A slewing control method, device, computer equipment, and engineering machinery

Abstract

This invention relates to the field of vehicle control technology, and discloses a slewing control method, device, computer equipment, and engineering machinery. The slewing control method includes: acquiring slewing parameter values ​​to represent slewing inertia; determining the percentage of slewing inertia based on the slewing parameter values; determining the slewing inertia slope based on the percentage of slewing inertia; and controlling the slewing system according to the slewing inertia slope during the slewing stopping phase. In other words, the influence of slewing inertia on slewing is considered during the slewing process, thus improving the smoothness of the slewing system during slewing and reducing start-up and stopping shocks and hook sway.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, specifically to a slewing control method, device, computer equipment, and engineering machinery. Background Technology

[0002] The slewing system is one of the most important actuators in crane products, mainly composed of an oil pump, motor, reducer, switch brake, slewing bearing, and control system. Its drive chain is long, its load varies greatly between light and heavy loads, its stability requirements are high, and its system rigidity and structural clearances have a significant impact. Currently, traditional slewing system control methods suffer from poor slewing smoothness; for example, slewing exhibits vibration under light loads and impact under heavy loads. 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 in slewing systems.

[0004] In a first aspect, the present invention provides a slewing control method comprising the following steps: obtaining slewing parameter values ​​to represent slewing inertia; determining a percentage of slewing inertia based on the slewing parameter values; determining a slewing inertia slope based on the percentage of slewing inertia; and controlling the slewing system based on the slewing inertia slope during the slewing stop phase and / or the slewing start phase.

[0005] The slewing control method provided by this invention obtains slewing parameter values ​​that represent slewing inertia, determines the percentage of slewing inertia based on these parameter values, and then determines the slewing inertia slope based on the percentage of slewing inertia. This allows for control of the slewing system during the slewing stopping phase based on the slewing inertia slope. In other words, the influence of slewing inertia on slewing is considered during the slewing process, thus improving the smoothness of the slewing system during slewing and reducing start-up and stopping shocks and hook sway.

[0006] In one optional implementation, determining the gyration slope based on the actual percentage of gyration inertia includes: obtaining a gyration slope setting value and a maximum loading range of the slope, wherein the gyration slope setting value includes a gyration descending slope setting value and a gyration ascending slope setting value; calculating a first-stage gyration slope using a preset first formula based on the gyration slope setting value, the maximum loading range of the slope, and the percentage of gyration inertia, wherein the first-stage gyration slope includes a first-stage gyration slope and a first-stage gyration ascending slope; obtaining the current gyration current, the minimum gyration current setting value, and a preset variable slope current range; calculating a second-stage gyration slope using a preset second formula based on the current gyration current, the minimum gyration current setting value, the variable slope current range, and the first-stage gyration slope; wherein the second-stage gyration slope includes a second-stage gyration slope and a second-stage gyration ascending slope.

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

[0008] In one optional implementation, during the slewing stop phase, controlling the slewing system based on the slewing inertia slope includes: determining the first segment point current for the first and second stages based on a minimum slewing current setpoint and a variable slope current range; controlling the slewing system using the first stage slewing inertia slope when slewing stop begins; acquiring a first actual slewing current; controlling the slewing system using the second stage slewing inertia slope when the first actual slewing current reaches the first segment point current; and / or, during the slewing start phase, controlling the slewing system based on the slewing inertia slope includes: determining the second segment point current for the third and fourth stages based on a minimum slewing current setpoint and a variable slope current range; controlling the slewing system using the second stage slewing inertia rise slope when slewing start begins; acquiring a second actual slewing current; and controlling the slewing system using the first stage slewing inertia rise slope when the second actual slewing current reaches the second segment point current.

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

[0010] In one optional implementation, the rotational parameter values ​​used to represent the moment of inertia include: a first weight and a first center distance of the boom, a second weight and a second center distance of the suspended load, and a third weight and a third center moment of the counterweight. Determining the percentage of moment of inertia based on the rotational parameter values ​​includes: calculating the actual moment of inertia using a preset third formula based on the first weight, second weight, third weight, first center distance, second center distance, and third center moment; obtaining preset minimum and maximum moments of inertia; and calculating the percentage of moment of inertia using a preset fourth formula based on the minimum, maximum, and actual moments of inertia.

[0011] This allows for a quick and convenient way to obtain the percentage of rotational inertia.

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

[0013] Therefore, by limiting the maximum slewing current, the smoothness of the slewing system during slewing can be improved, and the start-up and stop shocks and hook sway can be reduced.

[0014] Secondly, the present invention also provides a slewing control device, the device comprising an acquisition module, a slewing inertia percentage determination module, a slewing inertia slope determination module, and a slewing control module; the acquisition module is used to acquire slewing parameter values ​​that represent slewing inertia; the slewing inertia percentage determination module is used to determine the slewing inertia percentage based on the slewing parameter values; the slewing inertia slope determination module is used to determine the slewing inertia slope based on the slewing inertia percentage; and the slewing control module is used to control the slewing system according to the slewing inertia slope during the slewing stop phase and / or the slewing start phase.

[0015] Thirdly, the present invention provides a computer device including 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 computer instructions to perform the rotation control method of the first aspect or any corresponding embodiment described above.

[0016] Fourthly, the present invention also provides engineering machinery, including the computer equipment of the third aspect.

[0017] Fifthly, the present invention provides a computer-readable storage medium storing computer instructions for causing 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, including computer instructions for causing a computer to execute the rotation control method of the first aspect or any corresponding embodiment thereof. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a flowchart of a slewing control method according to an embodiment of the present invention;

[0021] Figure 2 This is a flowchart of another rotary control method according to an embodiment of the present invention;

[0022] Figure 3 This is a flowchart of another rotary control method according to an embodiment of the present invention;

[0023] Figure 4 This is a flowchart illustrating an example of a slewing control method according to an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the rotary start and stop current loading according to an embodiment of the present invention;

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

[0026] Figure 7 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] The traditional slewing system control method is to control the ramp with a fixed acceleration / deceleration oil pump current, which is manually adjustable. This control method has been used on cranes for many years, but it has the problem of poor slewing smoothness. For example, there is shaking during slewing under light load and impact during slewing under heavy load.

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

[0030] This embodiment provides a rotary control method that can be used in computer equipment. Figure 1 This is a flowchart of the slewing control method according to an embodiment of the present invention, as shown below. Figure 1 As shown, the process includes the following steps:

[0031] Step S101: Obtain the rotation parameter values ​​used to represent the moment of inertia.

[0032] In one optional implementation, the rotational parameter values ​​used to represent the moment of inertia include: the first weight and first center distance of the boom, the second weight and second center distance of the suspended load, and the third weight and third center distance of the counterweight. The first center distance of the boom, the second center distance of the suspended load, and the third center distance of the counterweight are all based on the center of rotation.

[0033] Step S102: Determine the percentage of gyration based on the gyration parameter values.

[0034] Step S103: Determine the slope of the moment of inertia based on the percentage of the moment of inertia.

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

[0036] The slewing stop phase can also be called the slewing descent phase, and the slewing start phase can also be called the slewing rise phase.

[0037] The slewing control method provided in this embodiment obtains slewing parameter values ​​that represent slewing inertia, determines the percentage of slewing inertia based on these parameter values, and then determines the slewing inertia slope based on the percentage of slewing inertia. This allows for control of the slewing system during the slewing stopping phase based on the slewing inertia slope. In other words, the influence of slewing inertia on slewing is considered during the slewing process, thus improving the smoothness of the slewing system during slewing and reducing start-up and stopping shocks and hook sway.

[0038] This embodiment provides a rotary control method that can be used in computer equipment. Figure 2 This is a flowchart of another slewing control method according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps:

[0039] Step S201: Obtain the rotation parameter values ​​used to represent the moment of inertia.

[0040] Step S202: Determine the percentage of gyration based on the gyration parameter values.

[0041] Step S203: Determine the slope of the moment of inertia based on the percentage of the moment of inertia.

[0042] In one alternative implementation, determining the slope of the moment of inertia based on the percentage of the moment of inertia includes the following steps S2031 to S2034.

[0043] Step S2031: Obtain the set slewing slope setting value and the maximum loading range of the slope. The slewing slope setting value includes the slewing descent slope setting value and the slewing ascent slope setting value.

[0044] Step S2032: Calculate the first-stage gyration slope using a preset first formula based on the set value of the gyration slope, the maximum loading range of the slope, and the percentage of gyration inertia. The first-stage gyration slope includes the first-stage gyration slope and the first-stage gyration inertia rise slope.

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

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

[0047] Step S2034: Calculate the second-stage gyratory inertia slope using a preset second formula based on the current gyratory current, the minimum gyratory current setting, the variable slope current range, and the first-stage gyratory inertia slope. The second-stage gyratory inertia slope includes both the second-stage gyratory inertia slope and the second-stage gyratory inertia rise slope.

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

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

[0050] In one alternative implementation, during the slewing stop phase, controlling the slewing system according to the slewing inertia slope includes the following steps S2041 to S2044.

[0051] Step S2041: Determine the first segment point current of the first stage and the second stage based on the minimum slewing current setting value and the variable slope current range.

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

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

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

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

[0056] This embodiment provides a rotary control method that can be used in computer equipment. Figure 3 This is a flowchart of another turning control method according to an embodiment of the present invention. Figure 4 This is a flowchart illustrating an example of a slewing control method according to an embodiment of the present invention. Figure 3 and Figure 4 As shown, the slewing control method includes the following steps:

[0057] Step S301: Obtain the rotation parameter values ​​used to represent the moment of inertia.

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

[0059] Step S302: Determine the percentage of gyration based on the gyration parameter values.

[0060] In one alternative implementation, determining the percentage of moment of inertia based on 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 the preset third formula based on the first weight, second weight, third weight, first center distance, second center distance, and third center moment.

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

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

[0064] Step S3023: Calculate the percentage of rotational inertia using the preset fourth formula based on the minimum inertia, maximum inertia, and actual rotational inertia.

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

[0066] Step S303: Determine the target value of the maximum gyratory current based on the percentage of gyratory inertia.

[0067] In one alternative implementation, determining the target value of the maximum gyratory current based on the percentage of gyratory inertia includes the following steps:

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

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

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

[0071] Step S3033: When the percentage of slewing inertia is greater than or equal to the first threshold, obtain the maximum slewing current setting value and use the maximum slewing current setting value as the maximum slewing current target value.

[0072] Step S304: Obtain the slewing slope setting value and the maximum loading range of the slope, wherein the slewing slope setting value includes the slewing descent slope setting value and the slewing ascending slope setting value.

[0073] Step S305: Calculate the first stage rotational inertia slope in the rotation stop stage using the preset first formula based on the rotation slope setting value, the maximum loading range of the slope and the percentage of rotational inertia. The first stage rotational inertia slope includes the first stage rotational inertia slope and the first stage rotational inertia rise slope.

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

[0075] Step S307: Calculate the second-stage gyration slope in the gyration stop stage using the preset second formula based on the current gyration current, the minimum gyration current setting value, the variable slope current range, and the first-stage gyration inertia slope; wherein the second-stage gyration inertia slope includes the second-stage gyration inertia slope and the second-stage gyration inertia rise slope.

[0076] Step S308: During the slewing start-up phase, determine the second segment point current for the third and fourth phases based on the minimum slewing current setting value and the variable slope current range.

[0077] Step S309: When the slewing starts, the slewing system is controlled by the rising slope of the second stage slewing inertia.

[0078] Step S310: Obtain the second actual rotational current.

[0079] Step S311: When the second actual slewing current reaches the second segment point current, the slewing system is controlled by the slewing inertia rise slope in the first stage until the maximum slewing current target value is reached.

[0080] Step S312: During the slewing stop phase, determine the first segment point current of the first stage and the second stage based on the minimum slewing 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 gyration current.

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

[0084] like Figure 5 As shown, the curve containing point A is the curve of the slewing start stage, and point A represents the segment point of the slewing start stage, that is, the second segment point between the third and fourth stages; the curve containing point B is the curve of the slewing stop stage, and point B represents the first segment point of the slewing stop stage, that is, the first segment point between the first and second stages.

[0085] The slewing control method provided in this embodiment can determine the target value of the maximum slewing current and the slewing inertia slope based on the percentage of slewing inertia. By limiting the target value of the maximum slewing current and the slewing inertia slope, the smoothness of the slewing system during slewing can be improved, and the start-up and stop impacts and hook sway can be reduced. Moreover, the slewing stop stage and the slewing start stage are divided into two stages, so that the slewing stop stage can take into account both the slewing descent time and the slewing smoothness.

[0086] This embodiment also provides a slewing control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0087] This embodiment provides a slewing control device, such as... Figure 6 Shown, including:

[0088] The acquisition module 601 is used to acquire the rotation parameter values ​​that represent the moment of inertia.

[0089] The rotational inertia percentage determination module 602 is used to determine the rotational inertia percentage based on the rotational parameter value.

[0090] The gyroscopic inertia slope determination module 603 is used to determine the gyroscopic inertia slope based on the gyroscopic inertia percentage.

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

[0092] In some optional implementations, the gyration inertia slope determination module 603 is specifically used for: obtaining a gyration slope setting value and a maximum slope loading range, wherein the gyration slope setting value includes a gyration descending slope setting value and a gyration ascending slope setting value; calculating a first-stage gyration inertia slope using a preset first formula based on the gyration slope setting value, the maximum slope loading range, and the percentage of gyration inertia, wherein the first-stage gyration inertia slope includes a first-stage gyration inertia slope and a first-stage gyration inertia ascending slope; obtaining a current gyration current, a minimum gyration current setting value, and a preset variable slope current range; calculating a second-stage gyration inertia slope using a preset second formula based on the current gyration current, the minimum gyration current setting value, the variable slope current range, and the first-stage gyration inertia slope; wherein the second-stage gyration inertia slope includes a second-stage gyration inertia slope and a second-stage gyration inertia ascending slope.

[0093] In some optional implementations, the slewing control module 604 is specifically used to: control the slewing system according to the slewing inertia slope during the slewing stop phase, including: determining the first segment point current of the first stage and the second stage according to the minimum slewing current set value and the variable slope current range; controlling the slewing system using the first stage slewing inertia slope when the slewing stop begins; obtaining the first actual slewing current; and controlling the slewing system using the second stage slewing inertia slope when the first actual slewing current reaches the first segment point current.

[0094] In one optional implementation, the slewing control module 604 is specifically used to: determine the second segment point current of the third and fourth stages based on the minimum slewing current setting value and the variable slope current range; control the slewing system using the rising slope of the second stage slewing inertia when the slewing starts; obtain the second actual slewing current; and control the slewing system using the rising slope of the first stage slewing inertia when the second actual slewing current reaches the second segment point current.

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

[0096] In some optional embodiments, the slewing control device further includes a maximum slewing current target value determination module. This module determines the maximum slewing current target value based on the percentage of slewing inertia. The slewing control module 604 is also used to control the slewing system according to the maximum slewing current target value during the slewing start-up phase.

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

[0098] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

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

[0100] This invention also provides a computer device having the above-described features. Figure 6 The rotary control device shown.

[0101] The present invention also provides an engineering machine, including the aforementioned computer equipment. For example, the computer equipment may be a crane.

[0102] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 7 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 7 Take a processor 10 as an example.

[0103] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0104] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0105] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0106] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or 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, memory 20, input device 30, and output device 40 can be connected via a bus or other means. Figure 7 Taking the example of a connection between China and Israel via a bus.

[0108] Input device 30 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touchscreen.

[0109] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0110] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

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

Claims

1. A slewing control method, characterized in that, include: Obtain the rotation parameter values ​​used to represent the moment of inertia; Determine the percentage of gyration based on the stated gyration parameter values; The slope of the moment of inertia is determined based on the percentage of the moment of inertia. During the slewing stop phase and / or slewing start phase, the slewing system is controlled according to the slewing inertia slope.

2. The method according to claim 1, characterized in that, Determining the slope of the moment of inertia based on the percentage of the moment of inertia includes: Obtain the slewing slope setting value and the maximum loading range of the slope, wherein the slewing slope setting value includes the slewing descent slope setting value and the slewing ascent slope setting value; The first-stage gyration slope is calculated using a preset first formula based on the gyration slope setting value, the maximum loading range of the slope, and the percentage of gyration inertia. The first-stage gyration slope includes the first-stage gyration slope and the first-stage gyration inertia rise slope. Obtain the current slewing current, the minimum slewing current setting, and the preset slope current range; The second-stage gyratory inertia slope is calculated using a preset second formula based on the current gyratory current, the minimum gyratory current setting, the variable slope current range, and the first-stage gyratory inertia slope; wherein the second-stage gyratory inertia slope includes the second-stage gyratory inertia slope and the second-stage gyratory inertia rise slope.

3. The method according to claim 2, characterized in that: The control of the rotation system based on the rotation inertia slope during the rotation stopping phase includes: The first segment current of the first stage and the second stage is determined based on the minimum gyration current setting value and the variable slope current range; When the rotation stops, the rotation system is controlled using the first-stage rotation inertia slope; Obtain the first actual slewing current; When the first actual slewing current reaches the first segment point current, the slewing system is controlled using the second stage slewing inertia slope; And / or, during the slewing start-up phase, controlling the slewing system according to the slewing inertia slope includes: The second segment point currents of the third and fourth stages are determined based on the minimum gyration current setting value and the variable slope current range. When the slewing starts, the slewing system is controlled by the slewing inertia rise slope in the second stage; Obtain the second actual gyratory current; When the second actual slewing current reaches the second segment point current, the slewing system is controlled using the slewing inertia rise slope of the first stage.

4. The method according to claim 1, characterized in that, The slewing parameter values ​​used to represent the moment of inertia include: the first weight and first center distance of the boom, the second weight and second center distance of the suspended load, and the third weight and third center distance of the counterweight; determining the percentage of the moment of inertia based on the slewing parameter values ​​includes: The actual moment of inertia is calculated 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 and maximum inertia; The percentage of rotational inertia is calculated using a preset fourth formula based on the minimum inertia, the maximum inertia, and the actual rotational inertia.

5. The method according to claim 1, characterized in that, Also includes: Determine whether the percentage of rotational inertia is less than a preset first threshold; When the percentage of slewing inertia is less than the first threshold, the set maximum slewing current setting value and minimum slewing current setting value are obtained, and the target value of the maximum slewing current is calculated using the preset fifth formula based on the maximum slewing current, the minimum slewing current setting value and the percentage of slewing inertia. When the percentage of gyration is greater than or equal to the first threshold, the maximum gyration current setting value is obtained, and the maximum gyration current setting value is used as the maximum gyration current target value; During the slewing start-up phase, the slewing system is controlled according to the target value of the maximum slewing current.

6. A rotary control device, characterized in that, The device includes: The acquisition module is used to acquire the rotational parameter values ​​that represent the moment of inertia. The rotational inertia percentage determination module is used to determine the rotational inertia percentage based on the rotational parameter values; A gyration inertia slope determination module is used to determine the gyration inertia slope based on the gyration inertia percentage. The slewing control module is used to control the slewing system according to the slewing inertia slope during the slewing stop phase.

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

8. An engineering machinery, characterized in that, Includes the computer device as described in claim 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the rotation control method according to any one of claims 1 to 5.

10. A computer program product, characterized in that, Includes computer instructions for causing a computer to perform the slewing control method according to any one of claims 1 to 5.

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