Excavator control methods, systems, excavators, and storage media

Abstract

This disclosure discloses an excavator control method, system, excavator, and storage medium, relating to the field of excavator technology. The excavator control method of this disclosure includes: controlling the operating states of a slewing motor, a travel motor, and a hydraulic pump motor, wherein the operating state of the slewing motor includes an energy recovery state; the slewing motor is connected to a reducer and provides power for the slewing function of the upper body of the electric excavator; the travel motor is located in the lower body of the electric excavator and provides power for the travel and steering of the electric excavator; the hydraulic pump motor is connected to a hydraulic pump and provides power to the hydraulic pump; and managing at least one of the excavator's energy consumption, energy recovery, and charging based on the remaining battery power.

Description

Technical Field

[0001] This disclosure relates to the field of excavator technology, and in particular to an excavator control method, system, excavator, and storage medium. Background Technology

[0002] With increasing societal emphasis on environmental protection, the large amounts of exhaust fumes produced by traditional excavators are no longer suitable for new environmental requirements. As battery energy density, electronic control technology, and electromechanical transmission technology continue to mature, green, environmentally friendly, energy-saving, emission-reducing, and reliable electric-drive construction machinery is becoming increasingly compatible with the requirements of a low-carbon economy.

[0003] However, construction machinery differs significantly from automobiles in terms of structure, operating conditions, and working environment. Electric construction machinery also suffers from problems such as high power demand, short range, and poor platform versatility. Some construction vehicles require long working hours and operate at locations with industrial power grids. For example, excavators in urban areas or factories are mainly used for earthmoving, backfilling, and loading / unloading earth and stone. Traditional excavators typically use diesel engines with hydraulic pumps for power, driving the operating system through a hydraulic system. This causes environmental pollution and does not meet energy conservation and emission reduction requirements. Furthermore, this transmission method has low energy conversion efficiency and high fuel consumption. Summary of the Invention

[0004] One objective of this disclosure is to provide a control scheme for an electric excavator that improves the excavator's environmental friendliness and range.

[0005] According to one aspect of some embodiments of this disclosure, an excavator control method is proposed, comprising: controlling the operating states of a slewing motor, a travel motor, and a hydraulic pump motor, wherein the operating state of the slewing motor includes an energy recovery state, the slewing motor is connected to a reducer and provides power for the slewing function of the upper body of the electric excavator, the travel motor is located in the lower body of the electric excavator and provides power for the travel and steering of the electric excavator, and the hydraulic pump motor is connected to a hydraulic pump and provides power for the hydraulic pump; and managing at least one of the excavator's energy consumption, energy recovery, and charging based on the remaining battery power.

[0006] In some embodiments, controlling the operating state of the rotary motor includes: when the rotary mechanism is on a horizontal plane, controlling the rotational speed of the rotary motor based on a fuzzy control method; when the rotary mechanism is on an inclined plane, controlling the rotational speed of the rotary motor according to the state of the rotary mechanism on the inclined plane, wherein the rotational speed includes the magnitude of the rotational speed and the direction of the rotational speed.

[0007] In some embodiments, controlling the operating state of the travel motor includes: determining the rotational speed of the travel motor based on the opening value of the travel operation device, wherein the travel motor directly drives the excavator to travel; and sending a control command to the travel motor based on the rotational speed value.

[0008] In some embodiments, controlling the operating state of the walking motor further includes sending a constant speed command to the walking motor according to the rate of change of the opening value of the walking operation device.

[0009] In some embodiments, controlling the operating state of the hydraulic pump motor includes: determining the hydraulic load; determining the target speed of the hydraulic pump motor based on the correspondence between the hydraulic load and the speed of the hydraulic pump motor; and controlling the hydraulic pump motor to approach the target speed based on the target speed of the hydraulic pump motor.

[0010] In some embodiments, managing at least one of the excavator's energy consumption, energy recovery, and charging based on the remaining battery charge includes at least one of the following: determining at least one of the functions that can be enabled or disabled based on the remaining battery charge, including cab thermal management function, hydraulic system thermal management function, travel function, electric drive function, and electric swing function; controlling the activation or deactivation of at least one of the electric swing system or travel system for energy recovery based on the remaining battery charge; and determining the operating mode of the charging system based on the required power and the remaining battery charge, including: pure electric mode, hybrid drive mode of industrial power grid and battery system, industrial power grid-only drive mode, industrial power grid-only drive and battery system charging mode, energy recovery mode, and energy dissipation mode.

[0011] In some embodiments, the excavator vehicle controller controls the operating state of the slewing motor to include at least one of the following: when the slewing mechanism is on a horizontal plane, if the slewing speed of the slewing mechanism is greater than a first safety threshold or the opening of the slewing handle decreases, a regenerative braking command is sent to the slewing motor so that the slewing motor switches to an energy recovery state; when the slewing mechanism is on an inclined plane, if the direction of the slewing motor's feedback rotation speed is the same as the direction of the slewing handle's opening, the slewing motor is in an energy recovery state, wherein in the energy recovery state, the slewing motor generates electrical energy and stores it in the battery system.

[0012] In some embodiments, controlling the rotational speed of the rotary motor based on the fuzzy control method further includes: determining the opening value of the rotary handle and the rate of change indicator of the opening value in real time; determining the target rotational speed value of the rotary motor based on the relationship between the fuzzy subset of the opening value determined by the fuzzy control method, the fuzzy subset of the rate of change indicator of the opening value and the rotational speed of the rotary motor; and controlling the rotary motor to rotate at the target rotational speed value.

[0013] In some embodiments, when the rotary handle is in the neutral position, the opening value is a first value, and the electric rotary system is stationary; when the rotary handle moves from the neutral position to a predetermined direction, the electric rotary system performs a clockwise rotary operation, and the opening value is a second value; when the rotary handle moves from the neutral position to the opposite direction of the predetermined direction, the electric rotary system performs a counterclockwise rotary operation, and the opening value is a third value; when the opening of the rotary handle remains unchanged, the rate of change of the opening value is identified as a fourth value; when the opening of the rotary handle changes at its maximum speed, the rate of change of the opening value is identified as a fifth value.

[0014] In some embodiments, controlling the rotational speed of the rotary motor based on the fuzzy control method further includes: determining the corresponding rotational speed of the rotary mechanism according to the actual rotational speed of the rotary motor; if the rotational speed of the rotary mechanism is greater than a second safety threshold, the time after the regenerative braking command is issued exceeds a predetermined time threshold, and the rotational speed of the rotary motor remains unchanged or increases, then the safety device is activated to reduce the rotational speed; if the brake switch in the rotary operating device is open, then the safety device is controlled to tighten the rotary motor and send a speed return to 0 command to the rotary motor; if the brake switch in the rotary operating device is closed, then the safety device is controlled to release the rotary motor.

[0015] In some embodiments, controlling the rotational speed of the rotary motor according to the state of the rotary mechanism on the inclined surface includes: if the rotary mechanism is stationary on the inclined surface, receiving the motor speed fed back by the rotary motor and determining whether there is an input to the rotary operation device; if there is no input to the rotary operation device, sending a rotational speed value opposite to the direction of the fed-back motor speed to the rotary motor; if there is an input to the rotary operation device, performing rotary control according to the input signal of the rotary operation device.

[0016] In some embodiments, controlling the rotational speed of the rotary motor according to the state of the rotary mechanism on the inclined surface further includes: if the rotary mechanism remains stationary on the inclined surface, and after sending a rotational speed value opposite to the direction of the feedback motor rotational speed to the rotary motor, the duration for which no input from the rotary operation device is received exceeds a third safety threshold, then the safety device is controlled to tighten the rotary motor and a speed-to-zero command is sent to the rotary motor; if the brake switch in the rotary operation device is open, the safety device is controlled to tighten the rotary motor and a speed-to-zero command is sent to the rotary motor; if the brake switch in the rotary operation device is closed, the safety device is controlled to release the rotary motor.

[0017] In some embodiments, controlling the rotational speed of the rotary motor according to the state of the rotary mechanism on the inclined surface further includes: if the rotary mechanism is in a descending or ascending rotary state on the inclined surface, determining the opening value of the rotary handle and the rate of change of the opening value in real time; determining the target rotational speed of the rotary motor based on the relationship between the fuzzy subset of the opening value determined by the fuzzy control method, the fuzzy subset of the rate of change of the opening value, and the rotational speed of the rotary motor, wherein if the rotary mechanism is in a descending rotary state, the rotational direction of the target rotational speed is the same as the opening direction of the rotary handle, and if the rotary mechanism is in an ascending rotary state, the rotational direction of the target rotational speed is opposite to the opening direction of the rotary handle; and controlling the rotary motor to rotate at the target rotational speed.

[0018] In some embodiments, when the slewing mechanism is on an inclined surface, controlling the rotational speed of the slewing motor according to the state of the slewing mechanism on the inclined surface further includes: determining the corresponding slewing speed of the slewing mechanism based on the actual motor speed of the slewing motor; if the slewing speed of the slewing mechanism is greater than a fourth safety threshold, the time after the regenerative braking command is issued exceeds a predetermined time threshold, and the rotational speed of the slewing motor remains unchanged or increases, then the safety device is activated to reduce the slewing speed; if the brake switch in the slewing operation device is open, then the safety device is controlled to tighten the slewing motor, and a speed return to 0 command is sent to the slewing motor.

[0019] In some embodiments, when the slewing mechanism is on an inclined plane, controlling the rotational speed of the slewing motor according to the state of the slewing mechanism on the inclined plane further includes at least one of the following: determining that the slewing mechanism switches from a stationary state to an ascending slewing state when the direction of the rotational speed fed back by the slewing motor is opposite to the direction of the opening of the slewing handle; determining that the slewing mechanism switches from a stationary state to a descending slewing state when the direction of the rotational speed fed back by the slewing motor is the same as the direction of the opening of the slewing handle; determining that the slewing mechanism switches from an ascending slewing state to a descending slewing state when the slewing speed of the slewing mechanism is greater than a set ascending slewing speed threshold, the opening of the slewing handle is greater than a set handle opening threshold, and the direction of the rotational speed fed back by the slewing motor is the same as the direction of the opening of the slewing handle; and determining that the slewing mechanism switches from a descending slewing state to an ascending slewing state when the slewing speed of the slewing mechanism is less than a set descending slewing speed threshold, the opening of the slewing handle is greater than a set handle opening threshold, and the direction of the rotational speed fed back by the slewing motor is opposite to the direction of the opening of the slewing handle.

[0020] In some embodiments, determining the rotational speed of the walking motor based on the opening value of the walking operation device includes: determining the rotational speed direction based on the combination of the opening value of the first walking operation device and the opening value of the second walking operation device, wherein the rotational speed direction includes stationary, forward, backward, left turn in the forward direction, right turn in the forward direction, left turn in the backward direction, and right turn in the backward direction; determining the rotational speed of the first walking motor based on the opening value of the first walking operation device, and determining the rotational speed of the second walking motor based on the opening value of the second walking operation device, wherein the rotational speed value includes the rotational speed magnitude and the rotational speed direction.

[0021] In some embodiments, controlling the operating state of the travel motor further includes: when the rate of change of the opening value of the travel operation device is 0, if the excavator is in a forward state, sending a constant speed command in a first direction to the travel motor; if the excavator is in a reverse state, sending a constant speed command in a second direction to the travel motor.

[0022] In some embodiments, determining the hydraulic load and, based on the correspondence between the hydraulic load and the hydraulic pump motor speed, determining the target speed of the hydraulic pump motor includes: determining the hydraulic load based on the pressure value output by a pressure sensor, wherein the pressure sensor is installed at the output end of the hydraulic pump; determining the corresponding ideal speed based on the pressure range in which the hydraulic load is located, wherein the ideal speed is determined by clustering within the pressure range corresponding to the pressure range based on the correspondence between the pressure range and the speed range; and determining the target speed of the hydraulic pump motor based on the ideal speed and the speed error.

[0023] In some embodiments, controlling the hydraulic pump motor to approach its target speed according to the target speed of the hydraulic pump motor includes: sending a control signal to the hydraulic pump motor according to the target speed of the hydraulic pump motor; determining the speed gain of the hydraulic pump motor based on a fuzzy control method, according to the speed deviation between the ideal speed and the actual speed of the hydraulic pump motor, and the hydraulic load; and adjusting the control signal sent to the hydraulic pump motor in real time according to the speed gain, so as to control the hydraulic pump motor to approach its target speed.

[0024] In some embodiments, determining the target speed of the hydraulic pump motor further includes: determining the target speed of the hydraulic pump motor as a predetermined idle speed when the change value of the hydraulic load within a predetermined time period is less than a predetermined idle pressure threshold and no operation command is received; and performing an operation to determine the corresponding ideal speed based on the pressure range in which the hydraulic load is located when at least one of the following conditions is met: the change value of the hydraulic load within a predetermined time period is greater than or equal to the predetermined idle pressure threshold, or an operation command is received.

[0025] In some embodiments, managing the excavator's energy consumption based on the remaining battery power includes: when the remaining battery power is greater than or equal to a first power threshold, the functions allowed to be activated include the cab thermal management function, the hydraulic system thermal management function, the travel function, the electric drive function, and the electric swing function; when the remaining battery power is greater than or equal to a second power threshold and less than the first power threshold, the functions allowed to be activated include the hydraulic system thermal management function, the travel function, the electric drive function, and the electric swing function, and the function prohibited from being activated includes the cab thermal management function; when the remaining battery power is less than the second power threshold, the functions allowed to be activated include the travel function and the electric swing function excluding adjusting the cab to the forward direction, and the functions prohibited from being activated include the electric swing function adjusting the cab to the forward direction, the cab thermal management function, the hydraulic system thermal management function, and the electric drive function.

[0026] In some embodiments, managing the excavator's energy recovery based on the remaining battery charge includes: controlling the electric slewing system to perform energy recovery when the slewing motor's speed control command is a predetermined first value, the absolute value of the slewing motor's feedback speed value is greater than a predetermined first energy recovery threshold, and the remaining battery charge is less than a third charge threshold; and controlling the travel system to perform energy recovery when the travel motor's speed control command is a predetermined second value, the absolute value of the travel motor's feedback speed value is greater than a predetermined second energy recovery threshold, and the remaining battery charge is less than a fourth charge threshold.

[0027] In some embodiments, managing the excavator's charging based on the remaining battery power includes: when the remaining power is between a predetermined upper limit and a predetermined lower limit, if the required power is greater than the industrial grid's limiting power, the operating mode is a hybrid drive mode, wherein in the hybrid drive mode, the industrial grid outputs at optimal efficiency, and the battery system supplements; if the required power is greater than 0 and less than the industrial grid's limiting power, and the remaining power is less than the lower limit hysteresis value, the operating mode is an industrial grid-only drive and battery system charging mode; if the required power is greater than 0 and less than the industrial grid's limiting power, the remaining power is greater than the lower limit hysteresis value, and the required power is less than the battery system's limiting power, the operating mode is a pure electric mode; if the required power is greater than 0 and less than the industrial grid's limiting power, the remaining power is greater than the lower limit hysteresis value, and the required power is greater than the battery system's limiting power, the operating mode is a hybrid drive mode; if the required power is less than or equal to 0, and the remaining power is less than the upper limit hysteresis value, the operating mode is an energy recovery mode; if the required power is less than or equal to 0, and the remaining power is greater than or equal to the upper limit hysteresis value, the operating mode is an energy dissipation mode.

[0028] In some embodiments, managing the excavator's charging based on the remaining battery power includes: if the required power is less than the limit power of the industrial power grid, determining the operating mode as an industrial power grid-only drive and battery system charging mode; if the required power is greater than the limit power of the industrial power grid, determining the operating mode as an industrial power grid-only drive mode.

[0029] According to one aspect of some embodiments of this disclosure, an excavator control system is provided, comprising: an electric slewing controller configured to control the operating state of a slewing motor, wherein the operating state of the slewing motor includes an energy recovery state, the slewing motor being connected to a reducer and providing power for the slewing function of the upper body of the electric excavator; a travel controller configured to control the operating state of a travel motor, wherein the travel motor is located on the lower body of the electric excavator and provides power for the travel and steering of the electric excavator; an electro-hydraulic controller configured to control the operating state of a hydraulic pump motor, wherein the hydraulic pump motor is connected to a hydraulic pump and provides power for the hydraulic pump; and an energy management controller configured to manage at least one of the following: energy consumption, energy recovery, and charging of the excavator based on the remaining battery charge.

[0030] In some embodiments, the system further includes: a vehicle controller electrically connected to the operating mechanisms of the electric slewing controller, the travel controller, the electro-hydraulic controller, the energy management controller, the battery system, the pressure sensor, and the hydraulic system, configured to parse operating commands, monitor the vehicle status, and send vehicle control commands.

[0031] According to one aspect of some embodiments of this disclosure, an excavator control system is proposed, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute any of the excavator control methods described above based on instructions stored in the memory.

[0032] According to one aspect of some embodiments of the present disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the steps of any of the excavator control methods described above.

[0033] According to one aspect of some embodiments of this disclosure, an excavator is provided, comprising: an electric slewing system configured to perform slewing operations on the upper body of the excavator; a travel system configured to perform travel and steering operations on the lower body of the excavator; an electro-hydraulic system configured to control the working operations of the excavator; a battery system configured to store and provide electrical energy; a charging system configured to perform at least one of replenishing electrical energy to the battery system or providing electrical energy for the operation of the entire machine; and any one of the excavator control systems described above.

[0034] In some embodiments, the excavator conforms to at least one of the following: the electric slewing system includes a slewing motor, a safety device, and a slewing operating device; the travel system includes a travel motor and a travel operating device; and the electro-hydraulic system includes a hydraulic pump motor, a hydraulic pump, a hydraulic system actuator, and a hydraulic system operating device. Attached Figure Description

[0035] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this disclosure, illustrate exemplary embodiments of this disclosure and are used to explain this disclosure, but do not constitute an undue limitation of this disclosure.

[0036] Figure 1 The flowcharts are for some embodiments of the excavator control method disclosed herein.

[0037] Figure 2A This is a flowchart illustrating some embodiments of controlling the operating state of the rotary motor in the excavator control method of this disclosure.

[0038] Figure 2B Flowcharts showing some other embodiments of the excavator control method disclosed herein, which control the operating state of the rotary motor.

[0039] Figure 3 This is a flowchart illustrating some embodiments of the excavator control method disclosed herein, specifically the control of the travel motor.

[0040] Figure 4A This is a flowchart illustrating some embodiments of controlling the operating state of the hydraulic pump motor in the excavator control method of this disclosure.

[0041] Figure 4B Schematic diagrams of some embodiments of the excavator control method disclosed herein, illustrating the control of the operating state of the hydraulic pump motor.

[0042] Figure 4C Flowcharts show some other embodiments of the adaptive control strategy for controlling the hydraulic pump motor in the excavator control method of this disclosure.

[0043] Figure 4D This is a flowchart illustrating further embodiments of the excavator control method disclosed herein, specifically the control of the operating state of the hydraulic pump motor.

[0044] Figure 5A This is a schematic diagram of some embodiments of the on-board charging system in the excavator control method of this disclosure.

[0045] Figure 5B This is a schematic diagram of some embodiments of energy management in the excavator control method of this disclosure.

[0046] Figure 5C This is a flowchart illustrating the charging control process of some embodiments of the excavator control method disclosed herein.

[0047] Figure 5D Flowcharts showing some other embodiments of energy management in the excavator control method of this disclosure.

[0048] Figure 5E This is a schematic diagram of the battery SOC hysteresis range in the excavator control method disclosed herein.

[0049] Figure 6 This is a schematic diagram of some embodiments of the excavator control system disclosed herein.

[0050] Figure 7 These are schematic diagrams of other embodiments of the excavator control system disclosed herein.

[0051] Figure 8 This is a schematic diagram of yet another embodiment of the excavator control system disclosed herein.

[0052] Figure 9 This is a schematic diagram of some embodiments of the excavator disclosed herein.

[0053] Figure 10 This is a schematic diagram of some other embodiments of the excavator disclosed herein. Detailed Implementation

[0054] The technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings and embodiments.

[0055] Flowcharts of some embodiments of the excavator control method disclosed herein are as follows: Figure 1 As shown. In some embodiments, the excavator control method of this disclosure can be implemented by an excavator control system installed on the excavator. In some embodiments, the excavator control system is an electrically powered device. In some embodiments, steps S11 and S12 are not sequential and can be executed in parallel.

[0056] In step S11, the operating states of the rotary motor, the travel motor, and the hydraulic pump motor are controlled. In some embodiments, the operating state of the rotary motor includes an energy recovery state. In some embodiments, in the energy recovery state, the rotary motor generates electrical energy and stores it in the battery system.

[0057] In some embodiments, the slewing motor is connected to the reducer to provide power for the slewing function of the upper body of the electric excavator; the travel motor is located on the lower body of the electric excavator to provide power for the travel and steering of the electric excavator; and the hydraulic pump motor is connected to the hydraulic pump to provide power for the hydraulic pump.

[0058] In step S12, at least one of the following is managed: energy consumption, energy recovery, and charging of the excavator, based on the remaining battery power.

[0059] The method described in the above embodiments enables control of the excavator's slewing system, travel system, and hydraulic system by controlling the slewing motor, travel motor, and hydraulic pump motor, respectively. Furthermore, it allows for scheduling of the battery system and charging system based on remaining battery power, achieving overall electric control of the excavator and improving its environmental friendliness. Energy recovery from the slewing motor also improves energy recovery efficiency and extends the excavator's range.

[0060] In some embodiments, a flowchart for controlling the operating state of the rotary motor is as follows: Figure 2A As shown.

[0061] In step 211, it is determined whether the slewing mechanism (rotating body) is located on a horizontal plane or an inclined plane. If the slewing mechanism is located on a horizontal plane, then step 212 is executed; if the slewing mechanism is located on an inclined plane, then step 213 is executed.

[0062] In some embodiments, the location of the slewing mechanism on a horizontal or inclined plane can be determined based on whether the slewing motor provides a speed feedback signal when there is no operating command from the slewing operating device. In some embodiments, if no operating command is input from the slewing operating device and the slewing motor provides a speed feedback signal, the slewing mechanism is determined to be on an inclined plane; if no operating command is input from the slewing operating device and the slewing motor provides a speed feedback signal, the slewing mechanism is determined to be on a horizontal plane.

[0063] In step 212, the rotational speed of the rotary motor is controlled based on the fuzzy control method. The rotational speed includes the magnitude and direction of the rotation.

[0064] In some embodiments, if the rotational speed of the slewing mechanism exceeds a first safety threshold or the opening of the slewing handle decreases, a regenerative braking command is sent to the slewing motor so that the slewing motor switches to an energy recovery state. This method allows for the recovery and storage of the kinetic energy of the slewing mechanism as electrical energy while reducing its rotational speed to improve safety or meet user speed reduction requirements, thus reducing energy consumption and improving range.

[0065] In some embodiments, during operation, the opening value of the rotary handle and the rate of change of the opening value are determined in real time; based on the relationship between the fuzzy subset of the opening value, the fuzzy subset of the rate of change of the opening value, and the rotational speed of the rotary motor determined by the fuzzy control method, the target rotational speed of the rotary motor is determined; and the rotary motor is controlled to rotate at the target rotational speed. In some embodiments, different rate of change indicators for the opening value are preset, thereby facilitating the conversion of the real-time determined rate of change of the rotary handle opening value into a rate of change indicator based on preset information, improving processing efficiency. In some embodiments, a correspondence between the fuzzy subset of the opening value, the fuzzy subset of the rate of change indicator, and the rotational speed of the rotary motor is preset, and the target rotational speed value is determined by querying the correspondence based on the real-time determined opening value and rate of change indicator. In some embodiments, the target rotational speed value includes the target rotational direction and the target rotational speed magnitude.

[0066] This method enables the determination of the target rotational speed based on fuzzy control, with low computational load and fine granularity of rotational speed control, reducing the requirements for equipment computational and control capabilities and facilitating its widespread application.

[0067] In some embodiments, when the rotary handle is in the neutral position, the opening value is a first value (e.g., 0), and the electric rotary system remains stationary without any movement. In some embodiments, when the rotary handle moves from the neutral position to a predetermined direction, the electric rotary system performs a clockwise rotary operation, and the opening value is a second value (e.g., a value greater than 0). In some embodiments, when the rotary handle moves from the neutral position to the opposite direction of the predetermined direction, the electric rotary system performs a counterclockwise rotary operation, and the opening value is a third value (e.g., a value less than 0). In some embodiments, when the rotary handle opening remains constant, the rate of change of the opening value is identified as a fourth value (e.g., 0). In some embodiments, when the rotary handle opening changes at its maximum speed, the rate of change of the opening value is identified as a fifth value (e.g., a preset maximum value, e.g., 1).

[0068] This method allows numerical information to represent the state changes of the slewing handle, reducing the difficulty of information processing and use, and improving the control efficiency of the excavator.

[0069] In some embodiments, the corresponding slewing speed of the slewing mechanism is determined based on the actual motor speed of the slewing motor. If the slewing speed of the slewing mechanism exceeds a second safety threshold, the time elapsed after the regenerative braking command is issued exceeds a predetermined time threshold, and the slewing motor speed remains unchanged or increases, then the safety device is activated to reduce the slewing speed. This method enables timely safety control to reduce the slewing speed when the slewing speed of the slewing mechanism is too high and the duration of this state is too long, improving safety control capabilities. Furthermore, if the brake switch in the slewing operating device is open, the safety device is controlled to tighten the slewing motor and send a speed-to-zero command to the slewing motor, thereby timely controlling the slewing motor braking and improving the excavator's safety. Additionally, if the brake switch in the slewing operating device is closed, the safety device is controlled to release the slewing motor, facilitating resumption of work and improving operational continuity.

[0070] In step 213, the rotational speed of the rotary motor is controlled according to the state of the rotary mechanism on the inclined surface. The rotational speed includes the magnitude and direction of the rotation.

[0071] In some embodiments, when the slewing mechanism is on an inclined plane, if the direction of the rotational speed feedback of the slewing motor is the same as the direction of the opening of the slewing handle, the slewing motor is in an energy recovery state. In the energy recovery state, the slewing motor generates electrical energy and stores it in the battery system. This can reduce the slewing speed of the slewing mechanism to improve safety, while recovering the kinetic energy of the slewing mechanism into electrical energy and storing it, thereby reducing energy consumption and improving the range.

[0072] In some embodiments, the rotary mechanism has three possible states on the inclined surface: stationary, descending rotary, and ascending rotary. Further control is performed based on the state of the rotary mechanism on the inclined surface, thereby refining the control process, improving the adaptability of the control of the rotary motor to the state of the rotary mechanism, and enhancing safety.

[0073] In some embodiments, if the slewing mechanism is stationary on the inclined surface, it receives the motor speed feedback from the slewing motor and determines whether there is an input to the slewing operating device. If there is no input to the slewing operating device, i.e., the operator has no operational requirements, it sends a speed value opposite to the feedback motor speed to the slewing motor; if there is an input to the slewing operating device, i.e., the operator has operational requirements, it performs slewing control according to the input signal of the slewing operating device, thereby ensuring that the operator's operational needs are met.

[0074] In some embodiments, if the slewing mechanism remains stationary on the inclined surface, and after sending a speed value opposite to the feedback motor speed to the slewing motor, the duration for which no input from the slewing operating device is received exceeds a third safety threshold, the safety device is controlled to retract the slewing motor and send a speed-to-zero command to the slewing motor to improve excavator safety. If the brake switch in the slewing operating device is open, the safety device is controlled to retract the slewing motor and send a speed-to-zero command to the slewing motor, thereby timely controlling the slewing motor braking and improving excavator safety. If the brake switch in the slewing operating device is closed, the safety device is controlled to release the slewing motor, facilitating resumption of work and improving work continuity.

[0075] In some embodiments, if the rotary mechanism is in a descending or ascending rotary state on the inclined surface, the opening value of the rotary handle and the rate of change of the opening value are determined in real time. Further, based on the relationship between the fuzzy subset of the opening value determined by fuzzy control, the fuzzy subset of the rate of change of the opening value, and the rotational speed of the rotary motor, the target rotational speed value is determined. In some embodiments, if the rotary mechanism is in a descending rotary state, the rotational direction of the target rotational speed value is the same as the opening direction of the rotary handle. In some embodiments, if the rotary mechanism is in an ascending rotary state, the rotational direction of the target rotational speed value is opposite to the opening direction of the rotary handle. After determining the target rotational speed value, the rotary motor is controlled to rotate at the target rotational speed value. Through this method, the target rotational speed can be determined based on the rotary mechanism's rotational state on the inclined surface using a fuzzy control valve, and the target rotational speed direction can be determined based on the rotary mechanism's rotational direction, thus improving the accuracy of the rotary motor control.

[0076] In some embodiments, the rotational speed of the corresponding slewing mechanism is determined based on the actual motor speed of the slewing motor; if the rotational speed of the slewing mechanism is greater than the fourth safety threshold, the time after the regenerative braking command is issued exceeds a predetermined time threshold, and the rotational speed of the slewing motor remains unchanged or increases, then the safety device is activated to reduce the rotational speed; if the brake switch in the slewing operation device is opened, the safety device is controlled to tighten the slewing motor, and a speed return to 0 command is sent to the slewing motor.

[0077] This method allows for timely safety control to reduce the swing speed and brake the swing motor, thereby improving the excavator's safety.

[0078] In some embodiments, the first, second, third, and fourth security thresholds may be the same or different, and the specific values ​​may be set or adjusted according to actual operation.

[0079] In some embodiments, when the slewing mechanism is on an inclined plane, it may switch between three states: stationary, ascending slewing, and descending slewing. In some embodiments, the slewing mechanism is determined to switch from a stationary state to an ascending slewing state when the direction of the rotational speed feedback from the slewing motor is opposite to the direction of the slewing handle opening. In some embodiments, the slewing mechanism is determined to switch from a stationary state to a descending slewing state when the direction of the rotational speed feedback from the slewing motor is the same as the direction of the slewing handle opening. In some embodiments, the slewing mechanism is determined to switch from an ascending slewing state to a descending slewing state when the slewing speed of the slewing mechanism is greater than a set ascending slewing speed threshold, the opening of the slewing handle is greater than a set handle opening threshold, and the direction of the rotational speed feedback from the slewing motor is the same as the direction of the slewing handle opening. In some embodiments, the slewing mechanism is determined to switch from a descending slewing state to an ascending slewing state when the slewing speed of the slewing mechanism is less than a set descending slewing speed threshold, the opening of the slewing handle is greater than a set handle opening threshold, and the direction of the rotational speed feedback from the slewing motor is opposite to the direction of the slewing handle opening. This method enables timely identification of state transitions in the rotary mechanism, facilitating the switching of control strategies and improving control reliability and equipment safety.

[0080] Flowcharts of other embodiments of the excavator control method disclosed herein, which control the operating state of the rotary motor, are shown below. Figure 2B As shown. The specific values ​​in the following embodiments are examples of feasible real-time methods and do not constitute an undue limitation of this disclosure.

[0081] In steps 221-222, the excavator control system determines the operating status of the slewing motor and judges whether the slewing mechanism is on an inclined plane based on the relationship between the status of the slewing motor and the slewing operation device.

[0082] If no operation command is input from the slewing operating device and the slewing motor has no speed feedback signal, then the slewing mechanism is determined to be on a horizontal plane, and step 223 is executed. If no operation command is input from the slewing operating device and the slewing motor has a speed feedback signal, then the slewing mechanism is determined to be on an inclined plane, and step 222 is executed.

[0083] In the current embodiment, the rotational speed of the rotary motor is set to a positive value when the rotary mechanism rotates clockwise, and the rotational speed of the rotary motor is set to a negative value when the rotary mechanism rotates counterclockwise.

[0084] In steps 223-224, if it is determined that the rotary mechanism is in a horizontal plane, in the subsequent horizontal plane rotary control process, the target speed value of the rotary motor is determined based on the opening value and rate of change of the rotary handle using a fuzzy control algorithm, and step 229 is further executed. In some embodiments, the target speed value of the horizontal plane rotary motor is controlled by the following steps S1-S6.

[0085] In step S1, the opening value of the rotary handle in the rotary operating device is collected and calculated in real time. And calculate the rate of change of the rotary handle opening value in real time. .

[0086] Rotary handle opening value Defined as The linear scaling is performed based on the physical position of the handle. When the handle is in the neutral position, the electric rotary system is not moving. Moving the handle from the neutral position in a specified direction represents a clockwise rotary operation. When the movement reaches its limit position Similarly, defining the movement of the handle from the center position to the opposite direction represents a counter-clockwise rotation. When the movement reaches its limit position .

[0087] In some embodiments, if the handle can only indicate clockwise or counterclockwise rotation via digital signals, then when performing clockwise rotation, When the value is constant at 1, and the rotation is counterclockwise, It is a constant value of -1.

[0088] Here is defined The sign of the value is only to distinguish between clockwise and counterclockwise rotation. It should not be used directly to determine the sign of the target speed or the direction of rotation of the rotary motor.

[0089] Rate of change of rotary handle opening value The rate of change of the rotary handle opening value is calculated based on the opening value of the rotary handle and the time required for the opening value to change. When the handle is open, no operation is performed. When the speed is 1, it means the handle is being operated at the fastest speed.

[0090] In step S2, a fuzzy control method is used to determine the opening value of the rotary handle. and the rate of change of the rotary handle opening value As input, with the rotational speed of the rotary motor as output, fuzzy control rules are formulated to calculate the target speed of the rotary motor in real time, so that the rotary motor rotates at a constant speed, driving the rotary mechanism to perform an upward rotary motion at a constant speed.

[0091] The input variable of the fuzzy control algorithm is the rotary handle opening value. Rate of change of rotary handle opening value The output variable is the target motor speed. The rotation handle opening value is... The fuzzy subset is defined as The corresponding language variable is This language variable is an example of a parameter in the controller program during operation. It represents the rate of change of the rotary handle opening value. The fuzzy subset is defined as The corresponding language variable is The fuzzy subset of the target motor speed is defined as... The corresponding language variable is .

[0092] In step S3, the rotational speed of the slewing mechanism is calculated in real time based on the actual motor speed of the slewing motor, and a safe threshold for the rotational speed is set. If the rotational speed exceeds the safe threshold or the handle opening decreases, the main controller sends a regenerative braking command to the slewing motor, which is a target speed opposite to the current feedback speed, causing the slewing motor to operate as a generator and store the generated electrical energy in the battery system.

[0093] In step S4, a regenerative braking execution time threshold is set. If the rotational speed of the slewing mechanism is greater than the safety threshold and the main controller sends a regenerative braking command to the slewing motor, but the slewing motor speed does not decrease after the regenerative braking execution time threshold is exceeded, the main controller will activate the safety device to reduce the rotational speed.

[0094] In step S5, if the brake switch in the slewing operating device is turned on, the main controller locks the slewing motor to the control safety device, and at the same time, the main controller sends a zero-speed command to the slewing motor.

[0095] In step S6, if the brake switch in the slewing operating device is closed, the main controller controls the safety device to release the slewing motor.

[0096] In some embodiments, if it is determined that the rotary mechanism is on an inclined plane, the operation starting from step 225 is performed. If it is determined that the rotary mechanism is on an inclined plane, the rotary mechanism has three states on the inclined plane: stationary, ascending rotation, and descending rotation. If the rotary mechanism is stationary on the inclined plane, in the subsequent inclined plane rotation control process, the target speed of the rotary motor is controlled by the following steps when the rotary mechanism is stationary on the inclined plane.

[0097] In step 225, the motor speed fed back by the rotary motor is received, and the operation is determined based on whether there is an input from the rotary operating device. If there is no input from the rotary operating device (such as a rotary handle), step 226 is executed. If there is an input from the rotary operating device, rotary control is performed according to the input signal from the rotary operating device, and step 230 is executed.

[0098] In some embodiments, information reception and processing, as well as instruction issuance, can be performed by the main controller of the excavator control system.

[0099] In step 226, a speed value opposite to the feedback speed is sent to the rotary motor, causing the rotary motor to "stalle" and keeping the rotary mechanism stationary.

[0100] In step 227, during the static state control of the tilting surface of the slewing mechanism, a safe time threshold for the slewing motor's "stalling" is set. If the slewing motor's "stalling" time exceeds the safe time threshold, step 228 is executed; otherwise, the process returns to step 222.

[0101] In step 228, the main controller controls the safety device to lock the rotary motor, and at the same time, the main controller sends a zero-speed command to the rotary motor.

[0102] Furthermore, if there is an input to the slewing operating device, the main controller controls the safety device to release the slewing motor. If the brake switch in the slewing operating device is open, the main controller controls the safety device to lock the slewing motor, and simultaneously sends a zero-speed command to the slewing motor. If the brake switch in the slewing operating device is closed, the main controller controls the safety device to release the slewing motor.

[0103] In step 230, it is determined whether the direction of the rotary motor's feedback speed is opposite to the direction of the rotary handle's opening. If the direction of the rotary motor's feedback speed is opposite to the direction of the rotary handle's opening, the rotary mechanism is in an ascending rotary state on the inclined plane, and step 231 is executed. If the direction of the rotary motor's feedback speed is the same as the direction of the rotary handle's opening, the rotary mechanism is in a descending rotary state on the inclined plane, and step 235 is executed.

[0104] In step 231, an upward slewing control operation is performed. Using the slewing handle opening and its rate of change as inputs, a gain speed is calculated based on a fuzzy control algorithm. The target speed value is calculated using the speed at which the slewing mechanism remains stationary as the reference speed. In some embodiments, steps S1-S4 may be performed.

[0105] In step S1, the opening value of the slewing handle of the slewing operating device is collected and calculated in real time. And calculate the rate of change of the rotary handle opening value in real time. .

[0106] Rotary handle opening value Defined as The linear scaling is performed based on the physical position of the handle. When the handle is in the neutral position, the electric rotary system is not moving. Moving the handle from the neutral position in a specified direction represents a clockwise rotary operation. When the movement reaches its limit position Similarly, defining the movement of the handle from the center position to the opposite direction represents a counter-clockwise rotation. When the movement reaches its limit position .

[0107] In some embodiments, if the handle can only indicate clockwise or counterclockwise rotation via digital signals, then when performing clockwise rotation, When the value is constant at 1, and the rotation is counterclockwise, It is a constant value of -1.

[0108] Here is defined The sign of the value is only to distinguish between clockwise and counterclockwise rotation. It should not be used directly to determine the sign of the target speed or the direction of rotation of the rotary motor.

[0109] Rate of change of rotary handle opening value The rate of change of the rotary handle opening value is calculated based on the opening value of the rotary handle and the time required for the opening value to change. When the handle is open, no operation is performed. When the speed is 1, it means the handle is being operated at the fastest speed.

[0110] In step S2, a fuzzy control method is adopted, based on pre-set fuzzy control rules, to determine the rotary handle opening value. and the rate of change of the rotary handle opening value With the input being the speed gain and the output being the speed of the rotary motor when it is stationary, the target speed of the rotary motor is the sum of the speed gain and the speed gain, and the target speed of the rotary motor is calculated in real time.

[0111] In some embodiments, the input variable of the fuzzy control algorithm is the rotary handle opening value. Rate of change of rotary handle opening value The output variable is the speed gain. The rotation handle opening value... The fuzzy subset is defined as The corresponding language variable is The rate of change of the rotary handle opening value. The fuzzy subset is defined as The corresponding language variable is The above language variables are examples of parameters for the controller program during operation. The fuzzy subset of the speed gain is defined as... The corresponding language variable is .

[0112] In step S3, the target speed of the rotary motor is calculated based on the speed gain calculated by the fuzzy control algorithm and the reference speed of the rotary motor. The calculation formula is shown below.

[0113]

[0114] In the above formula, The target speed of the rotary motor. This is the reference speed of the rotary motor, equal to the output speed of the rotary motor when the rotary mechanism is stationary on the inclined surface. The speed gain is calculated and output by a fuzzy control algorithm.

[0115] In step S4, the rotational speed of the slewing mechanism is calculated in real time based on the actual motor speed of the slewing motor, and a safe threshold for the rotational speed is set. If the rotational speed exceeds the safe threshold, the main controller activates the safety device to reduce the rotational speed.

[0116] In some embodiments, after step 231, step 232 can be executed to determine whether the rotation speed is greater than the corresponding set threshold and whether the handle opening is greater than the corresponding set threshold. If the rotation speed is greater than the set threshold and the handle opening is greater than the corresponding set threshold, then it is determined that the rotation speed is switched from the upward rotation state to the downward rotation state, and step 233 is executed; if at least one of the following is true: the rotation speed is less than or equal to the corresponding set threshold or the handle opening is less than or equal to the corresponding set threshold, then step 229 is executed.

[0117] In step 233, descent rotation control is executed. Using the rotation handle opening and its rate of change as inputs, a gain rotational speed is calculated based on a fuzzy control algorithm. The target rotational speed is calculated using the rotational speed at which the rotating body remains stationary as the reference speed. In some embodiments, the specific implementation method can be the same as the implementation process in step 235 below.

[0118] After completing step 233, proceed to step 234 to determine whether the rotation speed is less than a set threshold and whether the rotation handle opening is greater than the corresponding set threshold. If the rotation speed is less than the corresponding set threshold and the rotation handle opening is greater than the corresponding set threshold, return to step 231; if at least one of the following conditions is met: the rotation speed is greater than or equal to the corresponding set threshold, or the rotation handle opening is less than or equal to the corresponding set threshold, proceed to step 229.

[0119] In step 235, since the direction of the rotary motor's feedback rotation speed is the same as the direction of the rotary handle's opening, it is determined that the rotary mechanism is in a descending rotary state on the inclined plane. In some embodiments, since the rotary motor generates a rotation speed opposite to the gravity of the rotary mechanism when the rotary mechanism descends, the rotary motor will act as a generator to generate electricity and store the generated electrical energy in the battery system.

[0120] The descent and rotation control is executed, taking the opening degree of the rotation handle and the rate of change of the opening degree as inputs. A gain speed is calculated based on a fuzzy control algorithm, and the target speed is calculated using the speed at which the rotating body remains stationary as the reference speed. In some embodiments, the target speed value of the rotary motor is controlled by the following steps S1-S4 when the rotary mechanism is in the descent and rotation state on the inclined plane.

[0121] In step S1, the opening value of the rotary handle of the rotary operating device is collected and calculated in real time. And calculate the rate of change of the rotary handle opening value in real time. .

[0122] Rotary handle opening value Defined as The linear scaling is performed based on the physical position of the handle. When the handle is in the neutral position, the electric rotary system is not moving. Moving the handle from the neutral position in a specified direction represents a clockwise rotary operation. When the movement reaches its limit position Similarly, defining the movement of the handle from the center position to the opposite direction represents a counter-clockwise rotation. When the movement reaches its limit position .

[0123] In some embodiments, if the handle can only indicate clockwise or counterclockwise rotation via digital signals, then when performing clockwise rotation, When the value is constant at 1, and the rotation is counterclockwise, It is a constant value of -1.

[0124] Here is defined The sign of the value is only to distinguish between clockwise and counterclockwise rotation. It should not be used directly to determine the sign of the target speed or the direction of rotation of the rotary motor.

[0125] Rate of change of rotary handle opening value The rate of change of the rotary handle opening value is calculated based on the opening value of the rotary handle and the time required for the opening value to change. When the handle is open, no operation is performed. When the speed is 1, it means the handle is being operated at the fastest speed.

[0126] In step S2, a fuzzy control algorithm is used, based on pre-defined fuzzy rules, to determine the opening value of the rotary handle. Rate of change of rotary handle opening value The input is the speed gain, the output is the speed gain, and the target motor speed is calculated in real time with the speed of the rotary motor when it is stationary as the reference speed.

[0127] The input variable of the fuzzy control algorithm is the rotary handle opening value. Rate of change of rotary handle opening value The output variable is the speed gain. The rotation handle opening value... The fuzzy subset is defined as The corresponding language variable is The rate of change of the rotary handle opening value. The fuzzy subset is defined as The corresponding language variable is Define the fuzzy subset of the speed gain as The corresponding language variable is .

[0128] In step S3, the target speed of the rotary motor is calculated based on the speed gain calculated by the fuzzy control algorithm and the reference speed of the rotary motor. The calculation formula is shown below.

[0129]

[0130] In the above formula, The target speed of the rotary motor. This is the reference speed of the rotary motor, equal to the output speed of the rotary motor when the rotary mechanism is stationary on the inclined surface. The speed gain is calculated and output by a fuzzy control algorithm.

[0131] In step S4, the rotational speed of the slewing mechanism is calculated in real time based on the actual motor speed of the slewing motor, and a safe threshold for the rotational speed is set. If the rotational speed exceeds the safe threshold, the main controller activates safety controls to reduce the rotational speed.

[0132] In step 236, it is determined whether the rotation speed is less than the corresponding set threshold and whether the handle opening is greater than the corresponding set threshold. If the rotation speed is less than the corresponding set threshold and the handle opening is greater than the corresponding set threshold, then it is determined to switch to the upward rotation state and step 237 is executed; if at least one of the following conditions is met, the rotation speed is greater than or equal to the corresponding set threshold or the handle opening is less than or equal to the corresponding set threshold, then step 229 is executed.

[0133] In step 237, an upward slewing control operation is performed. Using the slewing handle opening and its rate of change as inputs, a gain speed is calculated based on a fuzzy control algorithm. The target speed value is calculated using the speed at which the slewing mechanism remains stationary as the reference speed. In some embodiments, the specific implementation method can be the same as the implementation process in step 231 above.

[0134] In step 238, it is determined whether the rotation speed is greater than the corresponding set threshold and whether the handle opening is greater than the corresponding set threshold. If the rotation speed is greater than the set threshold and the handle opening is greater than the corresponding set threshold, then it is determined to switch from the upward rotation state to the downward rotation state, and step 235 is executed; if at least one of the following is true, either the rotation speed is less than or equal to the corresponding set threshold or the handle opening is less than or equal to the corresponding set threshold, then step 229 is executed.

[0135] In step 229, it is determined whether the rotation speed is 0. If the rotation speed is not 0, step 228 is executed; if the rotation speed is 0, the current control flow ends.

[0136] Based on the method described in the above embodiments, it is possible to achieve electrical control of the slewing motor, and thus electrical control of the excavator's electric slewing system. This can improve safety while meeting the operator's operational needs, and enable kinetic energy recovery to improve the equipment's endurance.

[0137] Flowcharts of some embodiments of the excavator control method disclosed herein, which control the travel motor, are shown below. Figure 3 As shown.

[0138] In step 311, the rotational speed of the travel motor is determined based on the opening value of the travel operation device. The travel motor directly drives the excavator to travel, thereby reducing energy consumption and improving the equipment's endurance.

[0139] In some embodiments, the rotational speed direction is determined based on a combination of the opening values ​​of the first and second travel operating devices. The rotational speed direction includes stationary, forward, backward, left turn in the forward direction, right turn in the forward direction, left turn in the backward direction, and right turn in the backward direction. Further, the rotational speed of the first travel motor is determined based on the opening value of the first travel operating device, and the rotational speed of the second travel motor is determined based on the opening value of the second travel operating device. The rotational speed value includes both the magnitude and direction of rotation.

[0140] In step 312, a control command is sent to the travel motor according to the rotational speed value. In one embodiment, there may be two travel motors, such as a first travel motor and a second travel motor.

[0141] This method allows for the direct determination of the operating status of the walking motor using the opening value of the walking operation device, simplifying the driving logic of the walking system, improving driving efficiency, and reducing the energy consumption of the walking system.

[0142] In some embodiments, when the walking system is in a braking or deceleration state, the kinetic energy of the walking system can be recovered and stored in the battery to realize kinetic energy recovery and improve the excavator's endurance.

[0143] In some embodiments, such as Figure 3 As shown, the control of the walking motor may also include step 313.

[0144] In step 313, a constant speed command is sent to the walking motor according to the rate of change of the opening value of the walking operation device.

[0145] In some embodiments, when the rate of change of the opening value of the travel operating device is 0, if the excavator is in the forward state, a constant speed command in the first direction is sent to the travel motor; if the excavator is in the reverse state, a constant speed command in the second direction is sent to the travel motor.

[0146] This method can improve the stability of excavator operation, reduce operational difficulty, and increase the degree of automation and efficiency of operations.

[0147] In some embodiments, the control of the travel system in the excavator control method of this disclosure mainly includes travel state judgment, operation signal parsing, drive motor control, and cruise control. In some embodiments, the control of the travel motor can be achieved through the following steps S1-S4, thereby achieving the control of the travel system driven by the travel motor. The specific parameters in the current embodiment are examples of feasible implementation methods and do not constitute an improper limitation of this disclosure.

[0148] In step S1, the opening values ​​of the first and second walking operation devices are collected and calculated in real time. , It also calculates the rate of change of the opening values ​​of the first and second traveling control devices in real time. , The system determines the overall driving status of the machine. In some embodiments, the first and second traveling operation devices may be referred to as forward and backward traveling operation devices, or left and right traveling operation devices.

[0149] In some embodiments, the opening values ​​of the first and second walking operation devices are identified as follows: , Linear proportional conversion is performed based on the physical position of the walking control device. When At this time, the walking operation device is in the neutral position, indicating that the walking system is not moving. In some embodiments, the first and second walking operation devices are set to move simultaneously from the neutral position in a specified direction to represent a forward movement. When the movement reaches its limit position The movement of the walking control device from the center position in the opposite direction to the specified direction represents a backward movement. When the movement reaches its limit position Setting the first walking control device to move from the center position in the specified direction while the second walking control device remains in the center position, or setting the rearward walking control device to move in the opposite direction to the specified direction, represents a left turn in the forward direction. The definition of a right turn in the forward direction is as follows: the first traveling control device remains in the neutral position or moves in the opposite direction to the specified direction, and the second traveling control device moves from the neutral position in the specified direction. The first walking control device moves from the center position to the opposite direction to the specified direction, while the second walking control device remains in the center position or moves in the specified direction, representing a leftward turn in the reverse direction. The definition of the first walking control device maintaining a neutral position or moving in a specified direction, and the second walking control device moving from the neutral position in a specified direction, represents a right turn in the reverse direction. .

[0150] Here is defined , The sign of the value is only to distinguish between straight or turning directions, and should not be used directly to determine the sign of the target speed of the travel motor or the direction of rotation.

[0151] In step S2, the operation signal parsing refers to the vehicle controller judging the validity and magnitude of the input signals from the first and second travel operation devices, and converting them into speed control commands for the first and second travel motors. The calculation formulas for the travel operation device and motor speeds are as follows:

[0152]

[0153] In the formula, The required speed for the first walking motor, To meet the required speed of the second travel motor, This refers to the opening degree of the first walking operation device. This refers to the opening degree of the second walking operation device. In some embodiments, a calculation method for determining the required speed of the travel motor based on the opening degree of the travel operation device is described. This is a function that determines the required speed of the travel motor based on the opening degree of the travel operating device.

[0154] In step S3, the drive motor control mainly involves the vehicle controller determining the speed control command for the drive motor based on the driving status and the opening degree of the left and right travel operation devices, as detailed below:

[0155] ① When it is determined that the vehicle is in a straight forward state, the vehicle controller sends the same positive motor speed command to the first and second travel motor controllers;

[0156] ② When it is determined that the vehicle is in a straight-moving or reverse-moving state, the vehicle controller sends the same negative speed command to the first and second travel motor controllers;

[0157] ③ When it is determined that the vehicle is turning left in the forward direction, the vehicle controller sends a positive speed command to the first travel motor and a 0 speed or negative speed command to the second travel motor.

[0158] ④ When it is determined that the vehicle is turning right in the forward direction, the vehicle controller sends a 0 speed or negative speed command to the first travel motor and a positive speed command to the second travel motor.

[0159] ⑤ When it is determined that the vehicle is turning left in the reverse direction, the vehicle controller sends a negative speed command to the first travel motor and a 0 speed or positive speed command to the second travel motor.

[0160] ⑥ When it is determined that the vehicle is turning right in the reverse direction, the vehicle controller sends a 0 speed or positive speed command to the first travel motor and a negative speed command to the second travel motor.

[0161] In step S4, cruise control exists when the entire machine is traveling in a straight line, and when the first and second travel control devices are open... , A constant and the rate of change of opening , When the value is 0, the entire machine enters cruise control mode. At this time, the vehicle controller sends the current motor speed to the first and second travel motors, as follows:

[0162] ① When the machine is in forward motion and enters cruise control, the first and second travel motor controllers of the vehicle controller send a constant speed command for the current positive motor speed.

[0163] ② When the machine is in reverse and enters cruise control, the first and second travel motor controllers of the vehicle controller send a constant speed command for the negative speed of the motor at the current moment.

[0164] Based on the methods described in the above embodiments, electrical control of the travel motor can be achieved, thereby realizing electrical control of the excavator's travel system. This improves safety while meeting the operator's operational needs. By analyzing the status of the operating device and directly controlling the travel motor, energy consumption is reduced and drive efficiency is improved. Kinetic energy recovery is achieved, further enhancing the equipment's endurance.

[0165] Flowcharts of some embodiments of the excavator control method disclosed herein, which control the operating state of the hydraulic pump motor, are shown below. Figure 4A As shown.

[0166] In step 411, the hydraulic load is determined, and the target speed of the hydraulic pump motor is determined based on the correspondence between the hydraulic load and the speed of the hydraulic pump motor.

[0167] In some embodiments, a pressure sensor can be installed at the output end of the hydraulic pump, and the hydraulic load can be determined based on the pressure value output by the pressure sensor. Further, based on the pressure range in which the hydraulic load falls, the corresponding ideal rotational speed is determined. The ideal rotational speed is determined through clustering operations within the corresponding pressure range, based on the correspondence between pressure ranges and rotational speed ranges. After determining the ideal rotational speed, the target rotational speed of the hydraulic pump motor is determined based on the ideal rotational speed and the rotational speed error.

[0168] In some embodiments, if the change in hydraulic load over a predetermined time period is less than a predetermined idle pressure threshold and no operation command is received, the target speed of the hydraulic pump motor is determined as the predetermined idle speed. If the change in hydraulic load over a predetermined time period is greater than or equal to the predetermined idle pressure threshold, or if an operation command is received, at least one of these conditions is met, and the operation of determining the corresponding ideal speed based on the pressure range of the hydraulic load is executed. Through this method, when there is no input to the hydraulic system operating mechanism and the hydraulic load remains stable at a certain value for a long time, the entire machine enters an automatic idle state. When the pressure difference between the current pressure and the previous pressure at the hydraulic pump output terminal exceeds the set idle pressure threshold, or when the operator inputs an operation command, the entire machine exits automatic idle, and the drive motor matches the corresponding motor speed according to the hydraulic load pressure, thereby achieving automatic idle speed control of the hydraulic system and improving the overall electronic control capability of the excavator.

[0169] In step 412, the hydraulic pump motor is controlled to approach the target speed of the hydraulic pump motor according to the target speed of the hydraulic pump motor.

[0170] In some embodiments, a control signal is sent to the hydraulic pump motor according to the target speed of the hydraulic pump motor; based on the fuzzy control method, the speed gain of the hydraulic pump motor is determined according to the speed deviation between the ideal speed and the actual speed of the hydraulic pump motor and the hydraulic load; the control signal sent to the hydraulic pump motor is adjusted in real time according to the speed gain so as to control the hydraulic pump motor to approach the target speed of the hydraulic pump motor.

[0171] Based on the methods described in the above embodiments, electrical control of the hydraulic system can be achieved, thereby improving the overall electrical control capability of the excavator.

[0172] In some embodiments, a model can be pre-built to simulate the hydraulic system, obtain model parameters, and then set these parameters in the control system. Schematic diagrams of some embodiments of the control model for the hydraulic system are shown below. Figure 4B As shown, this mainly includes the division of hydraulic pump pressure range, the optimal speed model of drive motor, and the design of adaptive control algorithm (such as...). Figure 4C (as shown) and automatic idle speed control (such as) Figure 4D (As shown).

[0173] In some embodiments, a pressure sensor is installed at one end of the hydraulic pump output to collect the hydraulic pump pressure value and the corresponding motor speed value. The collected pressure and speed values ​​are preprocessed, and finally divided into n different pressure ranges according to the hydraulic pump pressure range. The speed range is obtained based on the corresponding motor speed. .

[0174] Figure 4B The optimal speed model of the drive motor shown refers to the optimization of each hydraulic pump pressure range using the k-means clustering algorithm to calculate the optimal drive motor speed for each pressure range and establish the optimal speed model of the drive motor. In some embodiments, the steps of the optimal speed model of the drive motor are as follows (1)-(5).

[0175] (1) Selecting the initial center value. Select an initial value for each speed range, namely... , which serves as the initial center value for the k-means clustering algorithm.

[0176] (2) Clustering optimization. Calculate the distance from each sample within the speed range to the initial center value. For any speed within the speed range, calculate the class to which it should belong. Use the Euclidean distance metric. The greater the distance, the greater the difference between individuals.

[0177] (3) Re-cluster. Based on the calculation results, redetermine the center values.

[0178] (4) Iteration complete. When the objective function reaches its optimum or the maximum number of iterations is reached, the clustering optimization terminates, and the final cluster centers are obtained. This allows us to obtain the optimal speed value for each hydraulic pump pressure range, i.e. .

[0179] (5) Optimal speed value for each hydraulic pump pressure range Establish an optimal speed model for the drive motor.

[0180] Adaptive control algorithm design refers to the use of optimization algorithms to make the pump drive motor speed approach the optimal speed model of the drive motor so that the output speed of the drive motor can follow the optimal speed model of the drive motor. In some embodiments, the model reference adaptive control method is used to adaptively control the drive motor and the hydraulic pump. An adaptive adjustment mechanism is designed to make the output signal of the controlled object and the dynamic characteristics of the reference model as close as possible. The design steps of the model reference adaptive control strategy are shown in steps (1)-(5) below.

[0181] (1) The optimal speed model of the drive motor is used as the reference model in the model reference adaptive control to achieve the ideal speed output in the drive motor-hydraulic pump adaptive control method.

[0182] (2) An adjustable controller is designed with the hydraulic pump output pressure as input and the drive motor speed control command as output. The drive motor speed is a function of the hydraulic pump output pressure, and its calculation formula is as follows.

[0183]

[0184] In the above formula, To drive the motor output speed, The output pressure of the hydraulic pump. The initial value is 0, representing the speed error of the drive motor.

[0185] (3) A controlled model of the drive motor is established with the drive motor as the controlled object, the control signal of the adjustable controller as the input, and the actual speed of the drive motor as the output.

[0186] (4) Using fuzzy control method, design an adaptive adjustment mechanism to measure the error between the optimal speed of the reference model and the actual speed of the controlled object. Hydraulic pump output pressure As input, to drive the motor speed gain For the output, fuzzy rules are formulated to calculate the speed gain of the drive motor in real time.

[0187] In some embodiments, the adaptive control strategy process is as follows: Figure 4C As shown in the image.

[0188] In step 431, the motor error is determined. Is it a positive number? If the motor error is positive, proceed to step 431; otherwise, proceed to step 433.

[0189] In step 432, a fuzzy control algorithm is used to adaptively calculate the positive speed gain, increase the motor speed command value, and then execute step 434.

[0190] In step 433, the fuzzy control adaptively adjusts the calculation of the negative speed gain to reduce the motor speed command value, and then executes step 434.

[0191] In step 434, it is determined whether the hydraulic pump motor error is 0. If the hydraulic pump motor error is 0, then proceed to step 435; if the hydraulic pump motor error is not 0, then return to step 431 to continue the adjustment.

[0192] In step 435, it is determined whether the idle speed command is valid. If the idle speed command is valid, proceed to step 436; otherwise, proceed to step 437.

[0193] In step 436, the process ends when the hydraulic pump motor is output according to the idle speed command.

[0194] In step 437, the motor control command is output, and the process ends.

[0195] This method enables the error of the hydraulic pump motor to approach zero, allowing the hydraulic pump motor to approach its target speed; it also enables timely switching to idle-based operation when an idle command is triggered, improving the adaptive operation of the equipment.

[0196] In some embodiments, the input variable for the fuzzy control algorithm is the rotational speed error. Hydraulic pump output pressure The output variable is the speed gain of the drive motor. To reduce speed error The fuzzy subset is defined as The corresponding language variable is ; Increase the output pressure of the hydraulic pump The fuzzy subset is defined as The corresponding language variable is ; Increase the speed gain of the drive motor The fuzzy subset is defined as The corresponding language variable is set to The language variables are examples of parameters of the controller program during operation.

[0197] (5) Input the speed gain calculated by the adaptive adjustment mechanism into the adjustable controller. Modify the motor speed control command of the adjustable controller in real time through the speed gain calculated by the adaptive adjustable mechanism, so that the actual motor speed output by the controlled object approaches the corresponding speed of the optimal speed model.

[0198] The method described in the above embodiments can simulate the operating state of a hydraulic system under control. By applying the simulated process, clustering parameters, etc., to the excavator control system, electronic control of the hydraulic system can be achieved, reducing data processing pressure and improving control efficiency.

[0199] In some embodiments, the automatic idle speed control mentioned above refers to the system entering an automatic idle state when there is no input to the hydraulic system operating mechanism and the hydraulic load remains stable at a certain value for a long time. In some embodiments, the automatic idle speed control process is as follows: Figure 4D As shown.

[0200] In step 441, it is determined whether there is a change in the hydraulic load. If there is a change in the hydraulic load, proceed to step 442; if there is no change in the hydraulic load, proceed to step 444.

[0201] In step 442, the speed of the hydraulic pump drive motor is adjusted in real time according to the hydraulic load, and then step 443 is executed.

[0202] In step 443, it is determined whether the hydraulic load has changed. If the hydraulic load has changed, the process returns to step 442; if the hydraulic load has not changed, the process proceeds to step 444.

[0203] In step 444, if the pressure difference between the current pressure and the previous pressure at the hydraulic pump output is less than the set idle pressure threshold and the duration is greater than the set idle time threshold, and the operator does not input any operation commands during this process, then step 446 is executed; otherwise, if at least one of the following conditions is met: the pressure difference between the current pressure and the previous pressure at the hydraulic pump output is greater than the set idle pressure threshold, or the operator inputs an operation command, then step 445 is executed.

[0204] In step 445, the drive motor is matched with the corresponding motor speed according to the hydraulic load pressure, and step 441 is executed.

[0205] In step 446, a hydraulic pump drive motor idle speed command is sent to adjust the entire machine into automatic idle mode. The drive motor operates at the set idle speed, and the adjustment process ends. In some embodiments, if the hydraulic load changes, step 443 can be executed.

[0206] The method described in the above embodiment enables timely switching to an idle-based operating state when an idle command is triggered, thereby improving the device's adaptive operation.

[0207] In some embodiments, the overall energy management of an excavator mainly includes energy consumption, energy recovery, and charging.

[0208] In some embodiments, based on the remaining battery power, at least one of the functions that can be enabled or disabled is determined. These functions include cab thermal management function, hydraulic system thermal management function, travel function, electric drive function, and electric swing function. In some embodiments, all or more functions can be activated when the battery power is sufficient, thereby improving the excavator's equipment performance; when the battery power is insufficient, priority is given to work and recharging needs, thereby improving the excavator's endurance.

[0209] In some embodiments, SOC (State of Charge) management primarily manages various vehicle functions based on the current state of the battery's remaining charge (hereinafter referred to as SOC). For example:

[0210] When SOC≥SOC safe At this time, all vehicle functions can be activated, including cab thermal management, hydraulic system thermal management, travel function, electric drive function, electric slewing function, etc.

[0211] When SOC LL_min ≤SOC<SOCsafe At this time, the cab thermal management function is prohibited from being activated, while the hydraulic system thermal management, travel function, electric drive function, and electric slewing function can be activated;

[0212] When SOC <SOC LLC_min When the travel function is activated, the electric slewing function is adjusted so that the cab is in the forward direction and cannot be started. The cab thermal management, hydraulic system thermal management, and electric drive functions are also prohibited from being started.

[0213] In some embodiments, SOC safe For the safe power supply of the excavator, SOC LLC_min SOC is the lower bound hysteresis value. safe >SOC LLC_min .

[0214] This method enables the activation of various functions, including cab thermal management, when the battery is sufficiently charged, improving excavator performance and user-friendliness. When the battery is insufficient, the cab thermal management function is shut down first to ensure the normal operation of the working functions. When the battery is in a dangerous state, the normal operation of the walking function is prioritized to ensure that the excavator can reach the charging location, improving the excavator's sustainable operating capability and reducing the probability of needing other vehicles to transport the excavator.

[0215] In some embodiments, energy recovery is performed by controlling the activation or deactivation of at least one of the electric swing system or the travel system based on the remaining battery power, thereby reducing unnecessary energy consumption and further improving the excavator's endurance.

[0216] In some embodiments, energy recovery mainly includes energy recovery from the electric rotary system and energy recovery from the walking system.

[0217] In some embodiments, the energy recovery conditions for the electric rotary system include:

[0218] ① The rotary motor speed control command is 0;

[0219] ②The feedback speed of the rotary motor is greater than the energy recovery speed threshold;

[0220] ③ The battery's state of charge (SOC) is less than the upper limit hysteresis value. .

[0221] When the above-mentioned energy recovery conditions of the electric rotary system are met simultaneously, it enters the electric rotary energy recovery state.

[0222] In some embodiments, the energy recovery conditions of the walking system are:

[0223] ① The speed control command for the walking motor is 0;

[0224] ②The absolute value of the feedback speed of the walking motor is greater than the energy recovery speed threshold;

[0225] ③ The battery's state of charge (SOC) is less than the upper limit hysteresis value. .

[0226] When all of the above conditions for energy recovery of the walking system are met, the walking system enters the energy recovery state.

[0227] The method described in the above embodiment enables energy recovery from both the slewing system and the walking system, thereby achieving full recovery of the excavator's motor energy and improving its endurance.

[0228] In some embodiments, the operating mode of the charging system is determined based on the required power and the remaining battery charge. The operating modes of the charging system include: pure electric mode, hybrid drive mode of industrial power grid and battery system, industrial power grid-only drive mode, industrial power grid-only drive and battery system charging mode, energy recovery mode, and energy dissipation mode. Through this method, the effective utilization of electrical energy from the battery and power grid can be achieved, thereby improving the excavator's continuous operation capability.

[0229] In some embodiments, the on-board charging system, such as Figure 5A As shown. Both the power battery 511 and the charging modules (1) and (2) can output power to the PDU (Power Distribution Unit) distribution box 512. In some embodiments, the charging module is connected to a junction box, which is mainly used for inputting grid power and distributing it to the charging system. The high-voltage accessories, slewing system, walking system, and hydraulic system all obtain power from the PDU distribution box 512. At the same time, the charging module is connected to the power battery 511 to charge the power battery 511. In some embodiments, when the grid power is the main power source, the charging system is always on; when the battery system is the main power source, the charging system is always off.

[0230] This method, based on the on-board charging system, enables the excavator to operate using electric power from batteries and the industrial power grid, and to charge the battery using the power grid's electricity, thereby improving the excavator's range and operational flexibility.

[0231] Schematic diagrams of some embodiments of energy management in the excavator control method disclosed herein are shown below. Figure 5B As shown. Energy management can logically include a control layer 521 and an execution layer 522.

[0232] The control layer 521 includes a system observer, a power demand calculation module, an energy management controller, a charging module, and a BMS (Battery Management System) controller. The system observer monitors the speed, hydraulic information, and battery information of each motor of the excavator in real time and sends this data to the power demand calculation module. The power demand calculation module determines the excavator's power demand based on the acquired information and sends it to the energy management controller. The energy management controller determines the power information to be output to the charging module and the BMS module, respectively, and these are used as the output power P of the industrial power grid. e and the output power P of the battery system b .

[0233] In execution layer 522, the battery pack is based on power information P from the BMS controller. b Controls output power; the charging actuator uses power information P from the charging module. e Controls output power. The output electrical energy is converted by the inverter and then supplied to various parts of the excavator.

[0234] In some embodiments, during charging, the energy management strategy controls such as Figure 5C As shown.

[0235] In step 531, the system operates in a state of maximum charging efficiency.

[0236] In step 532, the required charging power is calculated based on the current SOC value.

[0237] In step 533, it is determined whether the required charging power is greater than the power of a single charging module. If the required charging power is greater than the power of the charging module, then step 534 is executed; if the required charging power is less than or equal to the power of the charging module, then step 537 is executed.

[0238] In steps 534-536, the required charging power is divided by the power of a single charging module, and the quotient is rounded down to obtain the number of charging modules whose charging demand is greater than n-1, where n is a positive integer greater than 1; then, the n charging modules are charged, and the charging power for each charging module is the required charging power / n.

[0239] In steps 537-538, a single charging module is charged with the required charging power.

[0240] The method described in the above embodiments can determine the number of charging modules to be charged and the charging power for each charging module based on the required charging power, thereby improving the adaptive capability of charging.

[0241] In some embodiments, charging energy management strategies such as Figure 5D As shown. In some embodiments, the "optimal power-efficiency mode" characteristic curve can be determined first based on the operating characteristics of the charging system.

[0242] In step 541, the hydraulic pump flow rate is acquired in real time using the control system state observer. Hydraulic pump pressure Speed ​​of each motor and battery SOC.

[0243] In step 542, the required power of the vehicle is calculated based on the acquired system state parameters. And set the output power of the industrial power grid to be The output power of the battery system is The formula for calculating the required power of the entire vehicle is shown below.

[0244]

[0245] In the above formula, The required power for the entire machine. For overall vehicle efficiency, This refers to the total operating power of the vehicle.

[0246] In step 543, based on the calculated total power requirement... The operating mode of the charging system is determined by the current state of battery SOC.

[0247] In some embodiments, the determination logic may be as shown in steps 544-557. In some embodiments, SOC min SOC LLC_min SOC ULC_max SOC max The relationship between them is as follows Figure 5E As shown in the image.

[0248] In step 544, it is determined whether the battery SOC is at the lower limit. and upper limit value Between. If the battery SOC is at the lower limit. and upper limit value If the battery SOC is not below the lower limit, proceed to step 545; and upper limit value If the condition is between these steps, then proceed to step 552.

[0249] In step 545, the required power of the entire machine is determined. Is it greater than 0? If so... If the value is greater than 0, meaning the entire machine currently has an energy consumption requirement, then proceed to step 549. If the value is less than or equal to 0, meaning the machine currently has no energy consumption requirement, then proceed to step 546.

[0250] In step 546, it is determined whether the current battery level is less than the upper limit hysteresis value. If the current state of charge (SOC) is less than If the current battery level is greater than or equal to 548, proceed to step 548; Then proceed to step 547.

[0251] In step 547, it is determined that there is no need to charge the battery or provide electrical energy to the whole machine for consumption, and the recovered electrical energy is dissipated by mechanical braking or a resistor grid.

[0252] In step 548, the recovered energy is stored only in the battery system.

[0253] In step 549, the required power of the entire machine is determined. Does it exceed the power limit of the industrial power grid? The total power requirement of the machine. Power exceeding the limit of the industrial power grid If the total power requirement of the machine is... Less than or equal to the power limit of the industrial power grid Then proceed to step 552.

[0254] In steps 550-551, a hybrid drive mode for the industrial power grid and battery system is determined, with the charging module actuator as the main power output, the charging module outputting power at optimal efficiency, and the battery as the auxiliary power output, supplementing the insufficient power of the industrial power grid.

[0255] In step 552, it is determined whether the current SOC is less than the lower hysteresis value SOC. LLC_min If the SOC is less than the lower hysteresis value SOC LLC_min Then proceed to step 553; if SOC is greater than or equal to the lower limit hysteresis value SOC LLC_min Then proceed to step 555.

[0256] In steps 553-554, the system enters the industrial power grid to output power independently and charge the battery system at optimal efficiency.

[0257] Furthermore, when the battery SOC is less than the lower limit... When the battery system's charge is too low, the battery will not operate to ensure the battery system's lifespan.

[0258] ①When the total power requirement of the machine Less than the industrial power grid limit At that time, it enters the industrial power grid's independent drive efficiency optimal mode and charges the battery system;

[0259] ②When the total power requirement of the machine Power exceeding the industrial power grid limit At that time, it enters the optimal efficiency mode for independent driving of the industrial power grid.

[0260] This method ensures the battery system's lifespan while prioritizing normal operation, and then utilizes the surplus power of the charging modules to charge the battery system, thus achieving full utilization of electrical energy.

[0261] In step 555, the required power of the entire machine is determined. Is it less than the power limit of the battery system? The total power requirement of the machine. Less than the power limit of the battery system Then proceed to step 556; if the total power requirement of the machine... Greater than or equal to the power limit of the battery system Then proceed to step 550.

[0262] In steps 556-557, the system enters a pure electric mode where the battery system is driven independently.

[0263] Based on the method in the embodiments shown above, the source of driving power can be flexibly switched according to information such as remaining power, overall machine power requirements, and power limitations of the industrial power grid, thereby improving the flexibility of the excavator's electronic control, enhancing the ability to complete tasks, facilitating timely charging, and improving continuous operation capability.

[0264] Schematic diagrams of some embodiments of the excavator control system 61 disclosed herein are shown below. Figure 6 As shown.

[0265] The electric slewing controller 611 can control the operating state of the slewing motor, which includes an energy recovery state. The slewing motor is connected to a reducer and provides power for the slewing function of the upper body of the electric excavator. In some embodiments, the electric slewing controller 611 can perform the control operations on the slewing system as described in any of the above embodiments.

[0266] The travel controller 612 controls the operating state of the travel motor, which is located on the underbody of the electric excavator and provides power for the excavator's movement and steering. In some embodiments, the travel controller 612 can perform... Figure 3 Operation corresponding to the embodiments. In some embodiments, the walking controller 612 can perform the control operations on the walking system in any of the embodiments described above.

[0267] The electro-hydraulic controller 613 is capable of controlling the operating state of the hydraulic pump motor, which is connected to the hydraulic pump and provides power to the hydraulic pump. In some embodiments, the electro-hydraulic controller 613 can perform the control operations on the hydraulic system as described in any of the embodiments above.

[0268] The energy management controller 614 is capable of managing at least one of the excavator's energy consumption, energy recovery, and charging based on the remaining battery charge. In some embodiments, the energy management controller 614 is capable of performing the functions described above. Figures 5A-5E Control operations in any of the corresponding embodiments.

[0269] This excavator control system can control the excavator's slewing system, travel system, and hydraulic system by controlling the slewing motor, travel motor, and hydraulic pump motor respectively. In addition, it can schedule the battery system and charging system according to the remaining power, realizing the electric control of the entire excavator and improving the excavator's environmental friendliness. By recovering energy from the slewing motor, it can improve the efficiency of energy recovery and increase the excavator's range.

[0270] In some embodiments, such as Figure 6 As shown, the excavator control system also includes a vehicle controller 615, which is electrically connected to the electric swing controller, travel controller, electro-hydraulic controller, energy management controller, as well as the operating mechanisms of the battery system, pressure sensors, and hydraulic system. It can parse operating commands, monitor the vehicle status, and send vehicle control commands.

[0271] Such an excavator control system can monitor the overall status of the vehicle, analyze the operating instructions provided by the operator on the human-machine interface device on the excavator, and generate control instructions that are easy for the equipment to execute based on the control information generated by other parts of the excavator control system, thereby improving the system's human-machine interaction capability and adaptive capability.

[0272] A schematic diagram of an embodiment of the excavator control system disclosed herein is shown below. Figure 7 As shown, the excavator control system includes a memory 701 and a processor 702. The memory 701 can be a disk, flash memory, or any other non-volatile storage medium. The memory stores instructions from the corresponding embodiments of the excavator control method described above. The processor 702 is coupled to the memory 701 and can be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 702 executes the instructions stored in the memory, enabling overall electric control of the excavator, improving its environmental friendliness, increasing energy recovery efficiency, and enhancing its range.

[0273] In one embodiment, it can also be as follows: Figure 8As shown, the excavator control system 800 includes a memory 801 and a processor 802. The processor 802 is coupled to the memory 801 via a BUS bus 803. The excavator control system 800 can also be connected to an external storage device 805 via a storage interface 804 to access external data, and can also be connected to a network or another computer system (not shown) via a network interface 806. Further details are omitted here.

[0274] In this embodiment, by storing data instructions in a memory and then processing the instructions by a processor, the electric control of the entire excavator can be achieved, thereby improving the environmental friendliness of the excavator, increasing energy recovery efficiency, and enhancing the excavator's range.

[0275] In another embodiment, a computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the steps of the method in the corresponding embodiment of the excavator control method. Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, apparatus, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0276] Schematic diagrams of some embodiments of the excavator disclosed herein are as follows: Figure 9 As shown.

[0277] The electric slewing system 921 is capable of performing the slewing operation of the excavator's upper body. In some embodiments, the electric slewing system includes a slewing motor, a safety device, and a slewing operating device.

[0278] The travel system 922 is capable of performing travel and steering operations on the undercarriage of the excavator. In some embodiments, the travel system includes a travel motor and a travel control device.

[0279] The electro-hydraulic system 923 is capable of controlling the operation of the excavator. In some embodiments, the electro-hydraulic system includes a hydraulic pump motor, a hydraulic pump, a hydraulic system actuator, and a hydraulic system operating device.

[0280] Battery system 924 is capable of storing and providing electrical energy. In some embodiments,

[0281] The charging system 925 is capable of performing at least one of the following: replenishing the battery system with electrical energy or providing electrical energy for the operation of the entire device. In some embodiments,

[0282] The excavator control system 91 can be any of the types mentioned above.

[0283] In such excavators, the control system can control the excavator's slewing system, travel system, and hydraulic system by controlling the slewing motor, travel motor, and hydraulic pump motor respectively. In addition, it can schedule the battery system and charging system according to the remaining power, realizing the electric control of the entire excavator and improving the excavator's environmental friendliness. By recovering energy from the slewing motor, the energy recovery efficiency can be improved, thereby increasing the excavator's range.

[0284] Schematic diagrams of other embodiments of the excavator disclosed herein are as follows: Figure 10 As shown.

[0285] The electro-hydraulic system includes a hydraulic pump motor 1032, a hydraulic pump motor controller 1031, a hydraulic pump 1033, a hydraulic system actuator 1034, and a hydraulic system operating device 1011. The hydraulic pump motor 1032 provides power to the hydraulic pump and is connected to the hydraulic pump 1033. The hydraulic pump motor controller 1031 is connected to the hydraulic pump motor 1032 and receives control commands or vehicle status transmitted from the vehicle controller 1021 to control the start or stop of the hydraulic pump motor. The hydraulic pump 1033 provides pressurized fluid for the hydraulic transmission and is a hydraulic component that converts the mechanical energy of the drive motor into the pressure energy of the fluid. The hydraulic system operating mechanism 1034 is an operating mechanism that allows the driver to adjust the flow or pressure of the hydraulic system, realizing the function of hydraulic system load regulation. The hydraulic system operating device 1011 controls the pump motor and the hydraulic system actuator through the vehicle controller.

[0286] The travel system includes travel motors (including a first travel motor 1042 and a second travel motor 1044), travel motor controllers (including a first travel motor controller 1041 and a second travel motor controller 1043), and a travel operating device 1012. The travel motors are installed on the underbody of the electric excavator. In some embodiments, they can be divided into left and right (or front and rear) motors, providing power for the electric excavator to perform functions such as travel and steering. The travel motor controllers are connected to the vehicle controller 1021, receiving control commands or vehicle status transmitted from the vehicle controller, and controlling the start or stop of the travel motors. The travel operating device 1012 is a control mechanism for operators (such as drivers) to control the travel motors. It is divided into first and second (or left and right, or front and rear) travel operating devices, which respectively control the first and second (or left and right, or front and rear) travel motors.

[0287] The electric slewing system includes a slewing motor 1052, a slewing motor controller 1051, a safety device 1053, and a slewing operating device 1013. The slewing motor 1052 is mounted on the upper body of the electric excavator and connected to the reducer, providing power for the slewing function of the upper body. The slewing motor controller 1051 is connected to the vehicle controller 1021, receiving control commands or vehicle status transmitted from the vehicle controller and controlling the start or stop of the slewing motor. The safety device 1053 is used to reduce the motor speed or lock the motor in emergency situations, providing safety protection. The safety device 1053 includes a brake and a solenoid valve. The brake is used to reduce the motor's rotation or lock the motor and is connected to the solenoid valve. The solenoid valve controls whether the brake reduces or locks the motor and is connected to the main controller. The slewing operating device 1013 provides operators with input for operating the slewing system. The slewing operating device includes a slewing handle and a brake switch. The slewing handle is the operating signal input for the electric slewing system, connected to the main controller, and used to control the slewing motion of the electric slewing system. The brake switch is the brake input signal, connected to the main controller, and used to control the activation and deactivation of the brake.

[0288] The vehicle controller 1021 is the control center of the whole machine. It is connected to the motor controller, battery system, pressure sensor and hydraulic system operating mechanism, and plays the role of parsing operation commands, monitoring the vehicle status and sending vehicle control commands.

[0289] The battery system 1061 provides electrical energy to the electric drive system, ensuring the normal operation of the entire electric drive system. The battery system is connected to the hydraulic pump motor, travel motor, slewing motor, and motor controller.

[0290] The charging system primarily serves to replenish the battery system or provide power for the entire machine's operation. It includes the PDU distribution box 1062, high-voltage accessories 1053, junction box 1054, and charging module 1055. The charging system is connected to the battery system.

[0291] This type of excavator achieves electric slewing control, distributed drive control, electro-hydraulic adaptive control, vehicle energy management control, and charging energy management control in pure electric excavators. Through distributed drive and energy recovery management during electric slewing, the electrical energy generated by the motor can be recovered, extending working time. At the same time, through charging energy management control, the pure electric excavator can realize the on-load charging function, which can reduce the on-board battery capacity and reduce the overall vehicle cost.

[0292] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0293] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0294] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0295] This concludes the detailed description of the present disclosure. To avoid obscuring the concept of the disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0296] The methods and apparatus of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0297] It should be noted that the terms "first," "second," etc., used in the specification, claims, and drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0298] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure and not to limit them; although this disclosure has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this disclosure or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of this disclosure, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in this disclosure.

Claims

1. A method for controlling an excavator, comprising: controlling the working states of a swing motor, a traveling motor and a hydraulic pump motor, wherein the working state of the swing motor comprises an energy recovery state, the swing motor is connected with a reducer and provides power for the swing function of the upper body of the electric excavator, the traveling motor is located in the lower body of the electric excavator and provides power for the traveling and steering of the electric excavator, and the hydraulic pump motor is connected with the hydraulic pump and provides power for the hydraulic pump; managing at least one of the energy consumption, energy recovery and charging of the excavator according to the remaining capacity of the battery, comprising: determining the working mode of the charging system according to the demand power and the remaining capacity of the battery, wherein the working mode of the charging system comprises: a pure electric mode, a hybrid drive mode of the industrial power grid and the battery system, an industrial power grid only drive mode, an industrial power grid only drive and battery system charging mode, an energy recovery mode and an energy dissipation mode, and in the case that the remaining capacity is between a predetermined upper limit and a predetermined lower limit, if the demand power is greater than the limit power of the industrial power grid, the working mode is the hybrid drive mode, wherein in the hybrid drive mode, the industrial power grid outputs at the optimal efficiency and the battery system supplements; if the demand power is greater than 0 and less than the limit power of the industrial power grid, and the remaining capacity is less than the lower limit hysteresis value, the working mode is the industrial power grid only drive and battery system charging mode, and the lower limit hysteresis value is less than the safety capacity; if the demand power is greater than 0 and less than the limit power of the industrial power grid, the remaining capacity is greater than the lower limit hysteresis value, and the demand power is less than the limit power of the battery system, the working mode is the pure electric mode, which is a mode driven by the battery system only; if the demand power is greater than 0 and less than the limit power of the industrial power grid, the remaining capacity is greater than the lower limit hysteresis value, and the demand power is greater than the limit power of the battery system, the working mode is the hybrid drive mode; if the demand power is less than or equal to 0, and the remaining capacity is less than the upper limit hysteresis value, the working mode is the energy recovery mode, and the upper limit hysteresis value is less than the predetermined upper limit; if the demand power is less than or equal to 0, and the remaining capacity is greater than or equal to the upper limit hysteresis value, the working mode is the energy dissipation mode.

2. The method of claim 1, wherein, controlling the working state of the swing motor comprises: controlling the speed value of the swing motor based on a fuzzy control method in the case that the swing mechanism is in a horizontal plane; controlling the speed value of the swing motor according to the state of the swing mechanism in the case that the swing mechanism is in an inclined plane, wherein the speed value comprises the speed size and the speed direction.

3. The method of claim 1, wherein, controlling the working state of the traveling motor comprises: determining the speed value of the traveling motor according to the opening value of the traveling operating device, wherein the traveling motor directly drives the traveling of the excavator; sending a control instruction to the traveling motor according to the speed value.

4. The method of claim 3, wherein, controlling the working state of the traveling motor further comprises: sending a constant speed instruction to the traveling motor according to the rate of change of the opening value of the traveling operating device.

5. The method of claim 1, wherein, The working state of the hydraulic pump motor includes: determining the hydraulic load, determining the target speed of the hydraulic pump motor according to the corresponding relationship between the hydraulic load and the speed of the hydraulic pump motor; controlling the hydraulic pump motor to approach the target speed of the hydraulic pump motor according to the target speed of the hydraulic pump motor.

6. The method of claim 1, wherein, At least one of the energy consumption, energy recovery and charging of the excavator is further managed according to the remaining capacity of the battery, and at least one of the following is included: According to the remaining capacity of the battery, at least one of the functions that can be turned on or the functions that are prohibited to be enabled is determined, and the functions include a cab thermal management function, a hydraulic system thermal management function, a walking function, an electric drive function and an electric slewing function; According to the remaining capacity of the battery, at least one of the slewing system or the walking system is controlled to be turned on or off for energy recovery.

7. The method of claim 2, wherein, The working state of the slewing motor controlled by the excavator controller includes at least one of the following: In the case that the slewing mechanism is in a horizontal plane, if the slewing speed of the slewing mechanism is greater than a first safety threshold or the opening of the slewing handle is reduced, a regenerative braking instruction is sent to the slewing motor so that the slewing motor switches to an energy recovery state; In the case that the slewing mechanism is in an inclined plane, if the direction of the speed fed back by the slewing motor is the same as the direction of the opening of the slewing handle, the slewing motor is in an energy recovery state, Wherein, in the energy recovery state, the slewing motor generates electric energy and stores it to the battery system.

8. The method of claim 7, wherein, The fuzzy control method for controlling the speed value of the slewing motor further includes: determining the opening value of the slewing handle and the change rate of the opening value in real time; determining the target speed value of the slewing motor based on the relationship between the fuzzy subset of the opening value determined by the fuzzy control method, the fuzzy subset of the change rate of the opening value and the speed of the slewing motor; controlling the slewing motor to rotate at the target speed value.

9. The method of claim 8, wherein, in the case that the slewing handle is in the neutral position, the opening value is a first value, and the electric slewing system is stationary; in the case that the slewing handle moves from the neutral position to a predetermined specified direction, the electric slewing system performs a clockwise slewing operation, and the opening value is a second value; in the case that the slewing handle moves from the neutral position to the opposite direction of the predetermined specified direction, the electric slewing system performs a counterclockwise slewing operation, and the opening value is a third value; in the case that the opening of the slewing handle does not change, the change rate of the opening value is a fourth value; in the case that the opening of the slewing handle changes at the maximum speed, the change rate of the opening value is a fifth value.

10. The method of claim 8 or 9, wherein, The fuzzy control method for controlling the speed value of the slewing motor further includes: determining the corresponding slewing speed of the slewing mechanism according to the actual motor speed of the slewing motor; if the slewing speed of the slewing mechanism is greater than a second safety threshold, the time length after the regenerative braking instruction is issued exceeds a predetermined time threshold, and the speed of the slewing motor does not change or increases, a safety device is started to reduce the slewing speed; If the brake switch in the slewing operating device is opened, the safety device is controlled to tighten the slewing motor and send a speed return-to-zero instruction to the slewing motor. If the brake switch in the slewing operating device is closed, the safety device is controlled to release the slewing motor.

11. The method of claim 7, wherein, The control of the slewing motor speed value according to the state of the slewing mechanism on the inclined surface comprises: If the slewing mechanism is in a static state on the inclined surface, The motor speed fed back by the slewing motor is received, and it is determined whether there is input in the slewing operating device; If there is no input in the slewing operating device, a speed value opposite to the direction of the fed-back motor speed is sent to the slewing motor; If there is input in the slewing operating device, slewing control is performed according to the input signal of the slewing operating device.

12. The method of claim 11, wherein, The control of the slewing motor speed value according to the state of the slewing mechanism on the inclined surface further comprises: If the slewing mechanism remains in a static state on the inclined surface, and after the speed value opposite to the direction of the fed-back motor speed is sent to the slewing motor, the duration of no input in the slewing operating device exceeds a third safety threshold, the safety device is controlled to tighten the slewing motor and send a speed return-to-zero instruction to the slewing motor; If the brake switch in the slewing operating device is opened, the safety device is controlled to tighten the slewing motor and send a speed return-to-zero instruction to the slewing motor. If the brake switch in the slewing operating device is closed, the safety device is controlled to release the slewing motor. The control of the slewing motor speed value according to the state of the slewing mechanism on the inclined surface further comprises:

13. The method of claim 11, wherein, If the slewing mechanism is in a descending slewing state or an ascending slewing state on the inclined surface, The opening value of the slewing handle and the change rate of the opening value are determined in real time; Based on the relationship between the fuzzy subsets of the opening value, the fuzzy subsets of the change rate of the opening value and the speed of the slewing motor determined by the fuzzy control method, the target speed value of the slewing motor is determined, wherein if the slewing mechanism is in a descending slewing state, the direction of the target speed value is the same as the direction of the opening of the slewing handle, and if the slewing mechanism is in an ascending slewing state, the direction of the target speed value is opposite to the direction of the opening of the slewing handle; The slewing motor is controlled to rotate at the target speed value. The control of the slewing motor speed value according to the state of the slewing mechanism on the inclined surface further comprises:

14. The method of claim 13, wherein, The slewing speed of the slewing mechanism is determined according to the actual motor speed of the slewing motor; If the slewing speed of the slewing mechanism is greater than a fourth safety threshold, the time length after the regenerative braking instruction is issued exceeds a predetermined time threshold, and the speed of the slewing motor is unchanged or increases, the safety device is started to reduce the slewing speed; If the brake switch in the slewing operating device is opened, the safety device is controlled to tighten the slewing motor and send a speed return-to-zero instruction to the slewing motor. ​ 15. The method of claim 7, wherein, The control of the rotating speed value of the rotating motor according to the state of the rotating mechanism in the inclined plane when the rotating mechanism is in the inclined plane further comprises at least one of the following: In the case that the rotating speed direction fed back by the rotating motor is opposite to the opening direction of the rotating handle, it is determined that the rotating mechanism is switched from the static state to the rising rotating state; In the case that the rotating speed direction fed back by the rotating motor is the same as the opening direction of the rotating handle, it is determined that the rotating mechanism is switched from the static state to the falling rotating state; In the case that the rotating speed of the rotating mechanism is greater than the set rising rotating speed threshold, the opening of the rotating handle is greater than the set handle opening threshold, and the rotating speed direction fed back by the rotating motor is the same as the opening direction of the rotating handle, it is determined that the rotating mechanism is switched from the rising rotating state to the falling rotating state; In the case that the rotating speed of the rotating mechanism is less than the set falling rotating speed threshold, the opening of the rotating handle is greater than the set handle opening threshold, and the rotating speed direction fed back by the rotating motor is opposite to the opening direction of the rotating handle, it is determined that the rotating mechanism is switched from the falling rotating state to the rising rotating state.

16. The method of claim 3 or 4, wherein, The determination of the rotating speed value of the walking motor according to the opening value of the walking operation device comprises: The determination of the rotating speed direction according to the combination of the opening value of the first walking operation device and the opening value of the second walking operation device, the rotating speed direction comprising static, forward, backward, forward direction left turn, forward direction right turn, backward direction left turn and backward direction right turn; The determination of the rotating speed value of the first walking motor according to the opening value of the first walking operation device and the determination of the rotating speed value of the second walking motor according to the opening value of the second walking operation device, wherein the rotating speed value comprises rotating speed size and rotating speed direction.

17. The method of claim 4, wherein, The control of the working state of the walking motor further comprises: In the case that the change rate of the opening value of the walking operation device is 0, If the excavator is in the forward state, a constant rotating speed instruction of the first direction is sent to the walking motor; If the excavator is in the backward state, a constant rotating speed instruction of the second direction is sent to the walking motor.

18. The method of claim 5, wherein, The determination of the hydraulic load, the determination of the target rotating speed of the hydraulic pump motor according to the corresponding relationship between the hydraulic load and the rotating speed of the hydraulic pump motor comprises: The determination of the hydraulic load according to the pressure value output by the pressure sensor, wherein the pressure sensor is installed at the output end of the hydraulic pump; The determination of the corresponding ideal rotating speed according to the pressure interval in which the hydraulic load is located, wherein the ideal rotating speed is determined by clustering operation in the pressure interval corresponding to the pressure interval according to the corresponding relationship between the pressure interval and the rotating speed interval; The determination of the target rotating speed of the hydraulic pump motor according to the ideal rotating speed and the rotating speed error.

19. The method of claim 18, wherein, The control of the hydraulic pump motor to approach the target rotating speed of the hydraulic pump motor according to the target rotating speed of the hydraulic pump motor comprises: The sending of the control signal to the hydraulic pump motor according to the target rotating speed of the hydraulic pump motor; The determination of the rotating speed gain of the hydraulic pump motor according to the rotating speed deviation between the ideal rotating speed and the actual rotating speed of the hydraulic pump motor and the hydraulic load based on the fuzzy control method; The control signal sent to the hydraulic pump motor is adjusted in real time according to the rotation speed gain, so as to control the hydraulic pump motor to approach the target rotation speed of the hydraulic pump motor.

20. The method of claim 18, wherein, The determining the target rotation speed of the hydraulic pump motor according to the hydraulic load and the corresponding relationship between the hydraulic load and the rotation speed of the hydraulic pump motor further comprises: In the case that the change value of the hydraulic load within a predetermined time length is less than a predetermined idle pressure threshold value and no operation instruction is received, the target rotation speed of the hydraulic pump motor is determined as a predetermined idle rotation speed; In the case that at least one of the following conditions is met, the operation of determining the corresponding ideal rotation speed according to the pressure interval in which the hydraulic load is located is performed:

21. The method of claim 6, wherein, The energy consumption of the excavator is managed according to the remaining capacity of the battery, comprising: In the case that the remaining capacity of the battery is greater than or equal to a first capacity threshold value, the functions allowed to be started include the cab thermal management function, the hydraulic system thermal management function, the travel function, the electric drive function and the electric swing function; In the case that the remaining capacity of the battery is greater than or equal to a second capacity threshold value and less than the first capacity threshold value, the functions allowed to be started include the hydraulic system thermal management function, the travel function, the electric drive function and the electric swing function, and the functions prohibited to be started include the cab thermal management function; In the case that the remaining capacity of the battery is less than the second capacity threshold value, the functions allowed to be started include the travel function and the functions of the electric swing function except for adjusting the cab to the forward direction, and the functions prohibited to be started include the function of adjusting the cab to the forward direction in the electric swing function, the cab thermal management function, the hydraulic system thermal management function and the electric drive function.

22. The method of claim 21, wherein, The energy recovery of the excavator is managed according to the remaining capacity of the battery, comprising: In the case that the rotation speed control instruction of the swing motor is a predetermined first value, the absolute value of the rotation speed value fed back by the swing motor is greater than a predetermined first energy recovery threshold value, and the remaining capacity of the battery is less than a third capacity threshold value, the electric swing system is controlled to perform energy recovery; In the case that the rotation speed control instruction of the travel motor is a predetermined second value, the absolute value of the rotation speed value fed back by the travel motor is greater than a predetermined second energy recovery threshold value, and the remaining capacity of the battery is less than a fourth capacity threshold value, the travel system is controlled to perform energy recovery.

23. The method of claim 6, wherein, The charging of the excavator is managed according to the remaining capacity of the battery, comprising: If the demand power is less than the limit power of the industrial power grid, the working mode is determined as the industrial power grid alone driving and charging the battery system mode; If the demand power is greater than the limit power of the industrial power grid, the working mode is determined as the industrial power grid alone driving mode.

24. An excavator control system, comprising: an electric swing controller configured to control the working state of a swing motor, wherein the working state of the swing motor includes an energy recovery state, the swing motor being connected with a speed reducer and providing power for the swing function of the superstructure of the electric excavator; a traveling controller configured to control an operating state of a traveling motor, wherein the traveling motor is located at a lower vehicle body of the electric excavator and provides power for traveling and steering of the electric excavator; an electric drive hydraulic controller configured to control an operating state of a hydraulic pump motor, wherein the hydraulic pump motor is connected to the hydraulic pump and provides power for the hydraulic pump; and an energy management controller configured to manage at least one of energy consumption, energy recovery, and charging of the excavator according to a remaining amount of the battery, comprising: determining an operating mode of a charging system according to a demand power and the remaining amount of the battery, wherein the operating mode of the charging system comprises: a pure electric mode, a hybrid drive mode of an industrial power grid and the battery system, an industrial power grid only drive mode, an industrial power grid only drive and charging the battery system mode, an energy recovery mode, and an energy dissipation mode, wherein in a case that the remaining amount is between a predetermined upper limit amount and a predetermined lower limit amount, if the demand power is greater than a limit power of the industrial power grid, the operating mode is the hybrid drive mode, wherein in the hybrid drive mode, the industrial power grid outputs at an optimal efficiency and the battery system supplements; if the demand power is greater than 0 and less than the limit power of the industrial power grid, and the remaining amount is less than a lower limit hysteresis value, the operating mode is the industrial power grid only drive and charging the battery system mode, wherein the lower limit hysteresis value is less than a safety amount; if the demand power is greater than 0 and less than the limit power of the industrial power grid, the remaining amount is greater than the lower limit hysteresis value, and the demand power is less than a limit power of the battery system, the operating mode is the pure electric mode, wherein the pure electric mode is a mode of driving only by the battery system; if the demand power is greater than 0 and less than the limit power of the industrial power grid, the remaining amount is greater than the lower limit hysteresis value, and the demand power is greater than the limit power of the battery system, the operating mode is the hybrid drive mode, wherein the upper limit hysteresis value is less than the predetermined upper limit amount; if the demand power is less than or equal to 0, and the remaining amount is less than an upper limit hysteresis value, the operating mode is the energy recovery mode, wherein the upper limit hysteresis value is less than the predetermined upper limit amount; if the demand power is less than or equal to 0, and the remaining amount is greater than or equal to the upper limit hysteresis value, the operating mode is the energy dissipation mode.

25. The system of claim 24, further comprising: a vehicle controller electrically connected to the electric swing controller, the traveling controller, the electric drive hydraulic controller, the energy management controller, and the operating mechanism of the battery system, the pressure sensor, and the hydraulic system, and configured to analyze an operation instruction, monitor a vehicle state, and send a vehicle control instruction.

26. An excavator control system, comprising: a memory; and a processor coupled to the memory, the processor configured to perform the method of any one of claims 1 to 23 based on instructions stored in the memory.

27. A computer readable storage medium having computer program instructions stored thereon, the instructions, when executed by a processor, implement the steps of the method of any one of claims 1 to 23.

28. An excavator, comprising: ​ An electric slewing system configured to perform a slewing operation of a superstructure of the excavator; A traveling system configured to perform a traveling and steering operation of an understructure of the excavator; An electrically-driven hydraulic system configured to control a work operation of the excavator; A battery system configured to store and supply electric energy; A charging system configured to perform at least one of supplementing electric energy for the battery system or supplying electric energy for the entire machine operation; and The excavator control system of any one of claims 24 to 26.

29. The excavator of claim 28, wherein, The excavator satisfies at least one of: The electric slewing system includes a slewing motor, a safety device, and a slewing operation device; The traveling system includes a traveling motor and a traveling operation device; The electrically-driven hydraulic system includes a hydraulic pump motor, a hydraulic pump, a hydraulic system actuator, and a hydraulic system operation device.

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