresponding to the swing motor two ends based on the total swing resistance moment and the equipment information of the engineering machinery. The swing platform of the engineering machinery includes a swing bearing, a swing reducer and a swing motor, and the equipment information of the engineering machinery includes the motor displacement of the swing motor, the mechanical efficiency of the swing motor, the number of teeth of the swing bearing, the number of teeth of the output gear of the swing reducer, the transmission efficiency between the swing bearing and the swing reducer, the reduction ratio of the swing reducer and the efficiency of the swing reducer.

[0066] Specifically, substituting the total swing resistance moment and the equipment information of the engineering machinery into the following formula can obtain a theoretical pressure difference value:

[0067]

[0068] Wherein, ΔP represents the theoretical pressure difference value; pi represents the circular constant; M sw represents the total swing resistance moment; q represents the motor displacement of the swing motor; Wherein, Z2 represents the number of teeth of the output gear of the swing reducer; Z1 represents the number of teeth of the swing bearing; i represents the reduction ratio of the swing reducer; η1 represents the transmission efficiency between the swing bearing and the swing reducer; η2 represents the efficiency of the swing reducer; η3 represents the mechanical efficiency of the swing motor.

[0069] It should be noted that in order to make the boom have a certain rotation ability to break through obstacles even if it encounters obstacles during rotation, in the embodiment, the value of the target swing drive pressure difference is set to be slightly larger than the theoretical pressure difference value, and is specifically limited by the rotation coefficient, so that when the boom encounters obstacles during rotation, the obstacles can be overcome to a certain extent, thereby completing the rotation operation of the boom as much as possible on the basis of ensuring the safety of the boom. In the embodiment, the rotation coefficient is multiplied by the above-mentioned theoretical pressure difference value to obtain the final target swing drive pressure difference. It can be understood that the rotation coefficient is greater than 1, and in the embodiment, the rotation coefficient is taken in the range of (1, 1.2].

[0070] Step S400, respectively acquiring the first real-time pressure and the second real-time pressure of the swing motor two ends;

[0071] Step S500, determining whether to continue to control the slewing operation of the boom based on the first real-time pressure, the second real-time pressure, and the target slewing driving pressure difference.

[0072] It should be noted that after the target slewing driving pressure difference is determined, the actual driving pressure difference of the slewing motor at present needs to be determined to judge whether the actual driving pressure difference corresponding to the slewing motor under the current state exceeds the target slewing driving pressure difference. Whether to continue to control the slewing operation of the boom is determined based on whether the actual driving pressure difference exceeds the target slewing driving pressure difference.

[0073] Specifically, determining whether to continue to control the slewing operation of the boom based on the first real-time pressure, the second real-time pressure, and the target slewing driving pressure difference comprises:

[0074] determining a real-time pressure difference between the first real-time pressure and the second real-time pressure;

[0075] In a case where the real-time pressure difference is less than the target slewing driving pressure difference, the slewing operation of the boom is continued to be controlled.

[0076] It should be noted that the real-time pressure difference between the first real-time pressure and the second real-time pressure is the actual driving pressure difference of the slewing motor at present. When the real-time pressure difference is less than the target slewing driving pressure difference, it indicates that the driving moment received by the boom under the current state is less than the limit of the driving moment that can be borne by the boom under the current state. At this time, the slewing operation of the boom can be continued to be controlled.

[0077] In a case where the real-time pressure difference is not less than the target slewing driving pressure difference, the slewing operation of the boom is stopped to be controlled, and field confirmation information is outputted.

[0078] In a case where the confirmation feedback information indicates that the field is normal, the slewing operation of the boom is continued to be controlled.

[0079] It should be noted that when the real-time differential pressure is not less than the target slewing drive differential pressure, it indicates that the driving torque experienced by the boom in its current state is approaching the limit of the driving torque that the boom can withstand in its current state. At this point, it is highly likely that the boom has encountered an obstacle, and continuing to control the boom's slewing operation is very likely to cause damage to the boom. The on-site confirmation information includes information prompting the operator to confirm whether the current environment of the boom allows for continued slewing operation. Outputting the on-site confirmation information allows the operator to confirm the on-site environment based on this information. The operator confirms whether the boom has encountered an obstacle. If it has, the operator removes the obstacle and inputs a confirmation feedback message indicating that the situation is normal; if no obstacle has been encountered, the operator directly inputs a confirmation feedback message indicating that the situation is normal. The processor receives the confirmation feedback message input by the operator. If the confirmation feedback message indicates that the situation is normal, the operator continues to control the boom's slewing operation. It can be understood that after confirming that there is no obstacle, the driving torque experienced by the boom will not increase. If the operator confirms that the boom has encountered an obstacle that cannot be cleared, they will input a confirmation feedback message indicating an abnormality. If the confirmation feedback message indicates an abnormality, the operator will cease controlling the boom's slewing operation. Specifically, by controlling the slewing directional valve of the multi-way valve corresponding to the boom to return to the neutral position, the control current in the hydraulic system used to drive the boom's operation will be zero, the slewing motor will stop outputting driving torque, and the boom will stop slewing.

[0080] In one embodiment, the on-site confirmation information may further include reverse rotation confirmation information, which is used to prompt the user to determine whether reverse rotation is necessary. When the boom encounters an obstacle that obstructs rotation and the obstacle cannot be cleared, the boom can be moved away from the obstructed position by reverse rotation.

[0081] In one embodiment, determining whether to continue controlling the boom's slewing operation can also be achieved by installing electro-proportional relief valves at both ends of the slewing motor, acquiring the boom's slewing operation information, and based on the target driving torque corresponding to this operation information in a preset driving torque table and the associated electro-proportional relief valve pressure value, setting the overflow pressure of the electro-proportional relief valves at both ends of the slewing motor based on this pressure value. When the driving torque output by the slewing motor reaches the target driving torque, the electro-proportional relief valves will overflow, thereby controlling the boom to stop slewing operation. The target driving torque in the preset driving torque table is the driving torque value measured in advance when simulating the boom's operating states under different operating information.

[0082] The method for controlling the rotation driving of the engineering machinery, by obtaining the operation information of the boom of the engineering machinery during the rotation operation, determining the total resistance torque of the boom based on the operation information, determining the target rotation driving pressure difference corresponding to the two ends of the rotation motor based on the total resistance torque and the equipment information of the engineering machinery, obtaining the first real-time pressure and the second real-time pressure of the two ends of the rotation motor respectively, and determining whether to continue to control the rotation operation of the boom based on the first real-time pressure, the second real-time pressure and the target rotation driving pressure difference. The total resistance torque of the boom determined based on the operation information is used to control the output of the rotation motor, which effectively reduces the damage of the boom or the scratching of objects caused by the forced operation of the boom, and improves the use safety of the engineering machinery.

[0083] In one embodiment, the operation information of the boom during the rotation operation includes boom structure information, arm head wind information, rotation handle information and rotation platform inclination information, and the total resistance torque of the boom is determined based on the operation information, including:

[0084] The first resistance torque is determined based on the boom structure information;

[0085] The second resistance torque is determined based on the boom structure information, the rotation platform inclination information and the rotation handle information;

[0086] The third resistance torque is determined based on the boom structure information and the arm head wind information;

[0087] The fourth resistance torque is determined based on the boom structure information and the rotation handle information;

[0088] The sum of the first resistance torque, the second resistance torque, the third resistance torque and the fourth resistance torque is taken as the total resistance torque of the boom.

[0089] Specifically, the first resistance torque is the friction resistance torque of the rotation bearing in the rotation platform of the engineering machinery; the second resistance torque is the rotation resistance torque caused by the inclination of the rotation platform; the third resistance torque is the equivalent wind resistance torque caused by the wind pressure borne by the boom; and the fourth resistance torque is the rotation resistance torque caused by the inertia of the boom.

[0090] In one embodiment, the boom includes a plurality of arm sections, the boom structure information includes arm section posture information and arm section cylinder pressure information corresponding to each arm section, and the first resistance torque is determined based on the boom structure information, including:

[0091] The arm section weight of each arm section is determined based on the arm section posture information and the arm section cylinder pressure information;

[0092] The first resistance torque is determined according to the sum of all arm section weights.

[0093] It should be noted that, for the pump truck arm end and the hose, when the engineering machinery is a device such as a pump truck including a hose end, the hose end also needs to be considered when considering the arm section. The arm section weight includes the weight of the arm section itself, and when the engineering machinery is a pump truck, the arm section weight includes the sum of the weight of the arm section itself and the concrete carried by the arm section. In this embodiment, an arm section inclination sensor can be installed at the upper root position of each arm section to measure the angle between each arm section and the horizontal plane, thereby obtaining the arm section posture information, wherein, with the fully extended horizontal arm as the boundary, the arm head is inwardly retracted and the inclination angle is positive, the arm head is outwardly extended and the inclination angle is negative, and the angle between the arm section and the horizontal plane ranges from (-180°, 180°). The hydraulic system driving the arm section operation is correspondingly provided with an arm section cylinder pressure sensor on each arm section to measure the corresponding cylinder pressure of each arm section, and the corresponding arm section weight of each arm section can be calculated based on the corresponding cylinder pressure of the arm section and the angle between the arm section and the horizontal plane. The specific calculation method can be a conventional technical calculation method in the art, or any one of the existing technical calculation methods, which will not be described here. After obtaining the sum of the weights of all arm sections, the total normal force on all rolling bodies of the slewing bearing of the slewing platform can be calculated, and the total normal force can be calculated by the following formula:

[0094] N = 1.414G p + K H * H

[0095] Wherein, N represents the total normal force; G p represents the total gravity of all arm sections; K H represents a coefficient, which is 1.72; and H represents the horizontal wind force.

[0096] In calculating the total normal force, the horizontal wind force can be ignored compared with the gravity. The first resistance moment is calculated based on the total normal force of all rolling bodies of the slewing bearing and the center diameter of the raceway of the slewing bearing, and the first resistance moment can be calculated by the following formula:

[0097]

[0098] Wherein, M f represents the first resistance moment; N represents the total normal force; μ represents the friction coefficient, which is 0.01; D0 represents the center diameter of the raceway; m i represents the arm section weight of the i-th arm section, m r represents the arm section weight of the hose; and g represents the acceleration of gravity. 45 degrees is the angle between the inner raceway and the rolling body of the slewing bearing, and it can be understood that the value of different engineering machinery is adaptively adjusted according to the actual structure of the engineering machinery.

[0099] The fourth resistance torque is determined based on boom structure information and slewing handle information, including:

[0100] The boom angular acceleration is determined based on the information from the slewing handle;

[0101] The moment of inertia of the arm segment is determined based on the arm segment attitude information and the arm segment weight;

[0102] The fourth drag torque is determined based on the sum of all moments of inertia and the boom angular acceleration.

[0103] In this embodiment, it should be noted that the slewing handle information includes the slewing handle opening, which corresponds to a pre-set boom angular acceleration. After determining the slewing handle information, the boom angular acceleration can be determined. The boom root is connected to the turntable, and the slewing platform is mounted on the turntable. The slewing platform includes a slewing bearing. The hinge point connecting the boom to the turntable is a certain distance from the center point of the slewing bearing; this distance is the boom offset. The length of each boom section is not the same. After determining the boom section attitude information and boom section weight, the moment of inertia of the boom section can be obtained based on the boom section attitude information and boom section weight, combined with the boom offset, boom section length, and other fixed information. The specific calculation formula is as follows:

[0104] M p = (J1+J2+...+J i +J r )*δ

[0105] Among them, M p J represents the fourth resistance torque; i J represents the moment of inertia of the i-th arm segment. r δ represents the moment of inertia of the hose; δ represents the boom angular acceleration. Specifically, the moment of inertia of each boom segment can be calculated using the following formula:

[0106]

[0107]

[0108]

[0109]

[0110] Where, m i Indicates the weight of the arm segment, L i θ represents the arm segment length. i denoted by , where is the angle between the i-th boom segment and the horizontal plane; 'a' represents the boom offset; and 'pi' represents pi (π).

[0111] In one embodiment, determining the second resistance torque based on boom structure information, slewing platform tilt angle information, and slewing handle information includes:

[0112] determining a swing direction based on the swing handle information;

[0113] determining a swing relationship between the boom and the swing platform of the engineering machinery based on the swing direction and the swing platform inclination information;

[0114] determining the second resistance moment based on the swing relationship, the boom structure information, and the swing platform inclination information.

[0115] It should be noted that the swing handle information includes a swing handle thrust direction, and the swing handle thrust direction is associated with the swing direction, for example, the swing handle thrust direction is a forward direction, the swing direction is a clockwise direction, the swing handle thrust direction is a backward direction, and the swing direction is a counterclockwise direction. The inclination angle of the current swing platform is detected by a level meter to obtain the swing platform inclination information. The corresponding swing relationship of the swing platform inclination information in combination with the swing direction is set in advance, and the swing relationship between the boom and the swing platform of the engineering machinery can be determined after the swing direction and the swing platform inclination information are determined. For example, the swing direction is set in advance to be clockwise, and the swing platform inclination is -5°, and the corresponding swing relationship is to incline uphill. The swing relationship includes inclining uphill and inclining downhill, and the swing relationship represents the positive and negative directions of the swing, and inclining uphill is positive and inclining downhill is negative. Specifically, the second resistance moment can be calculated by the following formula:

[0116]

[0117] wherein M s represents the second resistance moment; σ represents the swing relationship; M b represents the bending moment of the boom; γ represents the swing platform inclination information; and pi represents the circular constant.

[0118] Specifically, the boom includes a plurality of arm sections, and the boom structure information includes arm section posture information and arm section cylinder pressure information corresponding to each arm section. The second resistance moment is determined based on the swing relationship, the boom structure information, and the platform inclination angle, including:

[0119] determining the arm section weight of each arm section based on the arm section posture information and the arm section cylinder pressure information; and determining the bending moment of each arm section based on the arm section posture information and the arm section weight information.

[0120] determining the second resistance moment based on the sum of the bending moments of all arm sections, the swing relationship, and the platform inclination angle.

[0121] It should be noted that the arm section posture information can determine the angle between the arm section and the horizontal plane, the arm section cylinder pressure information can determine the oil cylinder pressure corresponding to each arm section, and the arm section weight can be calculated based on the oil cylinder pressure corresponding to the arm section and the angle between the arm section and the horizontal plane; the lengths of each arm section of the boom are not the same, after the arm section posture information and the arm section weight are determined, the rotational inertia of the arm section can be obtained based on the arm section posture information and the arm section weight in combination with the offset distance of the boom, the length of the arm section, and the fixed information such as the center-of-gravity coefficient of each arm section to the arm root of the arm section. The center-of-gravity coefficient is a fixed value determined according to the model and category of the device. The bending moment of the boom can be obtained in combination with the total bending moment of all arm sections. The specific calculation formula is as follows:

[0122] M b =M b1 +M b2 +...+M bi +M br

[0123] Wherein, M b represents the bending moment of the boom, M bi represents the bending moment of the i-th arm section, and M br represents the bending moment of the hose. Specifically, the bending moment of each arm section can be calculated by the following formula:

[0124]

[0125]

[0126]

[0127]

[0128] Wherein, m i represents the arm section weight, L i represents the arm section length, β i represents the center-of-gravity coefficient of the arm section, θ i represents the angle between the i-th arm section and the horizontal plane; a represents the offset distance of the boom; and pi represents the circular constant.

[0129] In one embodiment, the boom includes a plurality of arm sections, the boom structure information includes arm section posture information and arm section wind-ward area corresponding to each arm section, and the third resistance moment is determined based on the boom structure information and the arm head wind force information, including:

[0130] Determine the wind pressure information of the arm section based on the arm section posture information and the arm head wind force information;

[0131] Determine the equivalent wind resistance moment of the arm section based on the wind pressure information, the arm section wind-ward area, and the arm section posture information;

[0132] The sum of the equivalent wind resistance moments of all the arm sections is taken as the third resistance moment.

[0133] It should be noted that the arm section posture information can determine the included angle between the arm section and the horizontal plane, the arm head wind force information includes the wind pressure borne by the arm head, the wind pressure information of each arm section of the arm support can be calculated based on the arm head wind force information and the included angle between the arm section and the horizontal plane; the lengths of each arm section of the arm support are not the same, after the arm section posture information and the wind pressure information of the arm section are determined, the equivalent wind resistance moment of the arm section can be obtained based on the arm section posture information and the wind pressure information of the arm section in combination with the offset distance of the arm support, the length of the arm section and the fixed information such as the wind-encountering area of each arm section corresponding to the arm section. The sum of the equivalent wind resistance moments of all the arm sections can obtain the third resistance moment. The specific calculation formula is as follows:

[0134] M w =M w1 +M w2 +...+M wi

[0135] Wherein, M w represents the third resistance moment, M wi represents the equivalent wind resistance moment of the i-th arm section. Specifically, the equivalent wind resistance moment of each arm section can be calculated by the following formula:

[0136]

[0137]

[0138]

[0139] Wherein, t i represents the wind pressure information of the arm section, L i represents the length of the arm section, S i represents the wind-encountering area of the arm section, θ i represents the included angle between the i-th arm section and the horizontal plane; a represents the offset distance of the arm support; pi represents the circular constant.

[0140] In the embodiment, the total resistance moment corresponding to the current state of the arm support is calculated through the real-time running information corresponding to the running of the arm support, the driving moment output by the rotating motor is determined based on the total resistance moment, the driving resources are saved while ensuring the normal running of the arm support, and the risk of damage to the arm support caused by the continuous increase of the driving moment of the driving motor without considering the actual state of the arm support when the arm support is blocked is avoided, thereby improving the safety of the arm support.

[0141] The embodiment of the application provides a processor used for running a program, wherein the engineering machinery rotating driving control method is executed when the program is running.

[0142] The embodiment of the application provides an engineering machine slewing drive control device, comprising:

[0143] Two pressure sensors are arranged at two ends of the slewing motor respectively, and are used for detecting first real-time pressure and second real-time pressure at the two ends of the slewing motor.

[0144] An arm support information module is used for detecting arm support structure information.

[0145] A wind sensor is used for detecting arm head wind information of the arm support.

[0146] A level meter is used for detecting slewing platform inclination information of the slewing platform.

[0147] The processor according to the above embodiment.

[0148] In one embodiment, the arm support comprises a plurality of arm sections, and the arm support information module comprises:

[0149] An arm section inclination sensor is used for detecting arm section posture information.

[0150] An arm section oil cylinder pressure sensor is used for detecting arm section oil cylinder pressure information.

[0151] The engineering machine slewing drive control device provided by the embodiment of the application can realize Figure 1 The method embodiment of the engineering machine slewing drive control method, and can achieve the same technical effects, to avoid repetition, which will not be repeated here.

[0152] The embodiment of the application provides a machine readable storage medium, which stores a program, and the program is executed by a processor to realize the engineering machine slewing drive control method.

[0153] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system or a computer program product. Therefore, the application can be in the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0154] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0155] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0156] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0157] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0158] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, for storing instructions and data used and / or generated by the computing device. The memory can also include non-volatile memory, such as read-only memory (ROM), electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or other non-volatile memory.

[0159] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0160] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0161] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A method of controlling a swing drive of a construction machine, characterized by, The method comprises: obtaining operation information of a boom of a construction machine during slewing operation; determining total slewing resistance torque of the boom based on the operation information; determining a target slewing drive pressure difference corresponding to both ends of a slewing motor based on the total slewing resistance torque and equipment information of the construction machine; obtaining a first real-time pressure and a second real-time pressure at both ends of the slewing motor respectively; determining whether to continue controlling the slewing operation of the boom based on the first real-time pressure, the second real-time pressure and the target slewing drive pressure difference, wherein the determination comprises: determining a real-time pressure difference between the first real-time pressure and the second real-time pressure; continuing to control the slewing operation of the boom if the real-time pressure difference is less than the target slewing drive pressure difference; stopping to control the slewing operation of the boom and outputting on-site confirmation information if the real-time pressure difference is not less than the target slewing drive pressure difference; continuing to control the slewing operation of the boom if confirmation feedback information indicates that the on-site is normal; wherein the operation information comprises boom structure information, arm head wind force information, slewing handle information and slewing platform inclination angle information, and the determination of the total slewing resistance torque of the boom based on the operation information comprises: determining a first resistance torque based on the boom structure information; determining a second resistance torque based on the boom structure information, the slewing platform inclination angle information and the slewing handle information; determining a third resistance torque based on the boom structure information and the arm head wind force information; determining a fourth resistance torque based on the boom structure information and the slewing handle information; summing the first resistance torque, the second resistance torque, the third resistance torque and the fourth resistance torque as the total slewing resistance torque of the boom.

2. The method of claim 1, wherein, The boom comprises a plurality of arm sections, the boom structure information comprises arm section posture information and arm section oil cylinder pressure information corresponding to each arm section, and the determination of the first resistance torque based on the boom structure information comprises: determining arm section weights of the arm sections based on the arm section posture information and the arm section oil cylinder pressure information; determining the first resistance torque based on a sum of all the arm section weights. The determination of the fourth resistance torque based on the boom structure information and the slewing handle information comprises: determining boom angular acceleration of the boom based on the slewing handle information; determining moments of inertia of the arm sections based on the arm section posture information and the arm section weights; determining the fourth resistance torque based on a sum of all the moments of inertia and the boom angular acceleration.

3. The method of claim 1, wherein, The determination of the second resistance torque based on the boom structure information, the slewing platform inclination angle information and the slewing handle information comprises: determining a slewing direction based on the slewing handle information; determining a slewing relationship between the boom and a slewing platform of the construction machine based on the slewing direction and the slewing platform inclination angle information; determining the second resistance torque based on the slewing relationship, the boom structure information and the slewing platform inclination angle information.

4. The method of claim 3, wherein, The arm support includes a plurality of arm sections, the arm support structure information includes arm section posture information and arm section cylinder pressure information corresponding to each of the arm sections, a second resistance torque is determined based on the rotation relationship, the arm support structure information, and the rotation platform inclination information, and the determination includes: an arm section weight of each of the arm sections is determined based on the arm section posture information and the arm section cylinder pressure information; a bending moment of each of the arm sections is determined based on the arm section posture information and the arm section weight; a sum of the bending moments of all the arm sections, the rotation relationship, and the rotation platform inclination information are used to determine the second resistance torque.

5. The method of claim 1, wherein, The arm support includes a plurality of arm sections, the arm support structure information includes arm section posture information and arm section wind area corresponding to each of the arm sections, and the determination of the third resistance torque based on the arm support structure information and the arm head wind force information includes: wind pressure information of each of the arm sections is determined based on the arm section posture information and the arm head wind force information; an equivalent wind resistance torque of each of the arm sections is determined based on the wind pressure information, the arm section wind area, and the arm section posture information; a sum of the equivalent wind resistance torques of all the arm sections is used as the third resistance torque.

6. A processor, comprising: The processor is configured to perform the method for controlling the rotation drive of the engineering machinery according to any one of claims 1 to 5.

7. A control device for a swing drive of a construction machine, characterized by comprising: The processor includes: two pressure sensors arranged at two ends of the rotation motor respectively to detect first real-time pressure and second real-time pressure at the two ends of the rotation motor; an arm support information module to detect arm support structure information; a wind force sensor to detect arm head wind force information of the arm support; a level to detect rotation platform inclination information of the rotation platform; the processor according to claim 6.

8. The machine drive control apparatus of claim 7, wherein, The arm support includes a plurality of arm sections, and the arm support information module includes: an arm section inclination sensor to detect arm section posture information; an arm section cylinder pressure sensor to detect arm section cylinder pressure information.

9. A machine-readable storage medium having stored thereon instructions, the instructions comprising: The instructions, when executed by the processor, cause the processor to perform the method for controlling the rotation drive of the engineering machinery according to any one of claims 1 to 5.

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