A hydraulic control method, device, equipment and medium for excavator slewing

Abstract

The application discloses a kind of excavator rotation hydraulic control method, device, equipment and medium, wherein method is applied to excavator rotation hydraulic system, excavator rotation hydraulic system includes the rotational speed sensor being set on rotation hydraulic motor;Method includes: based on the rotation pilot pressure obtained, determine the demand rotation speed of target rotation action;Based on demand rotation speed and actual rotation speed, output first demand acceleration;Actual rotation speed is differentiated, to obtain the actual rotation acceleration corresponding to target rotation action;Based on the size of actual rotation acceleration, first demand acceleration is corrected, to obtain second demand acceleration;Based on second demand acceleration, determine the hydraulic pump flow corresponding to target rotation action.The rotational speed sensor is installed on rotation motor, and the speed and conversion acceleration of rotation are detected, which is used for the control of hydraulic system, to achieve the purpose of energy saving.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of control systems, in particular to a hydraulic control method, device, equipment and medium for excavator slewing. BACKGROUND

[0002] When the hydraulic excavator is slewing, the slewing motor is accelerating, and the system pressure is easily reaching the overflow pressure of the slewing motor due to the influence of the inertia of the whole vehicle. When the flow supplied by the hydraulic pump to the slewing motor is more than the flow required by the motor speed, a large part of the flow will overflow to the tank through the overflow valve, causing energy waste. The excess hydraulic oil will cause the system to be blocked and overflow through the slewing overflow valve.

[0003] A common method in the prior art to avoid energy waste caused by slewing overflow is to increase the electric control pressure cut-off function. When the pressure of the hydraulic pump exceeds the rated pressure of the overflow valve, the electric control pressure cut-off function works to reduce the displacement of the hydraulic pump, thereby reducing the overflow flow. The disadvantage of the electric control pressure cut-off scheme is that the function only works when the pressure of the pump reaches the overflow pressure, and the ability to reduce the overflow is limited, otherwise the closed-loop control is easy to cause the system pressure to oscillate.

[0004] Another scheme is to integrate an acceleration sensor in the controller or install it on the vehicle body, and to accurately control the oil supply of the hydraulic pump by monitoring the acceleration of the vehicle body slewing. When the slewing acceleration is too large, the flow of the hydraulic pump is actively reduced to avoid the overflow flow in advance. The scheme of integrating or adding a vehicle body acceleration sensor has the disadvantage of significantly increasing the cost of the system. SUMMARY

[0005] To solve the above problems, the present application provides a hydraulic control method, device, equipment and medium for excavator slewing, wherein the method is applied to an excavator slewing hydraulic system, the excavator slewing hydraulic system comprising a rotation speed sensor arranged on a slewing hydraulic motor; the method comprising: determining a required slewing speed of a target slewing action based on the obtained slewing pilot pressure; outputting a first required acceleration based on the required slewing speed and an actual slewing speed; differentiating the actual slewing speed to obtain an actual slewing acceleration corresponding to the target slewing action; correcting the first required acceleration based on the size of the actual slewing acceleration to obtain a second required acceleration; and determining a hydraulic pump flow corresponding to the target slewing action based on the second required acceleration.

[0006] In one example, the modifying the first demand acceleration based on the magnitude of the actual slewing acceleration specifically comprises: obtaining a moment of inertia corresponding to slewing of a whole vehicle body of a target excavator, a slewing system pressure, a slewing motor displacement, a mechanical efficiency of the slewing motor, and a reduction ratio of a reduction gearbox behind the slewing motor; determining an acceleration limit threshold of the target excavator based on the moment of inertia, the slewing system pressure, the slewing motor displacement, the mechanical efficiency, and the reduction ratio; and limiting the demand acceleration to be lower than the acceleration limit threshold if the actual slewing acceleration is higher than the acceleration limit threshold.

[0007] In one example, the determining the acceleration limit threshold of the target excavator based on the moment of inertia, the slewing system pressure, the slewing motor displacement, the mechanical efficiency, and the reduction ratio specifically comprises: determining the acceleration limit threshold by the following formula: ; wherein, is the acceleration limit threshold, is the slewing system pressure, is the slewing motor displacement, is the mechanical efficiency, is the moment of inertia, is the reduction ratio.

[0008] In one example, the determining the hydraulic pump flow corresponding to the target slewing action based on the second demand acceleration specifically comprises: determining a hydraulic pump flow rate corresponding to the target slewing action based on the second demand acceleration; and determining the hydraulic pump flow corresponding to the target slewing action based on the hydraulic pump flow rate.

[0009] In one example, after the determining the hydraulic pump flow corresponding to the target slewing action based on the second demand acceleration, the method further comprises: determining a mixed pilot pressure, the mixed pilot pressure being a plurality of pilot pressures including the slewing pilot pressure; determining a priority demand value of each action based on the mixed pilot pressure; and determining a priority valve opening degree based on the priority demand value to control an amount of hydraulic oil flowing to the slewing motor.

[0010] In one example, the determining the priority valve opening degree based on the priority demand value to control the amount of hydraulic oil flowing to the slewing motor specifically comprises: determining a slewing speed threshold based on the priority demand value and setting an initial priority valve opening degree; obtaining a real-time slewing speed of the slewing motor; and modifying the initial priority valve opening degree based on the real-time slewing speed and the slewing speed threshold to obtain the priority valve opening degree.

[0011] In one example, the correcting the initial priority valve opening degree based on the real-time slewing speed and the slewing speed threshold to obtain the priority valve opening degree specifically comprises: if the real-time slewing speed is lower than the slewing speed threshold, decreasing the priority valve opening degree; and if the real-time slewing speed is higher than the slewing speed threshold, increasing the priority valve opening degree.

[0012] The application further provides a hydraulic control device for slewing of an excavator, comprising: a pilot pressure module configured to determine a required slewing speed of a target slewing action based on an obtained slewing pilot pressure; a required acceleration module configured to output a first required acceleration based on the required slewing speed and an actual slewing speed; an actual slewing acceleration module configured to differentiate the actual slewing speed to obtain an actual slewing acceleration corresponding to the target slewing action; and a correction module configured to correct the first required acceleration based on a magnitude of the actual slewing acceleration to obtain a second required acceleration; and a hydraulic pump flow configured to determine a hydraulic pump flow corresponding to the target slewing action based on the second required acceleration.

[0013] The application further provides a hydraulic control device for slewing of an excavator, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to: determine a required slewing speed of a target slewing action based on an obtained slewing pilot pressure; output a first required acceleration based on the required slewing speed and an actual slewing speed; differentiate the actual slewing speed to obtain an actual slewing acceleration corresponding to the target slewing action; correct the first required acceleration based on a magnitude of the actual slewing acceleration to obtain a second required acceleration; and determine a hydraulic pump flow corresponding to the target slewing action based on the second required acceleration.

[0014] The application further provides a non-volatile computer storage medium storing computer executable instructions, wherein the computer executable instructions are configured to: determine a required slewing speed of a target slewing action based on an obtained slewing pilot pressure; output a first required acceleration based on the required slewing speed and an actual slewing speed; differentiate the actual slewing speed to obtain an actual slewing acceleration corresponding to the target slewing action; correct the first required acceleration based on a magnitude of the actual slewing acceleration to obtain a second required acceleration; and determine a hydraulic pump flow corresponding to the target slewing action based on the second required acceleration.

[0015] The method provided by the application can bring the following beneficial effects: by installing a rotating speed sensor on the rotary motor and detecting the rotating speed and converted acceleration, the method is used for controlling the hydraulic system, and the energy saving purpose is achieved. When only a single rotating action is included, based on the rotating acceleration, the minimum hydraulic pump flow can be determined, so as to avoid the energy waste caused by overflow. BRIEF DESCRIPTION OF DRAWINGS

[0016] The drawings described herein are used to provide further understanding of the application, and form a part of the application. The illustrative embodiments of the application and their descriptions are used to explain the application, and do not constitute improper limitations on the application. In the drawings:

[0017] Figure 1 Fig. 1 is a schematic diagram of the principle of a hydraulic control system for excavator rotation in an embodiment of the application;

[0018] Figure 2 Fig. 2 is a flowchart of a hydraulic control method for excavator rotation in an embodiment of the application;

[0019] Figure 3 Fig. 3 is a module diagram of a hydraulic control device for excavator rotation in an embodiment of the application;

[0020] Figure 4 Fig. 4 is a structural diagram of a hydraulic control device for excavator rotation in an embodiment of the application.

[0021] In the drawings, 1 is a motor rotating speed sensor, 2 is a hydraulic pump electromagnetic valve, 3 is a boom-to-rotation priority electromagnetic valve, 4 is a boom cylinder, 5 is a boom valve core, 6 is a rotation valve core, and 7 is a controller. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the application more clear, the technical scheme of the application will be described clearly and completely in combination with the specific embodiments of the application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0023] The technical scheme provided by each embodiment of the application will be described in detail below in combination with the drawings.

[0024] Figure 1It is a schematic diagram of the principle of a hydraulic control system for the slewing of an excavator, including a controller, a motor speed sensor, a hydraulic pump solenoid valve, a boom-priority solenoid valve for slewing, and a boom cylinder. The motor speed sensor is used to obtain the slewing motor speed. The application adds a speed sensor to the slewing hydraulic motor, and introduces the signal into the hydraulic controller. When there is a slewing action requirement, the hydraulic controller detects the slewing motor speed in real time, calculates the required hydraulic oil flow for slewing through internal logic, and accurately controls the required hydraulic oil flow.

[0025] Figure 2 It is a flowchart of a hydraulic control method for the slewing of an excavator provided by one or more embodiments of the present specification. Some input parameters or intermediate results in the flow allow manual intervention for adjustment to help improve accuracy.

[0026] The implementation of the analysis method related to the embodiments of the present application can be a terminal device or a server, and the present application does not make special limitations thereon. For the convenience of understanding and description, the following embodiments are described in detail with the server as an example.

[0027] It should be noted that the server can be a single device, or a system composed of multiple devices, i.e., a distributed server, and the present application does not make specific limitations thereon.

[0028] As shown in Figure 2 The present application provides a hydraulic control method for the slewing of an excavator, which includes:

[0029] S201: determining the required slewing speed of the target slewing action based on the obtained slewing pilot pressure.

[0030] First, the software detects the pilot operation signal from the driver. When there is only a slewing pilot pressure, it is determined as a slewing single-action working condition. The controller determines the slewing speed requirement corresponding to the target slewing action based on the obtained slewing pilot pressure of the driver and the corresponding curve based on the pilot pressure.

[0031] S202: outputting a first required acceleration based on the required slewing speed and the actual slewing speed.

[0032] After obtaining the required slewing speed, the actual slewing speed can be determined by the motor speed sensor, and then the first required acceleration is outputted based on the required slewing speed and the actual slewing speed. It should be noted that the first required acceleration here refers to the acceleration required to adjust the motor speed from the actual slewing speed to the required slewing speed. Generally, the greater the difference between the required slewing speed and the actual slewing speed, the greater the first required acceleration.

[0033] S203: Differentiate the actual rotation speed to obtain an actual rotation acceleration corresponding to the target rotation action.

[0034] By differentiating the actual rotation speed, an actual rotation acceleration corresponding to the target rotation action of the rotation motor can be obtained. It should be noted that the actual rotation acceleration is different from the first demand acceleration, but the actual rotation acceleration is adjusted based on the first demand acceleration to gradually fit the first demand acceleration.

[0035] S204: Based on the size of the actual rotation acceleration, the first demand acceleration is corrected to obtain a second demand acceleration.

[0036] Since the overflow flow needs to be reduced and the rotation output torque as large as possible needs to be maintained, the pressure of the system needs to be calculated to maintain the rated overflow pressure value, so the system has a maximum acceleration that can be supported. After determining the size of the actual rotation acceleration, the first demand acceleration can be corrected based on the size of the actual rotation acceleration, that is, the second demand acceleration.

[0037] In one embodiment, when the first demand acceleration is corrected, the rotational inertia corresponding to the rotation of the whole vehicle body of the target excavator, the rotation system pressure, the rotation motor displacement, the mechanical efficiency of the rotation motor, the reduction ratio of the reduction gearbox behind the rotation motor, and the like are first obtained, and then the acceleration limit threshold of the target excavator is determined based on the rotational inertia, the rotation system pressure, the rotation motor displacement, the mechanical efficiency, and the reduction ratio. If the actual rotation acceleration is higher than the acceleration limit threshold, the demand acceleration is limited so that the demand acceleration is lower than the acceleration limit threshold.

[0038] Further, when the acceleration limit threshold is determined, the acceleration limit threshold is determined by the following formula:

[0039]

[0040] wherein, the acceleration limit threshold is the rotation system pressure is the rotation motor displacement is the mechanical efficiency is the rotational inertia is the reduction ratio is.

[0041] Since the overflow flow needs to be reduced and the rotation output torque as large as possible needs to be maintained, and the rotation pressure cannot be higher than the overflow pressure value, a maximum acceleration that can be supported can be obtained.

[0042] S205: Based on the second demand acceleration, a hydraulic pump flow corresponding to the target rotation action is determined.

[0043] After the second demand acceleration is determined, the hydraulic pump flow can be determined based on the second demand acceleration, and then the rotation hydraulic control of the target excavator is realized.

[0044] In an embodiment, when the hydraulic pump flow corresponding to the target rotation action is determined based on the second demand acceleration, first, the hydraulic pump flow rate corresponding to the target rotation action is determined based on the second demand acceleration, and then the hydraulic pump flow corresponding to the target rotation action is determined based on the hydraulic pump flow rate. It should be noted that when the flow rate is determined based on the acceleration, it is obtained by the flow rate being equal to the product of the rotation speed and the displacement.

[0045] The above part is only for the case of rotation action. When in addition to the rotation pilot pressure, the pilot pressure of other actions such as the arm lifting pressure is detected, in addition to the control of the hydraulic pump flow according to the flow demand and the load condition of each action, the mixed pilot pressure obtained is also needed to be determined, and the mixed pilot pressure here refers to multiple pilot pressures including the rotation pilot pressure, and then the priority demand value of each action is determined based on the mixed pilot pressure. Based on the priority demand value, the priority valve opening degree is determined to control the amount of hydraulic oil flowing to the rotation motor.

[0046] In an embodiment, due to the influence of the actual load difference of each action, the relative speed of each action will change with the change of the actual load when the priority valve opening degree is fixed. Therefore, when controlling the amount of hydraulic oil, the rotation speed threshold is determined based on the priority demand value, and the initial priority valve opening degree is set; then the real-time rotation speed of the rotation motor is obtained, and the initial priority valve opening degree is corrected based on the real-time rotation speed and the rotation speed threshold to obtain the priority valve opening degree.

[0047] In an embodiment, when the initial priority valve opening degree is corrected, when the actual rotation speed is lower than the defined rotation speed, the opening degree of the priority valve is reduced to allow more hydraulic oil to flow to the rotation motor; when the actual rotation speed is higher than the defined rotation speed, the opening degree of the priority valve is increased to reduce the hydraulic oil flowing to the rotation motor.

[0048] As shown in FIG. 1, the embodiment of the present application also provides a rotation hydraulic control device of an excavator, which comprises: Figure 3 The pilot pressure module 301 determines the demand rotation speed of the target rotation action based on the obtained rotation pilot pressure;

[0049] The demand acceleration module 302 outputs the first demand acceleration based on the demand rotation speed and the actual rotation speed;

[0050]

[0051] ​An actual rotation acceleration module 303 differentiates the actual rotation speed to obtain an actual rotation acceleration corresponding to the target rotation action;

[0052] A correction module 304 corrects the first demand acceleration based on a size of the actual rotation acceleration to obtain a second demand acceleration;

[0053] A hydraulic pump flow module 305 determines a hydraulic pump flow corresponding to the target rotation action based on the second demand acceleration.

[0054] As shown in Figure 4 The embodiment of the present application further provides a hydraulic control device for a rotary action of an excavator, which comprises:

[0055] at least one processor; and a memory connected with the at least one processor; wherein

[0056] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:

[0057] determine a demand rotation speed of a target rotation action based on the obtained rotation pilot pressure; output a first demand acceleration based on the demand rotation speed and an actual rotation speed; differentiate the actual rotation speed to obtain an actual rotation acceleration corresponding to the target rotation action; correct the first demand acceleration based on a size of the actual rotation acceleration to obtain a second demand acceleration; and determine a hydraulic pump flow corresponding to the target rotation action based on the second demand acceleration.

[0058] The embodiment of the present application further provides a nonvolatile computer storage medium, which stores computer executable instructions, and the computer executable instructions are set to:

[0059] determine a demand rotation speed of a target rotation action based on the obtained rotation pilot pressure; output a first demand acceleration based on the demand rotation speed and an actual rotation speed; differentiate the actual rotation speed to obtain an actual rotation acceleration corresponding to the target rotation action; correct the first demand acceleration based on a size of the actual rotation acceleration to obtain a second demand acceleration; and determine a hydraulic pump flow corresponding to the target rotation action based on the second demand acceleration.

[0060] The various embodiments in the present application are described in a progressive manner, and the same or similar parts among the various embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, the device and medium embodiments are described simply because they are substantially similar to the method embodiments, and the relevant parts can be referred to the description of the method embodiments.

[0061] The device and medium provided by the embodiments of the present application are one-to-one corresponding to the method, and therefore, the device and medium also have the similar beneficial technical effects as the method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the device and medium will not be described here.

[0062] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. In addition, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage media, etc.) containing computer-usable program code.

[0063] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts 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, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce a device implemented in the flowcharts and / or block diagrams. Figure 1 The function specified in one flow or multiple flows and / or blocks. Figure 1 The device that implements the function specified in one block or multiple blocks.

[0064] These computer program instructions can also be stored in a computer-readable memory that can guide the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction devices that implement the flowcharts and / or block diagrams. Figure 1 The function specified in one flow or multiple flows and / or blocks. Figure 1 The device that implements the function specified in one block or multiple blocks.

[0065] These computer program instructions can also be loaded into a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 Figure 1

[0066] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0067] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, non-volatile memory, such as read-only memory (ROM), EPROM, and / or flash memory, etc. The memory is an example of computer readable media.

[0068] Computer readable media includes permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology for storing information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carriers.

[0069] It should also be noted that the terms "comprising", "containing", or any other variant thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0070] ​​The above merely provides an example of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application should be included in the scope of claims of the present application.

Claims

1. A hydraulic control method for a swing of a shovel, characterized by, The method is applied to a hydraulic system of a revolving excavator, the hydraulic system of the revolving excavator comprising a rotating speed sensor arranged on a revolving hydraulic motor; the method comprising: determining a required revolving speed of a target revolving action based on the obtained revolving pilot pressure; outputting a first required acceleration based on the required revolving speed and an actual revolving speed; determining an actual revolving acceleration corresponding to the target revolving action by differentiating the actual revolving speed; correcting the first required acceleration based on the magnitude of the actual revolving acceleration to obtain a second required acceleration; determining a hydraulic pump flow corresponding to the target revolving action based on the second required acceleration; the correcting the first required acceleration based on the magnitude of the actual revolving acceleration specifically comprises: obtaining a moment of inertia corresponding to a whole vehicle body revolving of a target excavator, a revolving system pressure, a revolving motor displacement, a mechanical efficiency of the revolving motor, a reduction ratio of a reduction gear behind the revolving motor; determining an acceleration limit threshold of the target excavator based on the moment of inertia, the revolving system pressure, the revolving motor displacement, the mechanical efficiency, and the reduction ratio; if the actual revolving acceleration is higher than the acceleration limit threshold, limiting the required acceleration so as to make the required acceleration lower than the acceleration limit threshold; the determining the acceleration limit threshold of the target excavator based on the moment of inertia, the revolving system pressure, the revolving motor displacement, the mechanical efficiency, and the reduction ratio specifically comprises: determining the acceleration limit threshold by the following formula: wherein is an acceleration limit threshold, is a swing system pressure, is a swing motor displacement, is a mechanical efficiency, is a moment of inertia, is a reduction ratio.

2. The method of claim 1, wherein, the determining the hydraulic pump flow corresponding to the target revolving action based on the second required acceleration specifically comprises: determining a hydraulic pump flow rate corresponding to the target revolving action based on the second required acceleration; determining the hydraulic pump flow corresponding to the target revolving action based on the hydraulic pump flow rate.

3. The method of claim 1, wherein, after the determining the hydraulic pump flow corresponding to the target revolving action based on the second required acceleration, the method further comprises: determining an obtained mixed pilot pressure, the mixed pilot pressure being a plurality of pilot pressures including the revolving pilot pressure; determining a priority required value of each action based on the mixed pilot pressure; determining a priority valve opening degree based on the priority required value to control an amount of hydraulic oil flowing to the revolving motor.

4. The method of claim 3, wherein, the determining the priority valve opening degree based on the priority required value to control the amount of hydraulic oil flowing to the revolving motor specifically comprises: determining a revolving speed threshold based on the priority required value and setting an initial priority valve opening degree; obtaining a real-time revolving speed of the revolving motor; correcting the initial priority valve opening degree based on the real-time revolving speed and the revolving speed threshold to obtain the priority valve opening degree.

5. The method of claim 4, wherein, the correcting the initial priority valve opening degree based on the real-time revolving speed and the revolving speed threshold to obtain the priority valve opening degree specifically comprises: if the real-time revolving speed is lower than the revolving speed threshold, reducing the priority valve opening degree; If the real-time slewing speed is higher than the slewing speed threshold, the priority valve opening degree is increased.

6. A hydraulic control device for excavator rotation, characterized in that: The method comprises the following steps: a pilot pressure module, based on the obtained slewing pilot pressure, determines a required slewing speed of a target slewing action; a required acceleration module, based on the required slewing speed and an actual slewing speed, outputs a first required acceleration; an actual slewing acceleration module, differentiates the actual slewing speed to obtain an actual slewing acceleration corresponding to the target slewing action; a correction module, based on the size of the actual slewing acceleration, corrects the first required acceleration to obtain a second required acceleration; a hydraulic pump flow module, based on the second required acceleration, determines a hydraulic pump flow corresponding to the target slewing action. The correction of the first required acceleration based on the size of the actual slewing acceleration comprises the following steps: obtain the moment of inertia corresponding to the slewing of the whole vehicle body of the target excavator, the slewing system pressure, the displacement of the slewing motor, the mechanical efficiency of the slewing motor, and the reduction ratio of the slewing motor rear reducer; determine the acceleration limit threshold of the target excavator based on the moment of inertia, the slewing system pressure, the displacement of the slewing motor, the mechanical efficiency, and the reduction ratio; if the actual slewing acceleration is higher than the acceleration limit threshold, limit the required acceleration so that the required acceleration is lower than the acceleration limit threshold; determine the acceleration limit threshold of the target excavator based on the moment of inertia, the slewing system pressure, the displacement of the slewing motor, the mechanical efficiency, and the reduction ratio, specifically comprising the following steps: determine the acceleration limit threshold by the following formula: wherein is an acceleration limit threshold, is a swing system pressure, is a swing motor displacement, is a mechanical efficiency, is a moment of inertia, is a reduction ratio.

7. An excavator rotary hydraulic control device, characterized in that: The method comprises the following steps: at least one processor; and a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the steps of the method according to any one of claims 1-5.

8. A non-volatile computer storage medium storing computer executable instructions, characterized in that: The computer executable instructions are configured to perform the steps of the method according to any one of claims 1-5.

Images