Construction machine slewing structure control method and device, electronic equipment and construction machine

Abstract

The application provides a method and device for controlling the slewing structure of a construction machine, an electronic device and a construction machine, to provide a method for stably releasing the elastic potential energy in the construction machine when the slewing of the construction machine is blocked. By controlling the motor of the construction machine to continue outputting the working torque in the original slewing direction, a certain resistance is provided for the release of the elastic potential energy, to ensure that a large rebound force is not generated in the whole process of the elastic release, so that the construction machine is not unstable. With the release of the elastic potential energy, the working torque output by the motor in the original slewing direction is gradually reduced until it is equal to a first torque value. The working torque is reduced to the first torque value instead of being reduced to zero, considering that in some cases, when the working torque is directly reduced to zero, a collision may occur in the slewing structure due to inertia, which affects the stability of the construction machine. Therefore, the first torque value can be set according to actual needs, to ensure that the construction machine remains stable at the end of the elastic potential energy release.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology with a rotating structure, specifically to a method, device, electronic equipment, and engineering machinery for controlling the rotating structure of engineering machinery. Background Technology

[0002] Some construction machinery features a slewing mechanism, such as excavators. This mechanism allows the platform and working device to rotate and change their orientation while the chassis is stationary, enabling operation within a 360° radius around the machinery. During operation, obstacles such as piles of earth may obstruct the rotation of the upper part of the machinery. Because construction machinery is not entirely rigid, when the working device is obstructed, the steering force continuously output by the motor acts on the obstacle through the working device. The machinery experiences a reaction force from the obstacle, resulting in a slight elastic deformation.

[0003] When the operator finds that the slewing mechanism is obstructed by an obstacle, they will issue an operating command to instruct the construction machinery to stop slewing. As the motor stops outputting steering force, the elastic potential energy stored in the elastic deformation of the construction machinery will be released without obstruction, resulting in rebound and instability of the construction machinery.

[0004] Currently, there is no good solution for how to stably release the elastic potential energy inside construction machinery when its rotation is obstructed. Summary of the Invention

[0005] In view of this, this application aims to provide a method, device, electronic device and engineering machinery for controlling the slewing structure of engineering machinery, so as to provide a method for stably releasing the elastic potential energy inside the engineering machinery when the slewing of the engineering machinery is hindered.

[0006] In a first aspect, embodiments of this application provide a method for controlling the slewing structure of engineering machinery, including:

[0007] When the rotation of the construction machinery is obstructed and stops, and a stop rotation command is received, the working torque output by the motor of the construction machinery in the original rotation direction is gradually reduced until the working torque is equal to the first torque value.

[0008] Optionally, the method for obtaining the first torque value includes:

[0009] The minimum torque value that can keep the working structure inside the rotating structure of the engineering machinery stable is taken as the first torque value;

[0010] The method further includes:

[0011] When the operating torque is equal to the first torque value, the operation of the motor is stopped, causing the operating torque to decrease to zero; or, when the operating torque is equal to the first torque value, the motor is controlled to continue outputting an operating torque equal to the first torque value.

[0012] Optionally, gradually reducing the working torque output by the motor of the engineering machinery in the original rotation direction until the working torque equals the first torque value includes:

[0013] The motor is controlled to output the working torque in the original rotation direction at a second torque value;

[0014] Gradually reduce the operating torque until the operating torque equals the first torque value;

[0015] The second torque value is obtained by means of:

[0016] The working torque value output by the motor in the original rotation direction at the moment the stop rotation command is received is taken as the second torque value, or the force generated by the deformation of the engineering machinery is taken as the second torque value.

[0017] Optionally, controlling the motor to output the working torque in the original rotation direction with a second torque value includes:

[0018] When the motor is operating in speed mode, the torque limit of the motor is adjusted to the second torque value and the motor is controlled to output the working torque in the original rotation direction;

[0019] Gradually reducing the operating torque until the operating torque equals the first torque value includes:

[0020] Gradually reduce the torque limit of the motor until the torque limit of the motor is equal to the first torque value.

[0021] Optionally, the method further includes:

[0022] When the working torque output by the motor in the original rotation direction is equal to the first torque value, the torque limit of the motor is restored to the rated torque limit of the motor.

[0023] Optionally, controlling the motor to output the working torque in the original rotation direction with a second torque value includes:

[0024] Switch the motor's operating mode from speed mode to torque mode, and adjust the torque value output by the motor so that the motor outputs the operating torque in the original rotation direction at the second torque value.

[0025] Optionally, gradually reducing the working torque output by the motor of the engineering machinery in the original rotation direction until the working torque equals the first torque value includes:

[0026] Turn off the motor's enable, allowing the motor to continue outputting the working torque in the original rotation direction due to inertia;

[0027] When it is detected that the working torque output by the motor in the original rotation direction is equal to the first torque value, the motor is enabled.

[0028] Secondly, embodiments of this application provide a control device for the slewing structure of engineering machinery, comprising:

[0029] The control unit is used to gradually reduce the working torque output by the motor of the construction machinery in the original rotation direction when the rotation of the construction machinery is obstructed and stops, and when a stop rotation command is received, until the working torque is equal to a first torque value.

[0030] Thirdly, embodiments of this application provide an electronic device, including a memory and a processor;

[0031] The memory is connected to the processor and is used to store programs;

[0032] The processor is used to implement the engineering machinery rotary structure control method as described in the first aspect by running the program in the memory.

[0033] Fourthly, embodiments of this application provide an engineering machinery, characterized in that it includes a rotating structure, a motor providing power to the rotating structure, and a controller;

[0034] The controller is used to control the engineering machinery to perform the engineering machinery slewing structure control method as described in the first aspect.

[0035] This application provides a control method for the slewing structure of engineering machinery. First, by controlling the motor of the engineering machinery to continue outputting working torque in the original slewing direction, a certain resistance is provided for the release of elastic potential energy, ensuring that no large rebound force is generated during the entire elastic release process, thus preventing instability of the engineering machinery. As the elastic potential energy is released, the elastic deformation of the chassis and working device of the engineering machinery gradually decreases, and the resulting rebound force gradually decreases. With the decrease in rebound force, the working torque output by the motor in the original slewing direction is gradually reduced until it equals a first torque value. The working torque is reduced to a first torque value rather than to zero because, in some cases, directly reducing the working torque to zero would cause collisions within the slewing structure, such as between slewing transmission gears, due to inertia, affecting the stability of the engineering machinery and unnecessarily increasing wear and tear. Therefore, the first torque value can be set according to actual needs to ensure that the engineering machinery remains stable at the end of the elastic potential energy release. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0037] Figure 1 This is a flowchart illustrating a control method for a rotating structure of engineering machinery provided in an embodiment of this application.

[0038] Figure 2 This is a schematic diagram illustrating the implementation logic of a control method for a rotating structure of engineering machinery provided in an embodiment of this application.

[0039] Figure 3 This is a schematic diagram illustrating the implementation logic of another control method for a rotating structure of engineering machinery provided in an embodiment of this application.

[0040] Figure 4 This is a schematic diagram illustrating the implementation logic of another control method for a rotating structure of engineering machinery provided in an embodiment of this application.

[0041] Figure 5 This is a schematic diagram of the structure of the engineering machinery slewing structure control device provided in the embodiments of this application.

[0042] Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0043] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] The first embodiment of this application provides a method for controlling the slewing structure of engineering machinery, such as... Figure 1 As shown, the method may include the following steps:

[0045] Step 101: When the rotation of the construction machinery is obstructed and stops, and a stop rotation command is received, gradually reduce the working torque output by the motor of the construction machinery in the original rotation direction until the working torque is equal to the first torque value.

[0046] To illustrate the situation where the rotation of construction machinery is obstructed and stops, consider an example: an excavator is being operated by the excavator to dig soil and transfer it from direction A to direction B. During the excavator's transition from direction A to direction B, a large pile of soil obstructs the rotation path of the excavator's bucket, preventing it from rotating further. In this situation, the motor powering the slewing mechanism is effectively locked at zero speed. For the excavator, in this state, the steering force provided by the motor, the deformation force generated by the excavator's deformation, and the reaction force exerted on the excavator's bucket by the soil pile due to the pressure from the bucket are balanced, keeping the excavator stationary.

[0047] When the operator finds that the slewing operation of the construction machinery is obstructed and cannot be completed normally, they will issue a stop slewing command to the construction machinery. One control method for the slewing structure of construction machinery is as follows: for construction machinery controlled by a handle, the operator controls the slewing of the machinery through the slewing handle. The specific control logic for the slewing structure controlled by the slewing handle can be: when the operator swings the slewing handle to the left, the construction machinery turns to the left; when the operator swings the slewing handle to the right, the construction machinery turns to the right; or, it can be set so that when the operator swings the slewing handle forward, the construction machinery turns to the left; when the operator swings the slewing handle backward, the construction machinery turns to the right, etc. This embodiment does not specifically limit the control logic. When the operator finds that the slewing operation of the construction machinery is obstructed and cannot be completed normally, they will return the slewing handle to the center or adjust it to within the free travel range to issue a stop slewing command to the construction machinery.

[0048] Returning the slewing handle to its center position means adjusting it to be perpendicular to the cab floor or a horizontal plane. Some construction machinery has a free travel range for the handle; when the handle deviates to the left, right, or other directions within this free travel range, no control commands are issued to the machinery. Adjusting the slewing handle to its free travel range means adjusting the position of the slewing handle to within this range.

[0049] When a stop rotation command is received, if no preventative measures are taken and the motor is immediately stopped, the output torque will drop to zero. This would cause the elastic potential energy stored within the machinery due to deformation to be released without pressure, potentially leading to springback in the upper part of the machinery and affecting its stability. Therefore, in this embodiment, the motor output is not immediately stopped upon receiving the stop rotation command. Instead, a certain amount of operating torque is maintained. The motor's output torque provides resistance to the release of elastic potential energy, thus ensuring that a large rebound force is not generated during the elastic release process, preventing instability in the machinery.

[0050] As the elastic potential energy is released, the elastic deformation of the chassis and working device of the construction machinery gradually decreases, and the rebound force generated by the deformation also gradually decreases. Therefore, as the rebound force decreases, the force hindering the release of elastic potential energy can be gradually reduced, that is, the working torque output by the motor in the original rotation direction can be gradually reduced.

[0051] The step size for gradually reducing the working torque output by the motor in the original rotation direction can be set according to the material properties of the rotating structure. For example, a fixed step size can be used to gradually reduce the working torque; for instance, if the initial output working torque is 200N, a step size of -10N / 10ms can be used to gradually reduce the working torque to the first torque value. Alternatively, the working torque can be gradually reduced by dynamically acquiring the step size in real time according to certain rules. For example, the entire working torque reduction process can be mapped to a parabola with time on the horizontal axis and torque value on the vertical axis, and the real-time step size for reducing the torque can be obtained from the derivative function of the parabola. Alternatively, the working torque can be reduced in stages, with each stage following different rules, such as gradually reducing the working torque with a fixed step size or a dynamically changing step size in different stages. In short, setting an appropriate step size according to the actual situation is crucial. For example, for an initial output working torque of 200N, setting a small fixed step size, such as -10N / 10ms, can ensure that the construction machinery remains stable during the release of elastic potential energy, preventing vibration and impact.

[0052] To ensure the stability of the construction machinery throughout the entire process of releasing elastic potential energy, this embodiment gradually reduces the working torque output by the motor in the original rotation direction until it equals the first torque value as the rebound force decreases. The reason for reducing the working torque to the first torque value instead of directly reducing it to zero is that in some cases, directly reducing the working torque to zero could cause collisions due to inertia within the rotating structure, such as between rotating transmission gears. Due to the limited manufacturing precision of the internal structures of the rotating structure, such as transmission gears, while they can ensure meshing, they cannot guarantee perfect meshing; there is generally a certain amount of play. If the torque is fixed at zero, the instant it reaches zero, analogous to a sudden braking situation where movable objects inside a vehicle move forward or even fly out, could also cause collisions between parts within the rotating structure due to play, affecting the stability of the construction machinery at the final moment of the elastic potential energy release process and increasing wear and tear. Therefore, the first torque value can be set according to actual needs, and can be set to consistently output a relatively small first torque value to ensure the stability of the construction machinery.

[0053] The second embodiment of this application further specifies the control method for the slewing structure of engineering machinery in the first embodiment in a more detailed and specific way. Some or all of the technical features in the second embodiment can be combined with or replaced by the first embodiment, either individually or in combination, to obtain more feasible control methods for the slewing structure of engineering machinery.

[0054] The control method for the slewing structure of engineering machinery in the second embodiment of this application is described in detail below:

[0055] Optionally, the method for obtaining the first torque value includes: taking the minimum torque value that can keep the working structure inside the slewing structure of the engineering machinery stable as the first torque value; the control method for the slewing structure of the engineering machinery further includes: when the working torque is equal to the first torque value, stopping the operation of the motor to reduce the working torque to zero; or, when the working torque is equal to the first torque value, controlling the motor to continue to output a working torque equal to the first torque value.

[0056] This embodiment defines a method for obtaining a first torque value. The minimum torque value that ensures the stability of the working structure inside the slewing mechanism of the engineering machinery is used as the first torque value. The working structure inside the slewing mechanism of the engineering machinery includes slewing transmission gears, etc. The specific value of the "minimum torque value that ensures the stability of the working structure inside the slewing mechanism of the engineering machinery" can be calculated or obtained through actual experiments.

[0057] Taking a stationary rotary gear set as an example, when a small stabilizing force is applied to the rotary gear set, the magnitude of which is insufficient to overcome the friction between the gears and surrounding parts, causing the gears to rotate, the individual gears in the rotary gear set will not be rotating. However, the stability of the meshing between the gears will increase significantly. When subjected to an external impact, the gears with the applied stabilizing force have interaction forces, and each gear itself experiences a certain amount of friction, preventing the teeth from easily colliding with each other.

[0058] In summary, continuing to output a relatively small working torque (first torque value) in the final stage of elastic potential energy release is beneficial for protecting the internal stability of the engineering machinery.

[0059] On the other hand, considering the possibility that the driver might issue a stop command for the slewing operation but still control the motor to continue outputting power in the original slewing direction, from a driving logic perspective, situations where the operation of the construction machinery contradicts the driver's commands should be minimized. Therefore, this embodiment also proposes that if the first torque value is small—specifically, small enough that even if the output working torque abruptly drops from the first torque value to zero, a collision affecting the vehicle's stability will not occur inside the construction machinery—then the motor can be stopped when the working torque equals the first torque value, causing the working torque to decrease to zero. This operating logic is more consistent with the actual operating conditions of the driver.

[0060] Optionally, gradually reducing the working torque output by the motor of the construction machinery in the original rotation direction until the working torque equals the first torque value includes: controlling the motor to output the working torque in the original rotation direction with a second torque value; gradually reducing the working torque until the working torque equals the first torque value; the method of obtaining the second torque value includes: taking the working torque value output by the motor in the original rotation direction at the moment the stop rotation command is received as the second torque value, or taking the force generated by the deformation of the construction machinery as the second torque value.

[0061] This embodiment limits the output working torque of the motor to the original rotation direction to the maximum value of the second torque value, and controls the output working torque to gradually decrease to less than the second torque value until it finally equals the first torque value.

[0062] This embodiment also specifies the method for obtaining the second torque value. One optional method is to use the working torque value output by the motor in the original rotation direction at the moment the stop rotation command is received as the second torque value. The process can be understood as follows: when the stop rotation command is received, the torque value output at that moment is immediately used as the second torque value, and the continued output torque value is controlled to gradually decrease according to a certain rule, such as a pre-set appropriate fixed step size or dynamic step size, to ensure that the construction machinery remains stable during the release of elastic potential energy and does not experience shaking or impact.

[0063] Regarding another optional method for obtaining the second torque value, assuming that upon receiving a stop rotation command, the motor immediately stops outputting working torque, a mechanical analysis of the obstacle-machinery operation is performed. At this point, the deformed portion of the machine outputs a deformation force, which acts on the obstacle on one side, causing the machine to experience a reaction force from the obstacle. This deformation force also acts on the motor that powers the rotation structure, applying a force to the motor opposite to the original working torque output direction.

[0064] Therefore, the magnitude of the second torque value only needs to be sufficient to offset the deformation force to a certain extent, so that the release of elastic potential energy is relatively gradual. The magnitude of the deformation force on the motor side is actually less than the working torque value output by the motor in the original rotation direction at the moment the stop rotation command is received. In this mode, when the stop rotation command is received, the obtained deformation force will first be used as the second torque value, and the working torque output by the motor in the original rotation direction will be immediately adjusted to the second torque value before the process of gradually reducing the working torque begins.

[0065] Deformation force can be obtained in various ways. For example, the relationship between deformation and deformation force can be established in advance. When the rotation of the construction machinery is hindered, the deformation value of the construction machinery can be detected to determine the magnitude of the deformation force. Alternatively, the elastic modulus of the construction machinery can be obtained in advance. When the rotation of the construction machinery is hindered, the strain of the construction machinery can be detected, and the magnitude of the deformation force can be calculated using the elastic modulus and strain.

[0066] The third embodiment of this application further specifies the control method for the slewing structure of engineering machinery in the second embodiment in a more detailed and specific way. Some or all of the technical features in the third embodiment can be combined with or replaced by the first embodiment, either individually or in combination, to obtain more feasible control methods for the slewing structure of engineering machinery.

[0067] like Figure 2 As shown below, the control method for the slewing structure of engineering machinery in the third embodiment of this application will be described in detail:

[0068] Optionally, controlling the motor to output working torque in the original rotation direction at a second torque value includes: when the motor is operating in speed mode, adjusting the motor's torque limit to the second torque value and controlling the motor to output working torque in the original rotation direction; gradually reducing the working torque until the working torque equals the first torque value includes: gradually reducing the motor's torque limit until the motor's torque limit equals the first torque value.

[0069] This embodiment proposes a specific method for adjusting the output torque of a motor based on several motor control methods used in practical applications. This embodiment specifically addresses the case where the motor operates in speed mode.

[0070] When the motor is running in speed mode, the working torque output of the motor cannot be directly controlled. Under normal circumstances, the torque output of the motor can only be indirectly adjusted by adjusting the motor speed.

[0071] When the rotation of construction machinery is obstructed, the motor is actually in a stalled state, that is, the speed is zero, but it still outputs torque. At this time, the motor outputs working torque at the torque limit of the motor in this operating state (the maximum torque that the motor can output). By continuously reducing the torque limit of the motor, the working torque output by the motor in the speed mode can be adjusted.

[0072] In summary, Figure 2 Taking a type of construction machinery controlled by a rotary handle as an example, the execution logic of the control method for the rotary structure of the construction machinery when the motor is always controlled in speed mode is explained. When the handle returns to center and enters the idle stroke, in speed mode, the torque limit of the motor is gradually reduced until the actual output working torque of the motor is equal to the first torque value T1.

[0073] Optionally, the control method for the slewing structure of engineering machinery further includes: when the working torque output by the motor in the original slewing direction is equal to the first torque value, restoring the torque limit of the motor to the rated torque limit of the motor.

[0074] As the motor's torque limit is gradually reduced in speed mode, the maximum operating torque that the motor can output becomes smaller and smaller. This embodiment proposes that when the elastic potential energy release ends, the motor's torque limit be restored to the motor's rated torque limit to avoid a situation where, even if the maximum torque within the motor's capacity is output when the driver issues subsequent operating commands, the motor still cannot operate normally due to insufficient torque.

[0075] The fourth embodiment of this application further specifies the control method for the slewing structure of engineering machinery in the second embodiment in a more detailed and specific way. Some or all of the technical features in the fourth embodiment can be combined with or replaced by the second embodiment, either individually or in combination, to obtain more feasible control methods for the slewing structure of engineering machinery.

[0076] like Figure 3 As shown below, the control method for the slewing structure of engineering machinery in the fourth embodiment of this application will be described in detail:

[0077] Optionally, controlling the motor to output working torque in the original rotation direction with a second torque value includes: switching the motor's operating mode from speed mode to torque mode, and adjusting the torque value output by the motor so that the motor outputs working torque in the original rotation direction with a second torque value.

[0078] This embodiment proposes a specific method for adjusting the output torque of a motor based on several control methods used in practical applications. This embodiment specifically addresses the scenario where the motor operates in torque mode. When the motor is running in torque mode, the torque output can be directly adjusted. During normal operation of construction machinery, the motor primarily operates in speed mode. However, in situations involving stall, continuously using speed mode can lead to abnormal conditions such as motor overheating and over-temperature. In such cases, the motor's operating mode can be switched to torque mode.

[0079] In summary, Figure 3 Taking a type of construction machinery controlled by a rotary handle as an example, this paper describes the control logic of a rotary structure control method for construction machinery when the motor is switched from speed mode to torque mode control after the rotary motion is obstructed. When the handle returns to center and enters the idle stroke, and the motor is detected to be stalled due to obstructed rotation, the motor's operating mode is switched from speed mode to torque mode. Then, the actual output torque of the motor is directly reduced from the current value T0 to equal the first torque value T1. Finally, the motor is switched back to speed mode.

[0080] The fifth embodiment of this application further specifies the control method for the slewing structure of engineering machinery in the first embodiment in a more detailed and specific way. Some or all of the technical features in the fifth embodiment can be combined with or replaced by the first embodiment, either individually or in combination, to obtain more feasible control methods for the slewing structure of engineering machinery.

[0081] like Figure 4 As shown below, the control method for the slewing structure of engineering machinery in the fifth embodiment of this application will be described in detail:

[0082] Optionally, the working torque output by the motor of the construction machinery in the original rotation direction is gradually reduced until the working torque is equal to the first torque value, including: turning off the motor enable, so that the motor continues to output working torque in the original rotation direction by inertia; when it is detected that the working torque output by the motor in the original rotation direction is equal to the first torque value, the motor enable is turned on.

[0083] This embodiment defines another specific method for gradually reducing the working torque output by the motor of the construction machinery in the original rotation direction. Specifically, by directly turning off the motor and without performing any other operations, the motor will still output working torque in the original rotation direction due to inertia. The elastic potential energy of the construction machinery will be continuously consumed to resist the inertia of the motor. The elastic potential energy of the construction machinery and the torque output by the motor will continuously decrease as they cancel each other out.

[0084] When the working torque output by the motor in the original rotation direction is detected to drop to the first torque value, the motor is enabled and the motor operation is resumed to ensure the stability of the construction machinery in the final stage of elastic potential energy release.

[0085] In summary, Figure 4 Taking a type of construction machinery controlled by a rotary handle as an example, the control logic of the control method for the rotary structure of the construction machinery when the motor enable is directly turned off is explained. When the handle returns to center and enters the idle stroke, the motor enable is turned off, causing the motor output torque to decrease naturally. When the actual output working torque of the motor is equal to the first torque value T1, the motor enable is turned on, and the motor operation is restored.

[0086] Accordingly, the sixth embodiment of this application also provides a control device for the slewing structure of engineering machinery, such as... Figure 5 As shown, the device includes:

[0087] The control unit 501 is used to gradually reduce the working torque output by the motor of the construction machinery in the original rotation direction when the rotation of the construction machinery is obstructed and a stop rotation command is received, until the working torque is equal to the first torque value.

[0088] Optionally, the method for obtaining the first torque value includes:

[0089] The minimum torque value that can keep the internal working structure of the rotating structure of the engineering machinery stable is taken as the first torque value;

[0090] The methods for slewing structures in engineering machinery also include:

[0091] When the working torque equals the first torque value, the motor stops running, causing the working torque to drop to zero; or, when the working torque equals the first torque value, the motor is controlled to continue outputting a working torque equal to the first torque value.

[0092] Optionally, gradually reduce the working torque output by the motor of the construction machinery in the original rotation direction until the working torque equals the first torque value, including:

[0093] Control the motor to output the working torque in the original rotation direction at the second torque value;

[0094] Gradually reduce the operating torque until the operating torque equals the first torque value;

[0095] The second torque value is obtained through the following methods:

[0096] The working torque value output by the motor in the original rotation direction at the moment the stop rotation command is received is taken as the second torque value, or the force generated by the deformation of the engineering machinery is taken as the second torque value.

[0097] Optionally, controlling the motor to output working torque in the original rotation direction at a second torque value includes:

[0098] When the motor is operating in speed mode, the torque limit of the motor is adjusted to the second torque value and the motor is controlled to output working torque in the original rotation direction;

[0099] Gradually reduce the operating torque until it equals the first torque value, including:

[0100] Gradually reduce the motor's torque limit until the motor's torque limit equals the first torque value.

[0101] Optionally, the slewing structure method for engineering machinery also includes:

[0102] When the working torque output by the motor in the original rotation direction is equal to the first torque value, the torque limit of the motor is restored to the rated torque limit of the motor.

[0103] Optionally, controlling the motor to output working torque in the original rotation direction at a second torque value includes:

[0104] Switch the motor's operating mode from speed mode to torque mode, and adjust the motor's output torque value so that the motor outputs the working torque in the original rotation direction with the second torque value.

[0105] Optionally, gradually reduce the working torque output by the motor of the construction machinery in the original rotation direction until the working torque equals the first torque value, including:

[0106] Turning off the motor enable allows the motor to continue outputting working torque in the original rotation direction due to inertia;

[0107] When the working torque output by the motor in the original rotation direction is detected to be equal to the first torque value, the motor is enabled.

[0108] The engineering machinery slewing structure control device provided in this embodiment belongs to the same application concept as the engineering machinery slewing structure control method provided in the above embodiments of this application. It can execute the engineering machinery slewing structure control method provided in any of the above embodiments of this application and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in this embodiment can be found in the specific processing content of the engineering machinery slewing structure control method provided in the above embodiments of this application, and will not be repeated here.

[0109] The functions implemented by the control unit 501 described above can be implemented by the same or different processors, and this application embodiment does not limit this.

[0110] It should be understood that the units in the above device can be implemented by a processor calling software. For example, the device includes a processor connected to a memory containing instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of each unit in the device. The processor can be a general-purpose processor, such as a CPU or microprocessor, and the memory can be internal or external to the device. Alternatively, the units in the device can be implemented as hardware circuits. By designing the hardware circuits, some or all of the unit functions can be implemented. The hardware circuits can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units are implemented by designing the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a PLD, such as an FPGA, which can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files to implement the functions of some or all of the above units. All units in the above device can be implemented entirely by a processor calling software, entirely by hardware circuits, or partially by a processor calling software with the remaining parts implemented by hardware circuits.

[0111] In this application embodiment, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a CPU, microprocessor, GPU, or DSP. In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented as an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement the functions of some or all of the above units. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, or DPU.

[0112] As can be seen, each unit in the above device can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0113] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a System-on-Chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the device. The at least one processor may be of different types, such as CPU and FPGA, CPU and artificial intelligence processor, CPU and GPU, etc.

[0114] The seventh embodiment of this application also proposes an electronic device, see [link to previous document]. Figure 6 As shown, the device includes:

[0115] Memory 600 and processor 610;

[0116] The memory 600 is connected to the processor 610 and is used to store programs;

[0117] The processor 610 is used to implement the engineering machinery rotary structure control method disclosed in any of the above embodiments by running the program stored in the memory 600.

[0118] Specifically, the aforementioned electronic device may also include: a bus, a communication interface 620, an input device 630, and an output device 640.

[0119] The processor 610, memory 600, communication interface 620, input device 630, and output device 640 are interconnected via a bus. Among them:

[0120] A bus can include a pathway for transmitting information between various components of a computer system.

[0121] The processor 610 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program of the present application. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0122] The processor 610 may include a main processor, as well as a baseband chip, modem, etc.

[0123] The memory 600 stores a program for executing the technical solution of this application, and may also store an operating system and other critical business functions. Specifically, the program may include program code, which includes computer operation instructions. More specifically, the memory 600 may include read-only memory (ROM), other types of static storage devices capable of storing static information and instructions, random access memory (RAM), other types of dynamic storage devices capable of storing information and instructions, disk storage, flash memory, etc.

[0124] Input device 630 may include a device for receiving user input data and information, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer, or gravity sensor.

[0125] Output device 640 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0126] The communication interface 620 may include a device that uses any transceiver to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0127] The processor 610 executes the program stored in the memory 600 and calls other devices, which can be used to implement each step of any of the engineering machinery rotary structure control methods provided in the above embodiments of this application.

[0128] The eighth embodiment of this application also provides an engineering machine, including a rotary structure, a motor and a controller that provide power to the rotary structure;

[0129] A controller is used to control engineering machinery to perform the engineering machinery slewing structure control method disclosed in any of the above method embodiments.

[0130] The controller is specifically determined by the design control logic of the engineering machinery. Taking the engineering machinery slewing structure control method described in the third embodiment as an example, in this embodiment, it is necessary to adjust the torque limit of the motor to adjust the working torque output of the motor. The corresponding design control logic in this embodiment can be: the vehicle controller (VCU) sends a control command to the motor controller, and the motor controller specifically executes the operation of adjusting the torque limit of the motor, such as reducing or restoring the torque limit. At this time, the vehicle controller indirectly controls the motor through the motor controller to execute the engineering machinery slewing structure control method disclosed in the above method embodiment.

[0131] In addition, other different design control logics can be selected. For example, in another design control logic, the vehicle controller is only responsible for issuing operation commands and making requests. For instance, the vehicle controller sends a control command to the motor controller, requesting that the motor be controlled to rotate and remain stable throughout the rotation. The specific implementation method is determined by the motor controller itself. Under this design logic, when the rotation of the construction machinery is obstructed and stops, and the motor controller determines that the rotation is obstructed and the motor has entered a stall state, it will automatically execute the construction machinery rotation structure control method disclosed in the above-described method embodiment and report it to the vehicle controller.

[0132] Alternatively, if the controller structure is highly integrated, for example, a new engineering machinery control structure in which the vehicle controller and the motor controller are combined, then the vehicle controller can directly control the motor to execute the engineering machinery rotary structure control method disclosed in the above method embodiments.

[0133] The construction machinery provided in this embodiment can be an excavator.

[0134] The engineering machinery provided in this embodiment belongs to the same concept as the engineering machinery slewing structure control method provided in the above embodiments of this application. It can execute the engineering machinery slewing structure control method provided in any of the above embodiments of this application and has the corresponding functional modules and beneficial effects. Technical details not described in detail in this embodiment can be found in the specific processing content of the engineering machinery slewing structure control method provided in the above embodiments of this application, and will not be repeated here.

[0135] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for the slewing structure of engineering machinery, characterized in that, include: The minimum torque value that can keep the internal working structure of the rotating structure of the engineering machinery stable is taken as the first torque value; When the rotation of the construction machinery is obstructed and stops, and a stop rotation command is received, the working torque value output by the motor in the original rotation direction at the moment the stop rotation command is received is taken as the second torque value, or the force generated by the deformation of the construction machinery is taken as the second torque value. The motor is controlled to output the working torque in the original rotation direction at the second torque value, and the working torque output by the motor of the construction machinery in the original rotation direction is gradually reduced until the working torque is equal to the first torque value, and the first torque value is greater than zero.

2. The method for controlling the slewing structure of engineering machinery according to claim 1, characterized in that, The method further includes: When the operating torque is equal to the first torque value, the operation of the motor is stopped, causing the operating torque to decrease to zero; or, when the operating torque is equal to the first torque value, the motor is controlled to continue outputting an operating torque equal to the first torque value.

3. The method for controlling the slewing structure of engineering machinery according to claim 2, characterized in that, The control of the motor to output the working torque in the original rotation direction with a second torque value includes: When the motor is operating in speed mode, the torque limit of the motor is adjusted to the second torque value and the motor is controlled to output the working torque in the original rotation direction; Gradually reducing the operating torque until the operating torque equals the first torque value includes: Gradually reduce the torque limit of the motor until the torque limit of the motor is equal to the first torque value.

4. The method for controlling the slewing structure of engineering machinery according to claim 3, characterized in that, The method further includes: When the working torque output by the motor in the original rotation direction is equal to the first torque value, the torque limit of the motor is restored to the rated torque limit of the motor.

5. The method for controlling the slewing structure of engineering machinery according to claim 1, characterized in that, The control of the motor to output the working torque in the original rotation direction with a second torque value includes: Switch the motor's operating mode from speed mode to torque mode, and adjust the torque value output by the motor so that the motor outputs the operating torque in the original rotation direction at the second torque value.

6. The method for controlling the slewing structure of engineering machinery according to claim 1, characterized in that, The process of gradually reducing the working torque output by the motor of the engineering machinery in the original rotation direction until the working torque equals the first torque value includes: Turn off the motor's enable, allowing the motor to continue outputting the working torque in the original rotation direction due to inertia; When it is detected that the working torque output by the motor in the original rotation direction is equal to the first torque value, the motor is enabled.

7. A control device for the slewing structure of engineering machinery, characterized in that, include: The control unit is used to set the minimum torque value that can keep the working structure inside the rotating structure of the engineering machinery stable as the first torque value. When the rotation of the construction machinery is obstructed and stops, and a stop rotation command is received, the working torque value output by the motor in the original rotation direction at the moment the stop rotation command is received is taken as the second torque value, or the force generated by the deformation of the construction machinery is taken as the second torque value. The motor is controlled to output the working torque in the original rotation direction at the second torque value, and the working torque output by the motor of the engineering machinery in the original rotation direction is gradually reduced until the working torque is equal to the first torque value.

8. An electronic device, characterized in that, Including memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the engineering machinery rotary structure control method as described in any one of claims 1 to 6 by running the program in the memory.

9. An engineering machinery, characterized in that, Includes a rotating structure, a motor that provides power to the rotating structure, and a controller; The controller is used to control the engineering machinery to perform the engineering machinery rotation structure control method as described in any one of claims 1 to 6.

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