Excavator swing control method and system and excavator

Abstract

The present disclosure relates to a method and system for controlling slewing of an excavator and an excavator. The method comprises determining a closed-loop control parameter for a current working condition of the excavator based on working condition data of the excavator in the current working condition according to a fuzzy control rule indicating a corresponding relationship between working conditions and the closed-loop control parameter; determining a first torque based on a target speed and a current speed of a slewing motor of the excavator and the determined closed-loop control parameter; and determining a target torque for the slewing motor based on the first torque.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of engineering machinery, and more particularly, to a method for controlling slewing of an excavator, and an associated electronic device, non-transitory storage medium, and computer program product, and to a system for controlling slewing of an excavator and an excavator. BACKGROUND

[0002] The slewing system of an excavator plays a key role in the operation of the excavator, which is mainly used to control the rotation of the upper part of the excavator to help the excavator to operate and position flexibly, so that the excavator can efficiently complete the operation. Therefore, in the whole vehicle control method of the excavator, the pros and cons of the slewing control method are directly related to the whole vehicle operability and safety of the excavator, and are an important part of the design of the whole vehicle control method of the excavator. SUMMARY

[0003] A brief summary of the present disclosure is presented in the following to provide a basic understanding of some aspects of the present disclosure. It should be understood that this summary is not an extensive overview of the present disclosure. It is not intended to identify key or critical elements of the present disclosure or to delineate the scope of the present disclosure. Its sole purpose is to present some concepts of the present disclosure in a simplified form as a prelude to the more detailed description presented later.

[0004] According to a first aspect of the present disclosure, a method for controlling slewing of an excavator is provided. The method for controlling slewing of the excavator comprises: determining, according to a fuzzy control rule indicating a correspondence between a working condition and a closed-loop control parameter, a closed-loop control parameter for a current working condition based on working condition data of the excavator in the current working condition; determining a first torque based on a target speed and a current speed of a slewing motor of the excavator and the determined closed-loop control parameter; and determining a target torque for the slewing motor based on the first torque.

[0005] According to a second aspect of the present disclosure, a system for controlling slewing of an excavator is provided. The system for controlling slewing of the excavator comprises a fuzzy controller, a closed-loop controller, and a target torque controller. The fuzzy controller is configured to determine, according to a fuzzy control rule indicating a correspondence between a working condition and a closed-loop control parameter, a closed-loop control parameter for a current working condition based on working condition data of the excavator in the current working condition. The closed-loop controller is coupled with the fuzzy controller and is configured to determine a first torque based on a target speed and a current speed of a slewing motor of the excavator and the closed-loop control parameter received from the fuzzy controller. The target torque controller is coupled with the closed-loop controller and is configured to determine a target torque for the slewing motor based on the first torque received from the closed-loop controller.

[0006] According to a third aspect of the present disclosure, a kind of excavator is provided.The excavator includes operating handle, power battery system, one or more sensors, swivel motor, whole vehicle controller and swivel motor controller.Operating handle is configured to receive the operation of driver to excavator.Power battery system is configured to supply energy to excavator.The one or more sensors are configured to detect the working condition data of excavator.Swivel motor is configured to realize the rotation of excavator.The whole vehicle controller is coupled with operating handle, power battery system, the one or more sensors and swivel motor, and includes swivel control module.Swivel control module is configured to: according to fuzzy control rule indicating the corresponding relationship of working condition and closed-loop control parameter, determine the closed-loop control parameter for current working condition based on the working condition data of excavator in current working condition;Determine the first torque based on the target speed and current speed of swivel motor and the determined closed-loop control parameter;And determine the target torque for swivel motor based on the first torque.Swivel motor controller is coupled with swivel motor and whole vehicle controller, and is configured to control swivel motor based on the target torque received from swivel control module.

[0007] According to a fourth aspect of the present disclosure, an electronic device is provided.The electronic device includes one or more processors and a memory storing computer-executable instructions that, when executed by the one or more processors, cause the one or more processors to perform the excavator swivel control method according to the first aspect of the present disclosure.

[0008] According to a fifth aspect of the present disclosure, a non-transitory storage medium having stored thereon computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform the excavator swivel control method according to the first aspect of the present disclosure.

[0009] According to a sixth aspect of the present disclosure, a computer program product is provided.The computer program product includes instructions that, when executed by a processor, implement the excavator swivel control method according to the first aspect of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0010] The foregoing and other features and advantages of the present disclosure will become apparent to those skilled in the art from the following description of embodiments of the present disclosure, taken in conjunction with the accompanying drawings. The drawings constitute a part of this specification and are included to explain the principles of the present disclosure and to enable a person skilled in the art to make and use the present disclosure. In the drawings:

[0011] Figure 1 A flowchart of an excavator swivel control method according to some embodiments of the present disclosure is shown;

[0012] Figure 2A flowchart showing a non-limiting example process in which a method of excavator swing control according to some embodiments of the present disclosure is applied;

[0013] Figure 3 A schematic block diagram showing an excavator swing control system according to some embodiments of the present disclosure;

[0014] Figure 4 A schematic block diagram showing a control principle of an excavator swing control system according to some embodiments of the present disclosure is shown by way of non-limiting example;

[0015] Figure 5 A schematic block diagram showing an excavator according to some embodiments of the present disclosure;

[0016] Figure 6 A schematic block diagram showing an electronic device according to some embodiments of the present disclosure;

[0017] Figure 7 A schematic block diagram showing a computer system on which embodiments of the present disclosure can be implemented.

[0018] Note that, in the following embodiments, the same reference numerals are sometimes used across different drawings to represent the same or similar parts or parts having the same function, and repeated explanation thereof is omitted. In some cases, similar numerals and letters are used to represent similar items, and once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0019] For ease of understanding, the positions, sizes, ranges, and the like of the structures shown in the drawings and the like are sometimes not actual positions, sizes, ranges, and the like. Therefore, the present disclosure is not limited to the positions, sizes, ranges, and the like disclosed in the drawings and the like. DETAILED DESCRIPTION

[0020] Various exemplary embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Note that the relative arrangement of components and steps, numerical expressions, and numerical values set forth in these embodiments are not limiting to the scope of the present disclosure unless otherwise specifically stated.

[0021] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the scope of the present disclosure and its applications or uses. That is, the structures and methods herein are shown by way of example in the drawings and are illustrative of the various embodiments in the present disclosure. However, those skilled in the art will appreciate that they are merely illustrative of exemplary ways in which the present disclosure can be implemented and are not exhaustive. Furthermore, the drawings are not necessarily to scale, with some features possibly being exaggerated to illustrate details of specific components.

[0022] In addition, techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the specification for purposes of patentability.

[0023] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Thus, other examples of the exemplary embodiments can have different values.

[0024] The target rotating speed of the slewing motor can be obtained according to the opening of the operation handle of the driver of the excavator, and then the target torque for the slewing motor is obtained based on the obtained target rotating speed and the current rotating speed fed back by the slewing motor through a closed-loop control algorithm (such as but not limited to a proportion integration (PI) control algorithm, a proportion integration differentiation (PID) control algorithm) to control the slewing motor. However, under different working conditions, the slope angle, load, and slewing orientation of the excavator when parking on a slope are different, and a single closed-loop control parameter cannot meet the different control requirements of the slewing system under various working conditions.

[0025] To this end, the present disclosure provides an excavator slewing control method, which utilizes fuzzy control rules to optimize the closed-loop control parameter for specific working conditions, so that the closed-loop control parameter can be adaptively adjusted according to different working conditions to achieve proper control of the slewing motor, improve the robustness, stability, and response speed of the slewing system of the excavator, and further improve the overall performance of the excavator.

[0026] The excavator slewing control method according to various embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It can be understood that the actual excavator slewing control method can further include other steps, but in order to avoid obscuring the gist of the present disclosure, these other steps are not discussed herein and are not shown in the accompanying drawings.

[0027] Figure 1 A flowchart of an excavator slewing control method 100 (hereinafter referred to as “method 100”) according to some embodiments of the present disclosure is shown. As shown in Figure 1 The method 100 includes steps S102 to S106.

[0028] At step S102, according to the fuzzy control rules indicating the correspondence between the working conditions and the closed-loop control parameters, the closed-loop control parameter for the current working condition is determined based on the working condition data of the excavator under the current working condition.

[0029] For example, the working condition data can include one or more of various types of data such as speed, acceleration, load, slope angle, attitude, etc. The working condition data can be obtained from the detection results of corresponding sensors (such as but not limited to speed sensors, acceleration sensors, pressure sensors, slope angle sensors, gyroscopes, etc.) equipped on the excavator, and in some cases can also be directly determined according to the working mode of the excavator. Therefore, in some embodiments, the working condition data includes at least one of: first working condition data obtained according to the current working mode of the excavator; and second working condition data obtained from the detection results of the sensors of the excavator. As a non-limiting implementation, assuming that the working condition data to be obtained includes both the slope angle and the load, and the current working mode of the excavator is the flat ground working mode, it can be "known" that the slope angle of the excavator (first working condition data) is 0 from the flat ground working mode, so the slope angle sensor of the excavator is no longer needed to detect the slope angle of the excavator, only the load sensor of the excavator is needed to detect the load (second working condition data) of the excavator, thereby reducing the energy consumption of the sensors of the excavator and reducing the amount of data to be processed.

[0030] Typical closed-loop control algorithms include but are not limited to PI control algorithm and PID control algorithm, etc. Therefore, in some embodiments, the closed-loop control parameters can include proportional control parameters (P parameters) and integral control parameters (I parameters). In some embodiments, the closed-loop control parameters can also include derivative control parameters (D parameters). It can be understood that this is only exemplary and not limiting, and those skilled in the art can select any suitable closed-loop control method for the excavator swing system according to the actual situation, which is known at present or developed in the future.

[0031] The fuzzy control can take the working condition data as input and the closed-loop control coefficients as output, and classify the input and output. For non-limiting illustration purposes, assuming that the working condition data available for the excavator includes N types of working condition data, each type of working condition data i has M i classifications, and each combination of values of the N types of working condition data corresponds to a corresponding working condition, then the fuzzy control rule can include a corresponding relationship between N types of working conditions and closed-loop control parameters, where N and M i are positive integers.

[0032] Specifically, taking the working condition data including load and slope angle as an example. When the excavator is in the slope parking working mode or the whole vehicle load is large, the moment of inertia of the swing motor will change, and at this time if only a specific set of closed-loop control parameters (for example, this specific set of closed-loop control parameters can be optimized for a certain working condition) is used, the response speed and stability of the swing system will fluctuate. Once the slope angle and / or load of the excavator deviates from the working condition for which the closed-loop control parameters are optimized, the mismatch between the closed-loop control parameters and the actual working condition can cause the controllability of the swing system to deteriorate or even fail.

[0033] Therefore, in some embodiments, the load and the slope angle can have three classifications of "small", "medium", and "large" respectively, and the fuzzy control rule can include the following 9 corresponding relationships: (1) in the case that the classification of the slope angle is small and the classification of the load is small, the classification of the closed-loop control parameter is small; (2) in the case that the classification of the slope angle is small and the classification of the load is medium, the classification of the closed-loop control parameter is smaller; (3) in the case that the classification of the slope angle is small and the classification of the load is large, the classification of the closed-loop control parameter is moderate; (4) in the case that the classification of the slope angle is medium and the classification of the load is small, the classification of the closed-loop control parameter is smaller; (5) in the case that the classification of the slope angle is medium and the classification of the load is medium, the classification of the closed-loop control parameter is moderate; (6) in the case that the classification of the slope angle is medium and the classification of the load is large, the classification of the closed-loop control parameter is larger; (7) in the case that the classification of the slope angle is large and the classification of the load is small, the classification of the closed-loop control parameter is moderate; (8) in the case that the classification of the slope angle is large and the classification of the load is medium, the classification of the closed-loop control parameter is larger; (9) in the case that the classification of the slope angle is large and the classification of the load is large, the classification of the closed-loop control parameter is large.

[0034] As a non-limiting embodiment, assuming that the excavator is a medium-tonnage electric excavator and the closed-loop control is PI control, when the slope angle of the excavator and the size of the load are taken as the input of the fuzzy control and the PI parameter is taken as the output, the input and the output can be classified as shown in Tables 1-3 below.

[0035] Table 1

[0036]

[0037] Table 2

[0038]

[0039] Table 3

[0040]

[0041] It can be understood that the data shown in Tables 1-3 above are only exemplary and non-limiting, and those skilled in the art can design coarser or finer classifications for the input and output of the fuzzy control according to the specifications of the excavator, the working scene, and the actual situation of the control accuracy requirement, the size of the computing resource, etc., and calibrate the corresponding classification standards for each classification.

[0042] In the fuzzy control, any suitable membership function such as a trigonometric function, a trapezoidal function, a Gaussian function, etc. can be used, and no particular limitation is made herein. After the input / output classification (e.g., Tables 1-3) and the membership function (e.g., trigonometric function) are set, the fuzzy control rules can be set as shown in Table 4 below.

[0043] Table 4

[0044]

[0045] A uniform fuzzy control rule can be set for all combinations of the working condition data classifications, e.g., as shown above. In some cases, a corresponding fuzzy control rule can also be set for different combinations of the working condition data classifications. For example, in different operating modes of the excavator, the working condition data classifications that need to be considered can be different. Specifically, in some embodiments, the fuzzy control rule can be selected from a set of fuzzy control rules according to the current operating mode of the excavator, and the set of fuzzy control rules can include a corresponding plurality of fuzzy control rules that are pre-set for a plurality of different operating modes of the excavator.

[0046] As a non-limiting embodiment, still taking the working condition data including the slope angle and the load and the closed-loop control including the PI control as an example, it is assumed that the current operating mode of the excavator is the flat ground operating mode, at which time the slope angle of the excavator is fixed at 0. Therefore, in the fuzzy control of this operating mode, the slope angle does not need to be classified, or even the slope angle does not need to be taken as an input, but only the load as an input can be classified as shown in Table 5 below and the PI parameters as an output can be classified as shown in Table 6 below, and then the fuzzy control rules can be set as shown in Table 7 below.

[0047] Table 5

[0048]

[0049] Table 6

[0050]

[0051] Table 7

[0052]

[0053] It can be understood that, when the excavator is in the flat ground operating mode, the fuzzy control rules as shown in Table 7 are used for the slewing system of the excavator, which can simplify the control logic and improve the response speed compared to the fuzzy control rules as shown in Table 4.

[0054] Continuing with the Figure 1At step S104, a first torque is determined based on the target rotational speed and the current rotational speed of the swing motor of the excavator and the determined closed-loop control parameter. At step S106, a target torque for the swing motor is determined based on the first torque.

[0055] For example, the target rotational speed of the swing motor can be resolved from the opening degree of the operation handle of the excavator, and the current rotational speed of the swing motor can be real-time fed back from the swing motor.

[0056] By updating the closed-loop control parameter for the current working condition through the fuzzy control rule, the closed-loop control on the swing motor can be matched with the current working condition, which is conducive to ensuring the consistency of the driving performance of the swing system under different working conditions.

[0057] In some embodiments, the first torque can be directly used as the target torque of the swing motor.

[0058] In addition, when the excavator is in some special operation mode (for example, the hill-holding operation mode), the change of the swing position will affect the position of the center of gravity of the whole vehicle of the excavator, thereby causing the change of the moment of inertia of the swing motor and the change of the driving performance. In order to further unify the driving performance of the swing motor under different swing positions, an adaptive control compensation is provided for the swing motor, and a feedforward control can be additionally introduced. Therefore, in some embodiments, step S106 can further include: determining the target torque for the swing motor based on the first torque and a current feedforward torque set. By superimposing the feedforward torque on the first torque obtained based on the closed-loop control of the current rotational speed and the target rotational speed of the swing motor, the target torque for the swing motor can be determined, which can accelerate the response of the swing system and improve the uniformity of the driving performance.

[0059] In some examples, the current feedforward torque can be set to a certain fixed value. The fixed value can be obtained by calibration when the excavator is in a certain working condition. For example, the working condition can be selected as the working condition in which the excavator is most often in. The fixed value can also be determined according to the current operation mode of the excavator. As a non-limiting embodiment, assuming that the current operation mode of the excavator is the grading operation mode, at this time the slope angle is 0, and the change of the swing position will not cause the change of the moment of inertia, therefore, the current feedforward torque can be set to 0.

[0060] Alternatively, the current feedforward torque can also be variable. In some embodiments, the current feedforward torque is initialized before the control starts, and is set in each control cycle by: obtaining a previous feedforward torque, which is the current feedforward torque for the last control cycle; determining a current acceleration of the swing motor based on a current rotational speed of the swing motor, and determining an ideal acceleration of the swing motor based on a current torque of the swing motor; in response to the current acceleration of the swing motor being greater than the ideal acceleration, decreasing the previous feedforward torque to obtain the current feedforward torque; in response to the current acceleration of the swing motor being less than the ideal acceleration, increasing the previous feedforward torque to obtain the current feedforward torque. It can be appreciated that if the current acceleration of the swing motor is equal to the ideal acceleration, the previous feedforward torque can be kept unchanged to obtain the current feedforward torque.

[0061] The determination of the initialized value of the current feedforward torque can be similar to the determination of the fixed value described above, for example, can be determined according to the to-be-performed operation mode or the current operation mode of the excavator.

[0062] As a non-limiting embodiment, assuming that the torque step value is ΔK, the current feedforward torque in the i-th control cycle is K i . In the (i+1)-th control cycle, the previous feedforward torque is K i , and the current feedforward torque in the (i+1)-th control cycle is K i+1 . In response to the current acceleration of the swing motor being greater than the ideal acceleration, the current feedforward torque is K i+1 = K i - ΔK; or, in response to the current acceleration of the swing motor being less than the ideal acceleration, the current feedforward torque is K i+1 = K i + ΔK; or, in response to the current acceleration of the swing motor being equal to the ideal acceleration, the current feedforward torque is K i+1 = K i . The torque step value ΔK can be calibrated according to the practical experience of engineers. For each control cycle, the torque step value ΔK can be the same or different, and can be specifically determined according to the current working condition, etc. In addition, for each control cycle, the torque step value ΔK includes ΔK1 for decreasing the torque and ΔK2 for increasing the torque, so that in response to the current acceleration of the swing motor being greater than the ideal acceleration, the current feedforward torque is K i+1 = K i - ΔK1; or, in response to the current acceleration of the swing motor being less than the ideal acceleration, the current feedforward torque is K i+1 = K i + ΔK2. ΔK1 and ΔK2 can be the same or different.

[0063] Since each control cycle is usually short, the iteration speed of the current feedforward torque is fast enough to meet the response speed requirement of the excavator swing control. By continuously adjusting the current feedforward torque, the speed overshoot of the swing motor can be reduced, thereby improving the stability of the excavator swing control system.

[0064] In some embodiments, determining the ideal acceleration of the swing motor based on the current torque of the swing motor can further include: according to the current torque of the swing motor, searching for the ideal acceleration corresponding to the current torque on a torque-acceleration response curve pre-labeled for the swing motor. For example, a plurality of torque-acceleration response curves can be pre-labeled for the swing motor under a plurality of different working conditions, and the searched torque-acceleration response curve can be selected from the plurality of torque-acceleration response curves according to the current working condition. Therefore, the method 100 can also adaptively adjust the current feedforward torque according to the current working condition of the excavator, thereby realizing adaptive control of the swing motor.

[0065] In addition, under the background of current global climate change and carbon emission reduction, the engineering machinery industry, especially the excavator industry, is facing unprecedented transformation pressure. As an important engineering machinery equipment, the improvement of the energy efficiency and environmental protection performance of excavators has become the key to the development of the industry. In this context, electric or hybrid excavators with power battery systems are being used more and more, and their economy and environmental protection are significantly better than traditional excavators. On the one hand, the determined target torque for the swing motor should not exceed the maximum torque that the energy management module can recover (or the maximum braking torque limited by the energy management module) to prevent the power battery system from being overloaded or even damaged when recharging; on the other hand, the determined target torque for the swing motor should not exceed the maximum torque that the energy management module can provide to the swing system (i.e., the maximum torque available to the swing system) (or the maximum driving torque limited by the energy management module), otherwise the energy supply of other components of the excavator will be insufficient. For example, the maximum torque that the energy management module can recover can be converted from the maximum recharge power of the power battery system, and the maximum torque that the energy management module can provide can be converted from the maximum discharge power of the power battery system. In addition, the determined target torque for the swing motor should not exceed the maximum torque that the swing motor can provide, otherwise the swing motor will malfunction or even be damaged.

[0066] Therefore, in some embodiments, the method 100 can further include determining a mode in which the slewing motor is currently in based on the target rotational speed and the current rotational speed of the slewing motor. Specifically, it is determined that the slewing motor is currently in the driving mode if the current rotational speed is lower than the target rotational speed, and it is determined that the slewing motor is currently in the braking mode if the current rotational speed is higher than the target rotational speed. The method 100 can further include, in response to the slewing motor being currently in the driving mode, the determined target torque being a target driving torque, re-determining the target torque for the slewing motor based on a minimum one of the target driving torque, a maximum driving torque that the slewing motor can provide, and a maximum driving torque limited by an energy management module of the excavator. The method 100 can further include, in response to the slewing motor being currently in the braking mode, the determined target torque being a target braking torque, re-determining the target torque for the slewing motor based on a minimum one of the target braking torque, a maximum braking torque that the slewing motor can provide, and a maximum braking torque limited by the energy management module of the excavator.

[0067] Further, in the case where the current rotational speed is equal to the target rotational speed, it can be determined that the slewing motor is currently in the no-load mode, and the target torque for the slewing motor is re-determined to be zero. Since the originally determined target torque is generally zero at this time, it can also be considered that the target torque for the slewing motor is re-determined based on a minimum one of the target torque, a maximum torque that the slewing motor can provide, and a maximum torque limited by the energy management module of the excavator.

[0068] Figure 2 A flowchart illustrating a non-limiting example process 200 in which a method 100 of excavator slewing control according to some embodiments of the present disclosure is applied is shown. As Figure 2As shown, in one aspect, the working condition data of the excavator in the current working condition is acquired (step S204). Based on the working condition data of the excavator in the current working condition, the PI parameters for the current working condition are determined according to the fuzzy control rules (step S212). In another aspect, the target rotating speed of the rotating motor is acquired (step S206), and the current rotating speed of the rotating motor is acquired (step S208). Based on the target rotating speed acquired in step S206, the current rotating speed acquired in step S208, and the PI parameters determined in step S212, the first torque K1 is determined by using a closed-loop control algorithm (step S214). In yet another aspect, the current feed-forward torque K2 is initialized (step S202). After the current rotating speed of the rotating motor is acquired (step S208), the current acceleration is determined based on the current rotating speed (step S216). After the current torque of the rotating motor is acquired (step S210), the ideal acceleration is determined based on the current torque (step S218). Next, the current acceleration and the ideal acceleration are compared (step S220). If the current acceleration is greater than the ideal acceleration (step S220 "greater than"), the current feed-forward torque K2 = K2 - ΔK is determined (step S222). If the current acceleration is less than the ideal acceleration (step S220 "less than"), the current feed-forward torque K2 = K2 + ΔK is determined (step S224). If the current acceleration is equal to the ideal acceleration (step S220 "equal to"), the current feed-forward torque K2 = K2 is determined (step S226).

[0069] Next, the target torque K = K1 + K2 for the rotating motor is determined based on the determined first torque K1 and the determined current feed-forward torque K2 (step S228), and the current rotating speed and the target rotating speed are compared (step S230). If the current rotating speed is greater than the target rotating speed (step S230 "greater than"), it is determined that the rotating motor is currently in the braking mode and the target torque K is determined as a target braking torque (step S232), and then the target torque K is re-determined based on the minimum one of the target braking torque, the maximum braking torque that the rotating motor can provide, and the maximum braking torque limited by the energy management module (step S234). If the current rotating speed is less than the target rotating speed (step S230 "less than"), it is determined that the rotating motor is currently in the driving mode and the target torque K is determined as a target driving torque (step S236), and then the target torque K is re-determined based on the minimum one of the target driving torque, the maximum driving torque that the rotating motor can provide, and the maximum driving torque limited by the energy management module (step S238). If the current rotating speed is equal to the target rotating speed (step S230 "equal to"), it is determined that the rotating motor is currently in the idle mode (step S240), and the target torque K is re-determined as zero (step S242). The current feed-forward torque K2 is saved (step S244).

[0070] Finally, determine whether the next control cycle has started (step S246). If the next control cycle has not started (step S246 "No"), continue waiting until the next control cycle starts. If the next control cycle has started (step S246 "Yes"), return to steps S204, S206, S208, and S210 to obtain the latest data for the current control cycle.

[0071] This disclosure also provides, in another aspect, an excavator slewing control system. (See reference...) Figure 3 This illustrates a schematic block diagram of an excavator slewing control system 300 (hereinafter referred to as "System 300") according to some embodiments of the present disclosure. Figure 3 As shown, system 300 includes a fuzzy controller 302, a closed-loop controller 304, and a target torque controller 306.

[0072] The fuzzy controller 302 can be configured to determine closed-loop control parameters for the current operating condition based on fuzzy control rules that establish the correspondence between indicated operating conditions and closed-loop control parameters, using operating data of the excavator under the current operating condition. The closed-loop controller 304 can be coupled to the fuzzy controller 302 and is configured to determine a first torque based on the target speed and current speed of the excavator's swing motor, as well as the closed-loop control parameters received from the fuzzy controller 302. The target torque controller 306 can be coupled to the closed-loop controller 304 and is configured to determine a target torque for the swing motor based on the first torque received from the closed-loop controller 304.

[0073] This disclosure does not impose any particular limitation on the specific form of the closed-loop controller 304, as long as it can perform closed-loop control of the rotary motor. As a non-limiting embodiment, the closed-loop controller 304 can be a PI controller, a PID controller, a composite controller of a PI controller and other controllers coupled together.

[0074] like Figure 3 As shown, in some embodiments, system 300 further includes a feedforward controller 308. The feedforward controller 308 may be coupled to a target torque controller 306 and is configured to set a feedforward torque. The target torque controller 306 is also configured to determine a target torque for the rotary motor based on a first torque received from the closed-loop controller 306 and a current feedforward torque received from the feedforward controller 308.

[0075] In some embodiments, the feedforward controller 308 is configured to initialize the current feedforward torque before the control starts, and to set the current feedforward torque at each round of control by: obtaining a previous feedforward torque, which is the current feedforward torque for the last round of control; determining a current acceleration of the slewing motor based on a current rotational speed of the slewing motor, and determining an ideal acceleration of the slewing motor based on a current torque of the slewing motor; in response to the current acceleration of the slewing motor being greater than the ideal acceleration, decreasing the previous feedforward torque to obtain the current feedforward torque; in response to the current acceleration of the slewing motor being less than the ideal acceleration, increasing the previous feedforward torque to obtain the current feedforward torque. In some embodiments, the feedforward controller 308 is configured to, in response to the current acceleration of the slewing motor being equal to the ideal acceleration, adopt the previous feedforward torque as the current feedforward torque.

[0076] In some embodiments, the feedforward controller 308 is further configured to, according to the current torque of the slewing motor, look up an ideal acceleration corresponding to the current torque on a torque-acceleration response curve pre-labeled for the slewing motor. For example, a plurality of torque-acceleration response curves can be pre-labeled for the slewing motor under a plurality of different working conditions, and the looked-up torque-acceleration response curve can be selected from the plurality of torque-acceleration response curves according to a current working condition.

[0077] In some embodiments, the target torque controller 306 is further configured to determine a mode in which the slewing motor currently stays based on a target rotational speed and a current rotational speed of the slewing motor; in response to the slewing motor currently staying in a driving mode, the determined target torque is a target driving torque, and to re-determine the target torque for the slewing motor based on a minimum one of the target driving torque, a maximum driving torque that the slewing motor can provide, and a maximum driving torque limited by an energy management module of the excavator; in response to the slewing motor currently staying in a braking mode, the determined target torque is a target braking torque, and to re-determine the target torque for the slewing motor based on a minimum one of the target braking torque, a maximum braking torque that the slewing motor can provide, and a maximum braking torque limited by the energy management module of the excavator. In some embodiments, the target torque controller 306 is further configured to, in response to the slewing motor currently staying in an idle mode, re-determine the target torque for the slewing motor as zero.

[0078] Reference is made to Figure 4 which shows, by way of non-limiting example, a schematic block diagram of a control principle 400 of the excavator slewing control system 300 according to some embodiments of the present disclosure. As Figure 4As shown, the working condition data (for example, the working condition data can include the slope angle and the load, which can be the slope angle signal from the slope angle sensor and the load signal from the pressure sensor) is provided to the fuzzy controller 302, so that the fuzzy controller 302 outputs the closed-loop control parameter matching the current working condition and provides to the closed-loop controller 304. The target rotating speed and the current rotating speed of the slewing motor are provided to the closed-loop controller 304, so that the closed-loop controller 304 outputs the first torque based on the difference between the target rotating speed and the current rotating speed (this subtraction operation can be performed outside or inside the closed-loop controller 304) and the closed-loop control parameter optimized by the fuzzy controller 302. In addition, the current torque and the current rotating speed of the slewing motor are provided to the feedforward controller 308, so that the feedforward controller determines the current feedforward torque based on the ideal acceleration corresponding to the current torque and the current acceleration corresponding to the current rotating speed. Then, the first torque output by the closed-loop controller 304 and the current feedforward torque output by the feedforward controller 308 are superimposed to provide to the target torque controller 306 (this addition operation can be performed outside or inside the target torque controller 306), so that the target torque controller 306 can determine the target torque for the slewing motor. The target torque controller 306 sends the finally determined target torque to the slewing motor controller so as to control the slewing motor by the slewing motor controller, for example, to achieve the slewing of the excavator through the gear transmission slewing bearing.

[0079] The system 300 can be configured to implement the aforementioned method 100. Various embodiments of the system 300 are similar to various embodiments of the aforementioned method 100, and thus reference can be made to the foregoing descriptions of various embodiments of the method 100, which will not be repeated here.

[0080] The present disclosure also provides, in another aspect, an excavator. Reference is made to Figure 5 which shows a schematic block diagram of an excavator 500 according to some embodiments of the present disclosure. As shown, Figure 5 The excavator 500 includes an operation handle 502, a power battery system 504, a sensor(s) 506, a slewing motor 508, a vehicle controller 510, and a slewing motor controller 512.

[0081] The operation handle 502 is configured to receive the operation of the excavator 500 by a driver. For example, the driver can control the rotating speed of the slewing motor by controlling the opening degree of the operation handle 502, that is, the opening degree of the operation handle 502 can reflect the target rotating speed of the slewing motor. The power battery system 504 is configured to supply energy to the excavator 500. The sensor(s) 506 is configured to detect the working condition data of the excavator 500, such as can include but not limited to the foregoing slope angle sensor, pressure sensor, and the like. The slewing motor 508 is configured to achieve the slewing of the excavator 500.

[0082] The whole vehicle controller 510 is coupled with the operation handle 502, the power battery system 504, the sensor(s) 506, and the slewing motor 508, and can include a slewing control module 5102. The slewing control module 5102 is configured to: determine, based on the working condition data of the excavator 500 in the current working condition, a closed-loop control parameter for the current working condition according to a fuzzy control rule indicating a correspondence between working conditions and closed-loop control parameters; determine a first torque based on the target speed and the current speed of the slewing motor 508 and the determined closed-loop control parameter; and determine a target torque for the slewing motor 508 based on the first torque.

[0083] The slewing motor controller 512 is coupled with the slewing motor 508 and the whole vehicle controller 510, and is configured to control the slewing motor 508 based on the target torque received from the slewing control module 5102.

[0084] In some embodiments, the slewing control module 5102 is configured to determine the target torque for the slewing motor 508 based on the first torque and a set current feedforward torque. In some embodiments, the slewing control module 5102 is configured to initialize the current feedforward torque before the control starts, and set the current feedforward torque in each round of control by: obtaining a previous feedforward torque, which is the current feedforward torque for the last round of control; determining a current acceleration of the slewing motor 508 based on the current speed of the slewing motor 508, and determining an ideal acceleration of the slewing motor 508 based on the current torque of the slewing motor 508; in response to the current acceleration of the slewing motor 508 being greater than the ideal acceleration, decreasing the previous feedforward torque to obtain the current feedforward torque; in response to the current acceleration of the slewing motor 508 being less than the ideal acceleration, increasing the previous feedforward torque to obtain the current feedforward torque. In some embodiments, the slewing control module 5102 is configured to, in response to the current acceleration of the slewing motor 508 being equal to the ideal acceleration, adopt the previous feedforward torque as the current feedforward torque.

[0085] In some embodiments, the slewing control module 5102 is configured to, according to the current torque of the slewing motor 508, look up an ideal acceleration corresponding to the current torque on a torque-acceleration response curve pre-labeled for the slewing motor 508. For example, a plurality of torque-acceleration response curves can be pre-labeled for the slewing motor 508 in a plurality of different working conditions, and the looked-up torque-acceleration response curve can be selected from the plurality of torque-acceleration response curves according to the current working condition.

[0086] With continued reference to Figure 5In some embodiments, the vehicle controller 510 further includes an energy management module 5104 for managing the power battery system 504. In this embodiment, the slew control module 5102 is further configured to determine a mode in which the slew motor 508 is currently in based on the target rotational speed and the current rotational speed of the slew motor 508, to control the redetermination of the target torque for the slew motor 508 based on the target drive torque, the maximum drive torque that the slew motor 508 can provide, and the minimum one of the maximum drive torque limited by the energy management module 5104 in response to the slew motor 508 currently being in the drive mode, and to control the redetermination of the target torque for the slew motor 508 based on the target brake torque, the maximum brake torque that the slew motor 508 can provide, and the minimum one of the maximum brake torque limited by the energy management module 5104 in response to the slew motor 508 currently being in the brake mode. In some embodiments, the slew motor controller 512 is configured to redetermine the target torque for the slew motor 508 as zero in response to the slew motor 508 currently being in the no-load mode. For example, the energy management module 5104 can be coupled with the power battery system 504 to calculate the maximum discharge power and the maximum recharge power of the power battery system 504 in real time and provide to the slew control module 5102 for the slew control module 5102 to calculate the maximum drive torque and the maximum brake torque limited by the energy management module 5104.

[0087] The slew control module 5102 can be configured to implement the aforementioned method 100. Various embodiments of the excavator 500 are similar to various embodiments of the aforementioned method 100, and thus reference can be made to the foregoing description of various embodiments of the method 100, which will not be repeated here.

[0088] The present disclosure also provides an electronic device, which can include one or more processors, and a memory storing computer-executable instructions that, when executed by the one or more processors, cause the one or more processors to perform the excavator slew control method according to any of the aforementioned embodiments of the present disclosure. As Figure 6As shown, the device 600 includes a processor(s) 602 and a memory 604 storing computer-executable instructions that, when executed by the processor(s) 602, cause the processor(s) 602 to perform the excavator swing control method according to any of the preceding embodiments of the present disclosure. The processor(s) 602 can be, for example, a central processing unit (CPU) of the device 600. The processor(s) 602 can be any type of general purpose processor, or can be a processor specifically designed for excavator swing control, such as an application specific integrated circuit (“ASIC”). The memory 604 can include various computer-readable media that are accessible by the processor(s) 602. In various embodiments, the memory 604 described herein can include volatile and non-volatile media, removable and non-removable media. For example, the memory 604 can include any combination of random access memory (“RAM”), dynamic RAM (“DRAM”), static RAM (“SRAM”), read only memory (“ROM”), flash memory, cache memory, and / or any other type of non-transitory computer readable media. The memory 604 can store instructions that, when executed by the processor 602, cause the processor 602 to perform the excavator swing control method according to any of the preceding embodiments of the present disclosure.

[0089] The present disclosure also provides a non-transitory storage medium having stored thereon computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform the excavator swing control method according to any of the preceding embodiments of the present disclosure.

[0090] The present disclosure also provides a computer program product that can include instructions that, when executed by a processor, can implement the excavator swing control method according to any of the preceding embodiments of the present disclosure. The instructions can be any set of instructions that are directly executable by the one or more processors, such as machine code, or indirectly executable, such as scripts. The instructions can be stored as object code in a format that is directly executable by the one or more processors, or in any other computer languages including scripts or collections of independent source code modules that are interpreted or compiled on demand.

[0091] Figure 7A schematic block diagram of a computer system 700 upon which embodiments of the present disclosure can be implemented is shown. The computer system 700 includes a bus 702 or other communication mechanism for communicating information, and a processing device 704 coupled with bus 702 for processing information. Computer system 700 also includes a memory 706, which can be a random access memory (RAM) or other dynamic storage device, coupled to bus 702 for storing information and instructions to be executed by processing device 704. Memory 706 also can be used for storing temporary variables or other intermediate information during execution of instructions to be executed by processing device 704. Computer system 700 further includes a read only memory (ROM) 708 or other static storage device coupled to bus 702 for storing static information and instructions for processing device 704. A storage device 710, such as a magnetic disk or optical disk, is provided and coupled to bus 702 for storing information and instructions. Computer system 700 can be coupled via bus 702 to a display 712, such as a cathode ray tube (CRT) or liquid crystal display (LCD), for displaying information to a user. An input device 714, such as a keyboard including alphanumeric and other keys, is coupled to bus 702 for communicating information and command selections to processing device 704. Computer system 700 can implement embodiments of the present disclosure. Consistent with certain implementations of the present disclosure, results are provided by computer system 700 in response to the processing device 704 executing one or more sequences of one or more instructions contained in memory 706. Such instructions can be read into memory 706 from another computer-readable medium, such as storage device 710. Execution of the sequences of instructions contained in memory 706 causes processing device 704 to perform the methods described herein. Alternatively, hard-wired circuitry can be used in place of software instructions, or in combination with software instructions. Thus implementations of the present disclosure are not limited to any specific combination of hardware circuitry and software. In various embodiments, computer system 700 can connect to one or more other computer systems across a network, such as computer system 700, to form a networked system via network interface 716. The network can include a private network or a public network, such as the Internet. In a networked system, one or more computer systems can store data and supply data to other computer systems. The term "computer-readable medium" as used herein refers to any medium that participates in providing instructions to processing device 704 for execution. Such a medium can take many forms, including but not limited to non-volatile media, volatile media, and transmission media. Non-volatile media include, for example, optical or magnetic disks, such as storage device 710. Volatile media include dynamic memory, such as memory 706. Transmission media include coaxial cables, copper wire, and fiber optics, including wires that comprise bus 702.Common forms of computer-readable media or computer program products include, for example, a floppy disk, a flexible disk, a hard disk, magnetic tape, or any other magnetic medium, a CD-ROM, digital video disk (DVD), a Blu-ray disk, any other optical medium, a thumb drive, a memory card, a RAM, PROM, and EPROM, a FLASH-EPROM, any other memory chip or cartridge, or any other tangible medium from which a computer can read. Various forms of computer-readable media can be involved in carrying one or more sequences of one or more instructions to the processing device 704 for execution. For example, the instructions can initially be carried on a magnetic disk of a remote computer. A remote computer can load the instructions into its dynamic memory and send the instructions over a telephone line using a modem. A modem local to the computer system 700 can receive the data on the telephone line and use an infra-red transmitter to convert the data to an infra-red signal. An infra-red detector coupled to the bus 702 can receive the data carried in the infra-red signal and place the data on the bus 702. The bus 702 carries the data to the memory 706, from which the processing device 704 retrieves and executes the instructions. The instructions received by the memory 706 can optionally be stored on storage device 710 either before or after execution by the processing device 704.

[0092] In accordance with various embodiments, instructions configured to be executed by a processing device to perform a method are stored on a computer-readable medium. The computer-readable medium can be a device that stores digital information. For example, a computer-readable medium includes a compact disc read-only memory (CD-ROM) as is known in the art for storing software. The computer-readable medium is accessed by a processor suitable for executing the instructions configured to be executed.

[0093] The above description of one or more exemplary embodiments of the present disclosure has been presented. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still accomplish desirable results. Additionally, the processes depicted in the accompanying figures do not necessarily require the particular order shown or sequential order in order to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous or necessary.

[0094] The systems, apparatuses, modules or units disclosed in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a server system. Of course, the present disclosure does not exclude that with the development of future computer technology, the computer implementing the functions of the above embodiments can be, for example, a personal computer, a laptop computer, a vehicle-mounted human-computer interaction device, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an electronic mail device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0095] Although one or more embodiments of the present disclosure provide method operation steps as described in the embodiments or flowcharts, more or fewer operation steps can be included based on conventional or non-inventive means. The order of steps listed in the embodiments is only one of the many step execution orders, and does not represent the only execution order. In actual device or terminal product execution, the method order shown in the embodiments or the drawings can be executed in sequence or in parallel (for example, in a parallel processor or multi-thread processing environment, or even in a distributed data processing environment).

[0096] The terms "comprise", "contain", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, product, or device that includes a list of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, product, or device. Without more limitations, it does not exclude the presence of additional same or equivalent elements in the process, method, product, or device that includes the elements. For example, if the words "first", "second", etc. are used to indicate names, they do not mean any particular order.

[0097] For the convenience of description, the above devices are described as various modules respectively described in function. Of course, when implementing one or more embodiments of the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware, or the modules implementing the same function can be implemented by a combination of multiple sub-modules or sub-units. The device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between the devices or units, and can be electrical, mechanical or other forms.

[0098] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0099] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0100] Those skilled in the art will appreciate that one or more embodiments of the disclosure can be embodied in the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, one or more embodiments of the disclosure can be embodied in the form of computer program products embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, CD-ROM, optical storage, etc.) having computer usable program code embodied thereon.

[0101] One or more embodiments of the disclosure can be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform particular tasks or implement particular abstract data types. One or more embodiments of the disclosure can also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules can be located in both local and remote computer storage media including memory storage devices.

[0102] The same parts and / or features of the various embodiments of the present disclosure can be referred to with the same or similar reference numerals. Each embodiment described herein is intended to cover all aspects of the present disclosure, whether implemented as described in a particular embodiment or implemented in some other manner. Moreover, the embodiments described herein are intended to cover custom-tailored hardware made and utilized for the purpose of the present disclosure whether manufactured before or after the date of the present disclosure. Moreover, the embodiments described herein are intended to cover hardware manufactured and utilized for the purpose of the present disclosure and modified after the manufacture of the hardware whether by the same manufacturer or by a different manufacturer. In addition, the description just given is illustrative of specific embodiments. Alternatively, the components of the specific embodiments could be provided in a different manner or could be combined in a different way. Furthermore, any portion of the disclosure that includes component(s) can include any one of the described components, all of the described components, or any combination, subset, or variation of described components.

[0103] In addition, as used in the present disclosure the terms "herein," "above," "below," "below," "hereunder," "hereinabove," "hereinbelow" and words of similar import refer to this entire disclosure rather than any particular portion of the disclosure. Furthermore, unless otherwise expressly specified, all of the operations described herein can be performed in any order. Also, the use of "about," "approximately," "substantially" or "near" in describing the contents of the present disclosure indicates that there are modest variations possible, as those of ordinary skill in the art will encompass such minor variations. Moreover, conditional language used herein, such as, among others, "can," "could," "might," "may," "e.g.," "for example," "such as," and the like, typically signifies that there are circumstances where the events or circumstances can not occur or exist. Although the conditional language can refer to the possibility of the future occurrence or existence of events and circumstances, it will be understood conditioned language used herein also refers to the possibility of non-occurrence or non-existence of events and circumstances. In other words, the conditional language is not intended to act as a limitation, but rather as an elucidation of possible scenarios that can or might occur.

[0104] The foregoing is merely illustrative of the various embodiments of the present disclosure and the embodiments of the present disclosure provided are not to be used to limit the present disclosure. The present disclosure can be practiced with variation of the embodiments and changes to the present disclosure within the spirit and scope of the present disclosure. Any modification, equivalent replacement, improvement, and the like made within the spirit and principle of the present disclosure should be included in the scope of the claims.

Claims

1. A method of controlling slewing of an excavator, comprising: determining a closed-loop control parameter for a current working condition of the excavator based on working condition data of the excavator in the current working condition according to a fuzzy control rule indicating a corresponding relationship between working conditions and the closed-loop control parameter; determining a first torque based on a target speed and a current speed of a slewing motor of the excavator and the determined closed-loop control parameter; determining a target torque for the slewing motor based on the first torque; and determining a mode in which the slewing motor currently operates based on the target speed and the current speed of the slewing motor; in response to the slewing motor currently operating in a driving mode, the target torque being a target driving torque, re-determining the target torque for the slewing motor based on a minimum one of the target driving torque, a maximum driving torque that the slewing motor can provide and a maximum driving torque limited by an energy management module of the excavator; in response to the slewing motor currently operating in a braking mode, the target torque being a target braking torque, re-determining the target torque for the slewing motor based on a minimum one of the target braking torque, a maximum braking torque that the slewing motor can provide and a maximum braking torque limited by the energy management module of the excavator.

2. The excavator swing control method of claim 1, wherein, the working condition data comprises at least one of: first working condition data obtained according to a current operation mode of the excavator; second working condition data obtained from detection results of sensors of the excavator.

3. The excavator swing control method of claim 1, wherein, the fuzzy control rule is selected from a set of fuzzy control rules according to the current operation mode of the excavator, the set of fuzzy control rules comprising a corresponding plurality of fuzzy control rules pre-set for a plurality of different operation modes of the excavator.

4. The excavator swing control method of claim 1, wherein, the working condition data comprises load and slope angle.

5. The excavator swing control method of claim 4, wherein, the fuzzy control rule comprises: in a case where a classification of the slope angle is small and a classification of the load is small, a classification of the closed-loop control parameter is small; in a case where the classification of the slope angle is small and the classification of the load is medium, the classification of the closed-loop control parameter is smaller; in a case where the classification of the slope angle is small and the classification of the load is large, the classification of the closed-loop control parameter is medium; in a case where the classification of the slope angle is medium and the classification of the load is small, the classification of the closed-loop control parameter is smaller; in a case where the classification of the slope angle is medium and the classification of the load is medium, the classification of the closed-loop control parameter is medium; in a case where the classification of the slope angle is medium and the classification of the load is large, the classification of the closed-loop control parameter is larger; in a case where the classification of the slope angle is large and the classification of the load is small, the classification of the closed-loop control parameter is medium; in a case where the classification of the slope angle is large and the classification of the load is medium, the classification of the closed-loop control parameter is larger; and in a case where the classification of the slope angle is large and the classification of the load is large, the classification of the closed-loop control parameter is large. 6.The method of controlling slewing of an excavator according to any one of claims 1 to 5, further comprising: determining the target torque for the slewing motor based on the first torque and a current feedforward torque set.

7. The excavator swing control method of claim 6, wherein, the current feedforward torque is initialized before control starts and is set in each round of control by: obtaining a previous feedforward torque, the previous feedforward torque being a current feedforward torque for a previous control round; determining a current acceleration of the slewing motor based on a current rotational speed of the slewing motor, and determining an ideal acceleration of the slewing motor based on a current torque of the slewing motor; in response to the current acceleration of the slewing motor being greater than the ideal acceleration, decreasing the previous feedforward torque to obtain a current feedforward torque; in response to the current acceleration of the slewing motor being less than the ideal acceleration, increasing the previous feedforward torque to obtain a current feedforward torque.

8. The excavator swing control method of claim 7, wherein, determining the ideal acceleration of the slewing motor based on the current torque of the slewing motor comprises: according to the current torque of the slewing motor, looking up an ideal acceleration corresponding to the current torque on a torque-acceleration response curve pre-labeled for the slewing motor.

9. The excavator swing control method of claim 8, wherein, a plurality of torque-acceleration response curves are pre-labeled for the slewing motor under a plurality of different working conditions, and the looked-up torque-acceleration response curve is selected from the plurality of torque-acceleration response curves according to the current working condition.

10. The excavator swing control method according to any one of claims 1 to 5, wherein, the closed-loop control parameter comprises a proportional control parameter and an integral control parameter.

11. A control system for a slewing motor of an excavator, comprising: a fuzzy controller configured to determine a closed-loop control parameter for a current working condition of the excavator based on working condition data of the excavator in the current working condition according to fuzzy control rules indicating a correspondence between working conditions and closed-loop control parameters; a closed-loop controller coupled with the fuzzy controller and configured to determine a first torque based on a target rotational speed and a current rotational speed of a slewing motor of the excavator and the closed-loop control parameter received from the fuzzy controller; and a target torque controller coupled with the closed-loop controller and configured to determine a target torque for the slewing motor based on the first torque received from the closed-loop controller, wherein the target torque controller is further configured to: determine a mode in which the slewing motor currently operates based on the target rotational speed and the current rotational speed of the slewing motor; in response to the slewing motor currently operating in a drive mode, the target torque being a target drive torque, re-determine the target torque for the slewing motor based on a minimum one of the target drive torque, a maximum drive torque that the slewing motor can provide, and a maximum drive torque limited by an energy management module of the excavator; in response to the slewing motor currently operating in a brake mode, the target torque being a target brake torque, re-determine the target torque for the slewing motor based on a minimum one of the target brake torque, a maximum brake torque that the slewing motor can provide, and a maximum brake torque limited by the energy management module of the excavator. the target torque controller is configured to:

12. The excavator swing control system of claim 11, further comprising a feed forward controller coupled with the target torque controller, wherein, determine the target torque for the slewing motor based on the first torque received from the closed-loop controller and a current feedforward torque received from a feedforward controller. the feedforward controller is configured to initialize the current feedforward torque before a control starts, and to set the current feedforward torque in each control round by:

13. The excavator swing control system of claim 12, wherein, obtaining a previous feedforward torque, the previous feedforward torque being a current feedforward torque for a previous control round; ​ determining a current acceleration of the slewing motor based on a current rotational speed of the slewing motor, and determining an ideal acceleration of the slewing motor based on a current torque of the slewing motor; in response to the current acceleration of the slewing motor being greater than the ideal acceleration, decreasing the previous feed-forward torque to obtain a current feed-forward torque; in response to the current acceleration of the slewing motor being less than the ideal acceleration, increasing the previous feed-forward torque to obtain a current feed-forward torque.

14. The excavator swing control system of claim 13, wherein, the feed-forward controller is configured to: based on the current torque of the slewing motor, looking up an ideal acceleration corresponding to the current torque on a torque-acceleration response curve pre-calibrated for the slewing motor.

15. The excavator swing control system according to any one of claims 11 to 14, wherein, the closed-loop control parameter comprises a proportional control parameter and an integral control parameter.

16. An excavator comprising: an operation handle configured to receive an operation of the excavator by an operator; a power battery system configured to supply energy to the excavator; one or more sensors configured to detect working condition data of the excavator; a slewing motor configured to implement slewing of the excavator; a vehicle controller coupled with the operation handle, the power battery system, the one or more sensors and the slewing motor, and comprising a slewing control module configured to: determine a closed-loop control parameter for a current working condition of the excavator based on the working condition data of the excavator in the current working condition according to a fuzzy control rule indicating a correspondence between working conditions and closed-loop control parameters, determine a first torque based on a target rotational speed and a current rotational speed of the slewing motor and the determined closed-loop control parameter, and determine a target torque for the slewing motor based on the first torque; and a slewing motor controller coupled with the slewing motor and the vehicle controller, and configured to control the slewing motor based on the target torque received from the slewing control module wherein the vehicle controller further comprises an energy management module for managing the power battery system, and wherein the slewing control module is further configured to: determine a mode in which the slewing motor currently operates based on the target rotational speed and the current rotational speed of the slewing motor; in response to the slewing motor currently operating in a driving mode, the target torque being a target driving torque, re-determine the target torque for the slewing motor based on a minimum one of the target driving torque, a maximum driving torque that the slewing motor can provide and a maximum driving torque limited by the energy management module; in response to the slewing motor currently operating in a braking mode, the target torque being a target braking torque, re-determine the target torque for the slewing motor based on a minimum one of the target braking torque, a maximum braking torque that the slewing motor can provide and a maximum braking torque limited by the energy management module.

17. The excavator of claim 16, wherein, the slewing control module is configured to: determine the target torque for the slewing motor based on the first torque and a current feed-forward torque set.

18. The excavator of claim 17, wherein, the slewing control module is configured to initialize the current feed-forward torque before control starts, and set the current feed-forward torque in each round of control by: obtaining a previous feedforward torque, the previous feedforward torque being a current feedforward torque for a previous round of control; determining a current acceleration of the slewing motor based on a current rotational speed of the slewing motor, and determining an ideal acceleration of the slewing motor based on a current torque of the slewing motor; in response to the current acceleration of the slewing motor being greater than the ideal acceleration, decreasing the previous feedforward torque to obtain a current feedforward torque; in response to the current acceleration of the slewing motor being less than the ideal acceleration, increasing the previous feedforward torque to obtain a current feedforward torque.

19. The excavator of claim 18, wherein, The slewing control module is configured to: based on the current torque of the slewing motor, look up an ideal acceleration corresponding to the current torque on a torque-acceleration response curve pre-parameterized for the slewing motor.

20. The excavator of any one of claims 16 to 19, wherein, The closed-loop control parameters include proportional control parameters and integral control parameters.

21. An electronic device, comprising: one or more processors; and memory storing computer-executable instructions that, when executed by the one or more processors, cause the one or more processors to perform the excavator slewing control method according to any one of claims 1-10.

22. A non-transitory storage medium having stored thereon computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform the excavator slewing control method according to any one of claims 1-10.

23. A computer program product comprising instructions that, when executed by a processor, implement the excavator slewing control method according to any one of claims 1-10.

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