Rotary control method and device, computer equipment and engineering machinery

Abstract

The invention relates to the technical field of vehicle control, and discloses a rotation control method and device, computer equipment and engineering machinery, and the rotation control method comprises the steps: obtaining a rotation parameter value for reflecting rotation inertia; determining a rotation inertia percentage according to the rotation parameter value; determining a rotation inertia slope according to the rotation inertia percentage; and in the rotation stopping stage, the rotation system is controlled according to the rotation inertia slope. That is to say, the influence of rotation inertia on rotation is considered in the rotation process, so that the stability of the rotation system during rotation can be improved, and starting and stopping impact and hook backswing are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a slewing control method, device, computer equipment and engineering machinery. Background Art

[0002] The slewing system is one of the important actuators of crane products, mainly composed of oil pump, motor, reducer, switch brake, slewing support, control system, etc. Its transmission chain is long, the light load and heavy load change is large, the stability requirement is high, and the system rigidity and structural clearance have a great influence. At present, the traditional slewing system control method has the problem of poor slewing stability, such as shaking when the slewing is lightly loaded and impact when the slewing is heavy loaded. Summary of the invention

[0003] In view of this, the present invention provides a slewing control method, device, computer equipment and engineering machinery to solve the problem of poor slewing stability of the slewing system.

[0004] In a first aspect, the present invention provides a rotation control method comprising the following steps: obtaining a rotation parameter value used to reflect the rotation inertia; determining the rotation inertia percentage based on the rotation parameter value; determining the rotation inertia slope based on the rotation inertia percentage; and controlling the rotation system according to the rotation inertia slope during the rotation stop phase and / or the rotation start phase.

[0005] The slewing control method provided by the present invention obtains a slewing parameter value for reflecting the slewing inertia, determines the slewing inertia percentage according to the slewing parameter value, and thereby determines the slewing inertia slope according to the slewing inertia percentage, so as to control the slewing system according to the slewing inertia slope during the slewing stop phase. That is, the influence of the slewing inertia on the slewing is taken into account during the slewing process, thereby improving the stability of the slewing system during slewing, and reducing the start and stop impact and hook swing.

[0006] In an optional embodiment, determining the rotational inertia slope based on the actual rotational inertia 100 includes: obtaining a rotation slope setting value and a maximum slope loading range, wherein the rotation slope setting value includes a rotation descending slope setting value and a rotation rising slope setting value; calculating the first-stage rotational inertia slope using a preset first formula according to the rotation slope setting value, the maximum slope loading range and the rotational inertia percentage, wherein the first-stage rotational inertia slope includes the first-stage rotational inertia slope and the first-stage rotational inertia rising slope; obtaining the current rotation current, the minimum rotation current setting value and a preset variable slope current range; calculating the second-stage rotational inertia slope using a preset second formula according to the current rotation current, the minimum rotation current setting value, the variable slope current range and the first-stage rotation inertia slope; wherein the second-stage rotational inertia slope includes the second-stage rotation inertia slope and the second-stage rotation rising slope.

[0007] The rotation stop phase and / or the rotation start phase is divided into two phases, so that the rotation stop phase and / or the rotation start phase can take into account both the rotation descent time and the rotation stability.

[0008] In an optional embodiment, in the rotation stop stage, controlling the rotation system according to the rotation inertia slope includes: determining the first segmentation point current between the first stage and the second stage according to the minimum rotation current setting value and the variable slope current range; when the rotation stop starts, controlling the rotation system with the first stage rotation inertia slope; obtaining the first actual rotation current; when the first actual rotation current reaches the first segmentation point current, controlling the rotation system with the second stage rotation inertia slope; and / or, in the rotation start-up stage, controlling the rotation system according to the rotation inertia slope includes: determining the second segmentation point current between the third stage and the fourth stage according to the minimum rotation current setting value and the variable slope current range; when the rotation start-up starts, controlling the rotation system with the second stage rotation inertia rising slope; obtaining the second actual rotation current; when the second actual rotation current reaches the second segmentation point current, controlling the rotation system with the first stage rotation inertia rising slope.

[0009] As above, the rotation stop phase and / or the rotation start phase are divided into two phases, so that the rotation stop phase and / or the rotation start phase can take into account both the rotation descent time and the rotation stability.

[0010] In an optional embodiment, the rotation parameter values ​​used to reflect the rotation inertia include: the first weight and the first center distance of the boom, the second weight and the second center distance of the hanging weight, and the third weight and the third center moment of the counterweight. Determining the rotation inertia percentage according to the rotation parameter values ​​includes: calculating the actual rotation inertia using a preset third formula according to the first weight, the second weight, the third weight, the first center distance, the second center distance, and the third center moment; obtaining the preset minimum inertia and maximum inertia; and calculating the rotation inertia percentage using a preset fourth formula according to the minimum inertia, the maximum inertia, and the actual rotation inertia.

[0011] This allows you to quickly and easily get the rotational inertia percentage.

[0012] In an optional embodiment, the rotation control method also includes the following steps: determining whether the rotation inertia percentage is less than a preset first threshold; when the rotation inertia percentage is less than the first threshold, obtaining the set maximum rotation current setting value and minimum rotation current setting value, and calculating the maximum rotation current target value using the preset fifth formula according to the maximum rotation current, the minimum rotation current setting value and the rotation inertia percentage; when the rotation inertia percentage is greater than or equal to the first threshold, obtaining the maximum rotation current setting value, and using the maximum rotation current setting value as the maximum rotation current target value; in the rotation start-up stage, controlling the rotation system according to the maximum rotation current target value.

[0013] Therefore, by limiting the maximum swing current, the stability of the swing system can be improved, and the starting and stopping impact and hook swing can be reduced.

[0014] In a second aspect, the present invention also provides a rotation control device, which includes an acquisition module, a rotation inertia percentage determination module, a rotation inertia slope determination module and a rotation control module; the acquisition module is used to acquire a rotation parameter value used to reflect the rotation inertia; the rotation inertia percentage determination module is used to determine the rotation inertia percentage according to the rotation parameter value; the rotation inertia slope determination module is used to determine the rotation inertia slope according to the rotation inertia percentage; the rotation control module is used to control the rotation system according to the rotation inertia slope during the rotation stop stage and / or the rotation start stage.

[0015] In a third aspect, the present invention provides a computer device, comprising a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the rotation control method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0016] In a fourth aspect, the present invention further provides an engineering machine comprising the computer device of the third aspect.

[0017] In a fifth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the rotation control method of the first aspect or any corresponding embodiment thereof.

[0018] In a sixth aspect, the present invention provides a computer program product, comprising computer instructions for causing a computer to execute the rotation control method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 is a flow chart of a rotation control method according to an embodiment of the present invention;

[0021] Figure 2 is a flow chart of another rotation control method according to an embodiment of the present invention;

[0022] Figure 3 is a flow chart of another rotation control method according to an embodiment of the present invention;

[0023] Figure 4 is a flow chart of an example of a rotation control method according to an embodiment of the present invention;

[0024] Figure 5 is a schematic diagram of current loading for starting and stopping rotation according to an embodiment of the present invention;

[0025] Figure 6 is a structural block diagram of a slewing control device according to an embodiment of the present invention;

[0026] Figure 7 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0028] The traditional slewing system control method is: fixed acceleration and deceleration oil pump current control slope, which is manually adjustable. This control method has been used on cranes for many years, but there are problems with poor slewing stability, such as jitter when slewing under light load and impact when slewing under heavy load.

[0029] Based on this, an embodiment of the present invention provides an embodiment of a rotation control method. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0030] In this embodiment, a rotation control method is provided, which can be used in computer equipment. Figure 1 is a flow chart of a rotation control method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0031] Step S101: Obtain a rotation parameter value for reflecting the rotation inertia.

[0032] In an optional embodiment, the slewing parameter values ​​used to reflect the slewing inertia include: the first weight and the first center distance of the boom, the second weight and the second center distance of the hanging weight, and the third weight and the third center moment of the counterweight. The first center distance of the boom, the second center distance of the hanging weight, and the third center moment of the counterweight all start from the slewing center.

[0033] Step S102: Determine the rotational inertia percentage according to the rotation parameter value.

[0034] Step S103: Determine the rotational inertia slope according to the rotational inertia percentage.

[0035] Step S104: During the rotation stop phase and / or the rotation start phase, the rotation system is controlled according to the rotation inertia slope.

[0036] The rotation stop phase can also be called the rotation descending phase, and the rotation start phase can also be called the rotation ascending phase.

[0037] The slewing control method provided in this embodiment obtains a slewing parameter value for reflecting the slewing inertia, determines the slewing inertia percentage according to the slewing parameter value, and thereby determines the slewing inertia slope according to the slewing inertia percentage, so as to control the slewing system according to the slewing inertia slope during the slewing stop phase. In other words, the influence of the slewing inertia on the slewing is taken into account during the slewing process, thereby improving the stability of the slewing system during slewing, and reducing the start and stop impact and hook swing.

[0038] In this embodiment, a rotation control method is provided, which can be used in computer equipment. Figure 2 is a flow chart of another rotation control method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0039] Step S201: Obtain a rotation parameter value for reflecting the rotation inertia.

[0040] Step S202: Determine the rotational inertia percentage according to the rotation parameter value.

[0041] Step S203: Determine the rotational inertia slope according to the rotational inertia percentage.

[0042] In an optional implementation, determining the rotational inertia slope according to the rotational inertia percentage includes the following steps S2031 to S2034.

[0043] Step S2031: Obtain the set rotation slope setting value and the maximum slope loading range, wherein the rotation slope setting value includes the rotation descending slope setting value and the rotation ascending slope setting value.

[0044] Step S2032: Calculate the first stage rotation inertia slope according to the rotation slope setting value, the maximum slope loading range and the rotation inertia percentage using a preset first formula, wherein the first stage rotation inertia slope includes the first stage rotation inertia slope and the first stage rotation inertia rising slope.

[0045] For example, the first formula is: KJX=KminP+X*ID2, where KJX represents the first stage rotation inertia slope, KminP represents the rotation descending slope setting value, X represents the rotation inertia percentage, and ID2 represents the maximum loading range of the slope.

[0046] Step S2033: Obtain the current swing current, the minimum swing current setting value and the preset variable slope current range.

[0047] Step S2034: Calculate the second stage rotation inertia slope using a preset second formula according to the current rotation current, the minimum rotation current setting value, the variable slope current range and the first stage rotation inertia slope, wherein the second stage rotation inertia slope includes the second stage rotation inertia slope and the second stage rotation rising slope.

[0048] For example, the second formula is: KJ=1+(A-AminP)(KJX-1) / ADT, where KJ represents the second-stage rotation inertia slope, A represents the current rotation current, AminP represents the minimum rotation current setting value, KJX represents the first-stage rotation inertia slope, and ATD represents the variable slope current range.

[0049] Step S204: During the rotation stop phase, the rotation system is controlled according to the rotation inertia slope.

[0050] In an optional implementation, in the rotation stop phase, controlling the rotation system according to the rotation inertia slope includes the following steps S2041 to S2044.

[0051] Step S2041: determining the first segmentation point current of the first stage and the second stage according to the minimum swing current setting value and the variable slope current range.

[0052] Step S2042: When the rotation stops, the rotation system is controlled using the first stage rotation inertia slope.

[0053] Step S2043: Obtain the first actual rotating current.

[0054] Step S2044: When the first actual rotary current reaches the first segmentation point current, the rotary system is controlled using the second stage rotary inertia slope.

[0055] The rotation control method provided in this embodiment not only takes into account the influence of rotation inertia on rotation during the rotation process, but also divides the rotation stop phase into two phases, so that the rotation stop phase can take into account both the rotation descent time and the rotation stability.

[0056] In this embodiment, a rotation control method is provided, which can be used in computer equipment. Figure 3 is a flow chart of another rotation control method according to an embodiment of the present invention, Figure 4 FIG. 1 is a flow chart of an example of a rotation control method according to an embodiment of the present invention. Figure 3 and Figure 4 As shown, the rotation control method includes the following steps:

[0057] Step S301: Obtain a rotation parameter value for reflecting the rotation inertia.

[0058] As mentioned above, the rotation parameter values ​​used to reflect the rotation inertia include: the first weight and the first center distance of the boom, the second weight and the second center distance of the hanging weight, and the third weight and the third center moment of the counterweight.

[0059] Step S302: Determine the rotational inertia percentage according to the rotational parameter value.

[0060] In an optional implementation, determining the rotational inertia percentage according to the first weight, the second weight, the third weight, the first center distance, the second center distance and the third center moment includes the following steps S3021 to S3023.

[0061] Step S3021: Calculate the actual moment of inertia using a preset third formula according to the first weight, the second weight, the third weight, the first center distance, the second center distance and the third center moment.

[0062] For example, the third formula is: I=M1*L1*L1+M2*L2*L2+M3*L3*L3; wherein I represents the actual rotational inertia, M1 represents the first weight, L1 represents the first center moment, M2 represents the second weight, L2 represents the second center moment, M3 represents the second weight, and L3 represents the second center moment.

[0063] Step S3022: Obtain the preset minimum inertia and maximum inertia.

[0064] Step S3023: Calculate the rotational inertia percentage using a preset fourth formula according to the minimum inertia, the maximum inertia and the actual rotational inertia.

[0065] For example, the fourth formula is X=(I-Imin) / (Imax-Imin), where X represents the rotational inertia percentage, I represents the actual rotational inertia, Imin represents the minimum inertia, and Imax represents the maximum inertia.

[0066] Step S303: Determine the maximum swing current target value according to the swing inertia percentage.

[0067] In an optional implementation, determining the maximum swing current target value according to the swing inertia percentage includes the following steps:

[0068] Step S3031: Determine whether the rotational inertia percentage is less than a preset first threshold.

[0069] Step S3032: When the rotational inertia percentage is less than the first threshold, obtain the set maximum rotation current setting value and minimum rotation current setting value, and calculate the maximum rotation current target value using the preset fifth formula based on the maximum rotation current, minimum rotation current setting value and rotational inertia percentage.

[0070] For example, the fifth formula is Amax=AmaxP-0.75*(X-0.5)*(AmaxP-AminP), where Amax represents the maximum swing current target value, AmaxP represents the maximum swing current setting value, AminP represents the minimum swing current setting value, and X represents the swing inertia percentage.

[0071] Step S3033: When the rotation inertia percentage is greater than or equal to the first threshold, the maximum rotation current setting value is obtained, and the maximum rotation current setting value is used as the maximum rotation current target value.

[0072] Step S304: obtaining a rotation slope setting value and a maximum slope loading range, wherein the rotation slope setting value includes a rotation descending slope setting value and a rotation ascending slope setting value.

[0073] Step S305: Calculate the first stage rotation inertia slope in the rotation stop phase according to the rotation slope setting value, the maximum slope loading range and the rotation inertia percentage using the preset first formula, wherein the first stage rotation inertia slope includes the first stage rotation inertia slope and the first stage rotation inertia rising slope.

[0074] Step S306: obtaining the current swing current, the minimum swing current setting value and the preset variable slope current range.

[0075] Step S307: Calculate the second stage rotation inertia slope in the rotation stop phase according to the current rotation current, the minimum rotation current setting value, the variable slope current range and the first stage rotation inertia slope using a preset second formula; wherein the second stage rotation inertia slope includes the second stage rotation inertia slope and the second stage rotation rising slope.

[0076] Step S308: In the swing start phase, the second segment point current of the third phase and the fourth phase is determined according to the minimum swing current setting value and the variable slope current range.

[0077] Step S309: When the swing start-up begins, the swing system is controlled using the second stage swing inertia rising slope.

[0078] Step S310: Obtain a second actual swing current.

[0079] Step S311: When the second actual swing current reaches the second segmentation point current, the swing system is controlled using the first stage swing inertia rising slope until the maximum swing current target value is reached.

[0080] Step S312: In the swing stop stage, the first segment point current of the first stage and the second stage is determined according to the minimum swing current setting value and the variable slope current range.

[0081] Step S313: When the rotation stops, the rotation system is controlled using the first stage rotation inertia slope;

[0082] Step S314: Obtain the first actual swing current.

[0083] Step S315: When the first actual rotary current reaches the first segment point current, the rotary system is controlled using the second stage rotary inertia slope.

[0084] like Figure 5 As shown, the curve where point A is located is the curve of the rotation start-up stage, and point A represents the segmentation point of the rotation start-up stage, that is, the second segmentation point between the third stage and the fourth stage; the curve where point B is located is the curve of the rotation stop stage, and point B represents the first segmentation point of the rotation stop stage, that is, the first segmentation point between the first stage and the second stage.

[0085] The rotation control method provided in this embodiment can determine the maximum rotation current target value and the rotation inertia slope according to the rotation inertia percentage; by limiting the maximum rotation current target value and the rotation inertia slope, the stability of the rotation system during rotation can be improved, and the start and stop impact and the hook swing can be reduced; and the rotation stop stage and the rotation start stage are divided into two stages, so that the rotation stop stage can take into account both the rotation descent time and the rotation stability.

[0086] In this embodiment, a slewing control device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0087] This embodiment provides a rotation control device, such as Figure 6 As shown, including:

[0088] The acquisition module 601 is used to acquire a rotation parameter value for reflecting the rotation inertia.

[0089] The rotation inertia percentage determination module 602 is used to determine the rotation inertia percentage according to the rotation parameter value.

[0090] The rotational inertia slope determination module 603 is used to determine the rotational inertia slope according to the rotational inertia percentage.

[0091] The swing control module 604 is used to control the swing system according to the swing inertia slope during the swing stop phase.

[0092] In some optional embodiments, the rotational inertia slope determination module 603 is specifically used to: obtain a rotational slope setting value and a maximum slope loading range, wherein the rotational slope setting value includes a rotational descending slope setting value and a rotational rising slope setting value; calculate the first-stage rotational inertia slope according to the rotational slope setting value, the maximum slope loading range and the rotational inertia percentage using a preset first formula, wherein the first-stage rotational inertia slope includes the first-stage rotational inertia slope and the first-stage rotational inertia rising slope; obtain the current rotational current, the minimum rotational current setting value and a preset variable slope current range; calculate the second-stage rotational inertia slope according to the current rotational current, the minimum rotational current setting value, the variable slope current range and the first-stage rotational inertia slope using a preset second formula; wherein the second-stage rotational inertia slope includes the second-stage rotational inertia slope and the second-stage rotation rising slope.

[0093] In some optional embodiments, the rotation control module 604 is specifically used for: in the rotation stop stage, controlling the rotation system according to the rotation inertia slope includes: determining the first segmentation point current between the first stage and the second stage according to the minimum rotation current setting value and the variable slope current range; when the rotation stop starts, controlling the rotation system with the first stage rotation inertia slope; obtaining the first actual rotation current; when the first actual rotation current reaches the first segmentation point current, controlling the rotation system with the second stage rotation inertia slope.

[0094] In an optional embodiment, the rotation control module 604 is specifically used to: determine the second segmentation point current of the third stage and the fourth stage according to the minimum rotation current setting value and the variable slope current range; when the rotation start-up begins, use the second stage rotation inertia rising slope to control the rotation system; obtain the second actual rotation current; when the second actual rotation current reaches the second segmentation point current, use the first stage rotation inertia rising slope to control the rotation system.

[0095] In some optional embodiments, the rotational inertia percentage determination module 602 is specifically used to: calculate the actual rotational inertia using a preset third formula based on the first weight, the second weight, the third weight, the first center distance, the second center distance and the third center moment; obtain the preset minimum inertia and maximum inertia; and calculate the rotational inertia percentage using a preset fourth formula based on the minimum inertia, the maximum inertia and the actual rotational inertia.

[0096] In some optional embodiments, the swing control device further includes a maximum swing current target value determination module, wherein the maximum swing current target value determination module is used to determine the maximum swing current target value according to the swing inertia percentage; the swing control module 604 is also used to: in the swing start-up phase, control the swing system according to the maximum swing current target value.

[0097] In some optional embodiments, the maximum rotation current target value determination module is specifically used to: determine whether the rotation inertia percentage is less than a preset first threshold; when the rotation inertia percentage is less than the first threshold, obtain the set maximum rotation current setting value and minimum rotation current setting value, and calculate the maximum rotation current target value according to the maximum rotation current, the minimum rotation current setting value and the rotation inertia percentage using the preset fifth formula; when the rotation inertia percentage is greater than or equal to the first threshold, obtain the maximum rotation current setting value, and use the maximum rotation current setting value as the maximum rotation current target value.

[0098] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0099] The rotation control device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0100] The embodiment of the present invention also provides a computer device having the above Figure 6 The swing control device shown.

[0101] The present invention also provides an engineering machine, comprising the above-mentioned computer device. For example, the computer device may be a crane.

[0102] See also Figure 7 , Figure 7 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 7 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 A processor 10 is taken as an example.

[0103] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0104] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0105] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0106] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0107] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 7 The example of connecting through bus is taken in the following.

[0108] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0109] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0110] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0111] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A rotation control method, characterized in that: include: Obtain the rotation parameter value used to reflect the rotation inertia; Determining the rotational inertia percentage according to the rotational parameter value; determining a rotational inertia slope according to the rotational inertia percentage; During a swing stop phase and / or a swing start phase, the swing system is controlled according to the swing inertia slope.

2. The method according to claim 1, characterized in that The determining the rotational inertia slope according to the rotational inertia 100% comprises: Acquire a rotation slope setting value and a maximum slope loading range, wherein the rotation slope setting value includes a rotation descending slope setting value and a rotation ascending slope setting value; The first stage rotation inertia slope is calculated by using a preset first formula according to the rotation slope setting value, the slope maximum loading range and the rotation inertia percentage, wherein the first stage rotation inertia slope includes the first stage rotation inertia slope and the first stage rotation inertia rising slope; Obtain the current swing current, the minimum swing current setting value and the preset variable slope current range; The second stage rotation inertia slope is calculated according to the current rotation current, the minimum rotation current setting value, the variable slope current range and the first stage rotation inertia slope using a preset second formula; wherein the second stage rotation inertia slope includes the second stage rotation inertia slope and the second stage rotation rising slope.

3. The method according to claim 2, characterized in that: In the rotation stop phase, controlling the rotation system according to the rotation inertia slope includes: Determine the first segmentation point current of the first stage and the second stage according to the minimum swing current setting value and the variable slope current range; When the rotation stops, the rotation system is controlled by using the first stage rotation inertia slope; Obtaining a first actual rotary current; When the first actual swing current reaches the first segment point current, the swing system is controlled by using the second stage swing inertia slope; And / or, in the slewing start-up phase, controlling the slewing system according to the slewing inertia slope includes: Determine the second segmentation point current of the third stage and the fourth stage according to the minimum swing current setting value and the variable slope current range; When the slewing starts, the slewing system is controlled by using the rising slope of the slewing inertia in the second stage; Obtaining a second actual swing current; When the second actual swing current reaches the second segment point current, the swing system is controlled by utilizing the rising slope of the swing inertia in the first stage.

4. The method according to claim 1, characterized in that The rotation parameter values ​​used to reflect the rotation inertia include: the first weight and the first center distance of the boom, the second weight and the second center distance of the hanging weight, and the third weight and the third center moment of the counterweight; the determination of the rotation inertia percentage according to the rotation parameter values ​​includes: Calculate the actual moment of inertia using a preset third formula according to the first weight, the second weight, the third weight, the first center distance, the second center distance, and the third center moment; Get the preset minimum inertia and maximum inertia; The rotational inertia percentage is calculated using a preset fourth formula according to the minimum inertia, the maximum inertia and the actual rotational inertia.

5. The method according to claim 1, characterized in that Also includes: Determining whether the rotational inertia percentage is less than a preset first threshold; When the rotation inertia percentage is less than the first threshold value, the maximum rotation current setting value and the minimum rotation current setting value are obtained, and the maximum rotation current target value is calculated by using the preset fifth formula according to the maximum rotation current, the minimum rotation current setting value and the rotation inertia percentage; When the rotation inertia percentage is greater than or equal to the first threshold, obtaining the maximum rotation current setting value, and using the maximum rotation current setting value as the maximum rotation current target value; In the swing start-up phase, the swing system is controlled according to the maximum swing current target value.

6. A rotation control device, characterized in that: The device comprises: An acquisition module, used for acquiring a rotation parameter value for reflecting the rotation inertia; A rotation inertia percentage determination module, used to determine the rotation inertia percentage according to the rotation parameter value; A rotational inertia slope determination module, used to determine the rotational inertia slope according to the rotational inertia percentage; The swing control module is used to control the swing system according to the swing inertia slope during the swing stop phase.

7. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the rotation control method according to any one of claims 1 to 5 by executing the computer instructions.

8. An engineering machine, characterized in that: A computer device comprising the method of claim 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the swing control method according to any one of claims 1 to 5.

10. A computer program product, characterized in that The invention comprises computer instructions, wherein the computer instructions are used to make a computer execute the swing control method according to any one of claims 1 to 5.

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