A method, device and medium for cooperative control of an electric excavator boom

Abstract

The application discloses a kind of electric excavator swing arm's cooperative control method, equipment and medium, method includes: determining the driving instruction of excavator, driving instruction is filtered and handled, demand flow of swing arm is determined according to driving instruction after filtering processing;According to demand flow, the original rotation speed of motor of swing arm is determined, and the original current of brake valve of swing arm is determined;According to driving instruction after filtering processing, it is determined whether excavator is in continuous flat state;If excavator is in continuous flat state, then the actual rotation speed of motor of swing arm is determined, motor speed difference value is determined according to motor actual rotation speed and motor original rotation speed, and motor speed increment of swing arm and current increment of brake valve are determined according to motor speed difference value;According to motor speed increment, the rotation speed of motor of swing arm is changed, and according to current increment, the original current of brake valve is changed.The application improves the operation effect of excavator, and enhances operation efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computers, and particularly relates to a cooperative control method and device for a boom of an electric excavator and a medium. BACKGROUND

[0002] With the continuous advancement of engineering construction, the performance requirements of excavators are also continuously improved. Electric excavators are widely used in various complex construction environments, such as mining, construction sites, road construction, etc. In these environments, excavators need to face various complex geological conditions and operation requirements, such as large-scale excavation, precise loading, efficient transfer, etc. When the traditional excavator faces the complex and changeable construction environment, it does not consider the influence of poor motor speed followability when the boom motor needs to frequently switch the forward and reverse rotation during the frequent switching of the boom rising and falling actions in the continuous flat state. The motor set speed is calculated according to the driving instruction alone, but at this time, the actual motor speed cannot follow the set speed, which will cause the pump oil supply to be unable to meet the demand of the boom, resulting in slow boom lifting speed, flat head and ground pounding phenomena, and affecting the flat ground effect. SUMMARY

[0003] To solve the above problems, the present application provides a cooperative control method for a boom of an electric excavator, comprising: determining a driving instruction of the excavator, filtering the driving instruction, determining a demand flow of the boom according to the filtered driving instruction; determining an original motor speed of the boom according to the demand flow, and determining an original current of a brake valve of the boom; determining whether the excavator is in a continuous flat state according to the filtered driving instruction; if the excavator is in the continuous flat state, determining an actual motor speed of the boom, determining a motor speed difference value according to the actual motor speed and the original motor speed of the boom, and determining a motor speed increment of the boom and a current increment of the brake valve according to the motor speed difference value; changing the motor speed of the boom according to the motor speed increment, and changing the original current of the brake valve according to the current increment.

[0004] In one example, the demand flow of the boom is determined according to the filtered driving instruction, specifically comprising: determining a preset rated voltage, determining a signal voltage according to the driving instruction, and determining an instruction percentage according to the rated voltage and the signal voltage; determining a main valve opening degree of the boom cylinder according to the instruction percentage and the driving instruction, and determining the demand flow according to the main valve opening degree of the boom cylinder.

[0005] In one example, the method further comprises: determining the original motor speed of the boom according to the demand flow, and determining the original current of the brake valve of the boom, specifically comprising: determining the hydraulic pump of the excavator, and determining the pump displacement of the hydraulic pump, and determining the original motor speed according to the pump displacement and the demand flow; determining the maximum cross-sectional area of the brake valve, and determining the current threshold corresponding to the maximum cross-sectional area according to the original motor speed, and taking the current threshold as the original current.

[0006] In one example, the method further comprises: determining whether the excavator is in continuous grading state according to the driving instructions after filtering, specifically comprising: determining the boom lifting and stick retracting instructions of the excavator, and determining the first instruction percentage of the boom lifting and stick retracting instructions; determining other instructions of the excavator, and determining the second instruction percentage of the other instructions, the other instructions including boom lowering, stick turning out, bucket retracting, bucket turning out, slewing, and traveling; determining a preset percentage threshold, and comparing the first instruction percentage and the second instruction percentage with the percentage threshold respectively; if the first instruction percentage is greater than the percentage threshold and the second instruction percentage is less than the percentage threshold, it is determined that the excavator is in grading state.

[0007] In one example, after determining that the excavator is in grading state, the method further comprises: determining the interval time of multiple grading states, and determining a preset time threshold, and comparing the interval time with the time threshold; if the interval time is less than the time threshold, it is determined that the excavator is in continuous grading state.

[0008] In one example, after determining whether the excavator is in continuous grading state according to the driving instructions after filtering, the method further comprises: if the excavator is not in continuous grading state, setting the motor speed increment to zero, and setting the current increment to zero.

[0009] In one example, the method further comprises: monitoring the actual motor speed of the boom in real time, and monitoring the actual current of the brake valve in real time; determining the speed feedback signal according to the actual motor speed and the original motor speed, and determining the current feedback signal according to the actual current of the brake valve and the original current of the brake valve; dynamically adjusting the motor and the current according to the speed feedback signal and the current feedback signal.

[0010] In one example, the filtering processing of the driving instructions specifically comprises: pre-processing the driving instructions through a filter to reduce high-frequency noise of the driving instructions, and taking the output signal of the filter as the processed driving instructions.

[0011] In another aspect, the application also provides a coordinated control device for a movable arm of an electric excavator, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the coordinated control device to: determine a driving instruction of the excavator, filter the driving instruction, determine a required flow of the movable arm according to the filtered driving instruction; determine an original rotating speed of a motor of the movable arm according to the required flow, and determine an original current of a brake valve of the movable arm; determine whether the excavator is in a continuous grading state according to the filtered driving instruction; if the excavator is in the continuous grading state, determine an actual rotating speed of the motor of the movable arm, determine a rotating speed difference of the motor according to the actual rotating speed and the original rotating speed, and determine a rotating speed increment of the motor and a current increment of the brake valve according to the rotating speed difference; change the rotating speed of the motor of the movable arm according to the rotating speed increment, and change the original current of the brake valve according to the current increment.

[0012] In another aspect, the application also provides a non-volatile computer storage medium storing computer executable instructions configured to: determine a driving instruction of the excavator, filter the driving instruction, determine a required flow of the movable arm according to the filtered driving instruction; determine an original rotating speed of a motor of the movable arm according to the required flow, and determine an original current of a brake valve of the movable arm; determine whether the excavator is in a continuous grading state according to the filtered driving instruction; if the excavator is in the continuous grading state, determine an actual rotating speed of the motor of the movable arm, determine a rotating speed difference of the motor according to the actual rotating speed and the original rotating speed, and determine a rotating speed increment of the motor and a current increment of the brake valve according to the rotating speed difference; change the rotating speed of the motor of the movable arm according to the rotating speed increment, and change the original current of the brake valve according to the current increment.

[0013] The application reduces the influence of high-frequency noise on the system through filtering processing of the driving instruction, and improves the stability and accuracy of control. Meanwhile, the demand flow of the boom is determined according to the filtered driving instruction, which can more accurately match the actual operation demand of the excavator, and improve the work efficiency. The application can intelligently identify whether the excavator is in a continuous flat state, and adjust the motor speed and brake valve current according to the actual situation, so as to realize the cooperative control of the boom of the excavator, dynamically adjust the boom oil supply, not only improve the operation efficiency of the excavator, but also reduce the operation difficulty of the operator. The application can significantly improve the operation efficiency of the excavator and reduce the labor intensity of the operator, dynamically adjust the set speed of the motor and the set current of the electromagnetic valve according to the feedback signal of the actual motor speed, realize the cooperative control of the motor and the hydraulic system, improve the operation effect of the excavator, and enhance the operation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0014] The accompanying drawings, which are included to provide a further understanding of the application, illustrate embodiments of the application and together with the description given below, serve to explain the application. The accompanying drawings are included as part of this specification and together with the description, serve to explain the application. In the drawings:

[0015] Figure 1 FIG. 1 is a flow diagram of a cooperative control method of a boom of an electric excavator according to an embodiment of the application;

[0016] Figure 2 FIG. 2 is a schematic diagram of a cooperative control device of a boom of an electric excavator according to an embodiment of the application. DETAILED DESCRIPTION

[0017] In order to make the objects, technical solutions and advantages of the application clearer, the technical solutions of the application will be described below in detail with reference to the embodiments of the application and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0018] The technical solutions provided by the embodiments of the application will be described in detail below with reference to the drawings.

[0019] As shown in FIG. 1, in order to solve the above problems, the application provides a cooperative control method of a boom of an electric excavator, which comprises the following steps: Figure 1

[0020] S101, determining the driving instruction of the excavator, filtering the driving instruction, and determining the demand flow of the boom according to the filtered driving instruction.

[0021] ​S102, determining the original motor speed of the boom according to the demand flow, and determining the original current of the brake valve of the boom.

[0022] The driver inputted command is filtered to remove the signal noise. Then, the demand flow of the boom is calculated based on the filtered command. The demand flow is positively related to the command percentage of the boom mechanism: the higher the command percentage, the greater the demand flow. Similarly, the original set speed of the boom motor is also positively related to the demand flow: the demand flow increases, the original set speed of the motor also increases. The boom motor is the energy source of the hydraulic pump that supplies oil to the boom, the greater the motor speed, the higher the oil supply flow of the pump. The motor forward and reverse rotation can control the boom to perform the lifting or lowering operation, the boom performs the lifting operation when the motor rotates forward, and the boom performs the lowering operation when the motor rotates reversely. The boom brake valve controls the cross-sectional area of the oil passage between the boom chamber and the pump. When the brake valve current is greater than a certain threshold, the cross-sectional area is the largest; when the brake valve current is less than the current threshold, the lower the brake valve current, the smaller the cross-sectional area, and the smaller the hydraulic oil flow between the pump and the boom chamber.

[0023] In one embodiment, a predetermined rated voltage value is determined in advance. According to the received driving command, the signal voltage of the command is measured. Through the ratio of the signal voltage to the predetermined rated voltage, a command percentage is obtained. Using the command percentage and the driving command, the boom cylinder main valve opening is further determined. Referring to the pre-set "command percentage-boom cylinder main valve opening" corresponding table, the main valve opening value matched with the current command percentage is more accurately found. The main valve is the main valve that controls the opening degree of the hydraulic oil from the pump to the actuator cylinder circuit. The smaller the main valve opening, the less the oil from the pump into the cylinder, and the smaller the actuator movement speed. If the main valve is closed, the actuator has no action. According to the determined main valve opening, referring to the pre-set "boom cylinder main valve opening-boom demand flow" corresponding table, the demand flow value corresponding to the current main valve opening is found and determined.

[0024] In one embodiment, the positive correlation between the percentage of the command and the demand flow is determined by a look-up table. The relationship between the demand flow and the motor speed is calculated directly by a formula, which is n = Q / q, where n represents the motor speed, Q represents the pump flow, and q represents the pump displacement. The pump displacement q of the constant displacement pump is a fixed value. Therefore, according to the formula n = Q / q, the motor speed n is proportional to the pump flow Q. When the demand flow increases, the motor speed also increases accordingly because the pump displacement remains unchanged, thereby satisfying the demand flow of the boom actuator. In the normal mode, the boom brake valve is in the open state, i.e., the original set current of the boom brake valve is the current threshold corresponding to the maximum cross-sectional area. The hydraulic pump of the excavator and the pump displacement are determined. Then, the original speed of the motor is calculated according to the determined demand flow and pump displacement. Subsequently, the maximum cross-sectional area of the brake valve is determined, and the current threshold corresponding to the maximum cross-sectional area is further determined based on the original speed of the motor obtained previously. The current threshold is set as the original current value.

[0025] S103, determining whether the excavator is in the continuous grading state according to the driving command after the filtering processing.

[0026] In the conventional operation, the grading operation involves the combined execution of the boom lifting and the stick retraction of the excavator. The continuous grading operation refers to the repeated performance of the combined action, and after each action is completed, the bucket tooth tip is returned to the starting position of the grading operation through the adjustment of the boom lowering and the stick turning out. In order to determine whether the excavator is in the continuous grading operation state, the filtered driving command is analyzed. When it is detected that the percentage of the boom lifting and the stick retraction command (hereinafter referred to as the first percentage of the command) simultaneously exceeds the preset percentage threshold, and the percentage of the command of other actions (hereinafter referred to as the second percentage of the command) is lower than the percentage threshold, it is considered that the excavator is in the grading operation state. If such grading operation state occurs multiple times and the interval time between each state is less than the set time threshold, it is determined that the excavator is in the continuous grading operation state.

[0027] In one embodiment, the boom lifting and stick retraction commands and their percentages of the command of the excavator are determined, and they are compared with the preset percentage threshold, for example, 18%. If the percentage of the command exceeds the threshold, it is considered that the main valve associated with the corresponding actuator has just opened, and at this time the excavator is regarded as being in the grading state; if it is lower than the threshold, the main valve remains closed. When the interval time between multiple grading states is less than a set empirical value, for example, 800ms, it is determined that the excavator is in the continuous grading operation state.

[0028] In one embodiment, if the excavator is not in the continuous grading state, the boom motor set speed increment and the boom brake valve set current increment are both 0.

[0029] S104, if the excavator is in continuous flat ground state, determining the actual motor speed of the swing arm, determining the motor speed difference value according to the actual motor speed and the original motor speed, and determining the motor speed increment of the swing arm and the current increment of the brake valve according to the motor speed difference value.

[0030] If the excavator is in continuous flat ground state, the set speed increment of the swing arm motor and the set current increment of the swing arm brake valve are calculated according to the difference between the set speed and the actual speed of the motor, i.e. the swing arm motor speed difference value.

[0031] When the motor speed difference value is large, it means that the actual motor speed fails to follow the set speed, which is usually due to the frequent switching of the swing arm between rising and falling, causing the motor to quickly change between forward and reverse rotation, with a large speed variation range and a certain adjustment time. Although increasing the set speed of the swing arm motor may temporarily exacerbate the speed difference, the speed closed-loop system in the motor control strategy will take the difference as input, and the larger the difference, the greater the driving capacity of the motor, thereby prompting the motor to more quickly increase the speed to the set value. Among them, the speed closed loop is a control strategy in the motor controller, which aims to keep the actual speed of the motor consistent with the set speed. In short, by comparing the set speed with the current actual speed of the motor and dynamically adjusting the current or other related parameters of the motor according to the difference between the two, the driving capacity of the motor is changed to ensure that the actual speed can quickly follow and reach the set speed. This closed-loop algorithm may be implemented using PID or other intelligent algorithms, although the specific details are not within the scope of this scheme, but its effect is significant: when there is a large difference between the actual speed and the set speed, the motor controller will actively increase the driving capacity of the motor to speed up the speed increase process.

[0032] The motor speed followability is the ability of the actual motor speed to follow the set speed. The poor followability of the actual motor speed is partly due to the fact that when the swing arm is rising, its gravity exerts pressure on the pump, which in turn generates a drag force on the motor, slowing down the speed increase of the motor. Therefore, it is necessary to reduce the set current of the swing arm brake valve, i.e. to set a negative current increment, so as to reduce the oil passage cross-sectional area from the pump to the swing arm chamber, thereby reducing the pressure of the swing arm on the pump and the resulting drag force on the motor. When the motor speed difference value increases, the absolute value of the negative increment of the swing arm brake valve set current also increases, which further reduces the drag force of the swing arm gravity on the motor, making the motor speed increase more rapidly and the followability significantly improved.

[0033] S105, changing the motor speed of the swing arm according to the motor speed increment, and changing the original current of the brake valve according to the current increment.

[0034] The calculated boom motor set speed increment is added to the original boom motor set speed to obtain a final boom motor set speed, and the calculated boom brake valve set current increment is added to the original boom brake valve set current to obtain a final boom brake valve set current.

[0035] In one embodiment, the actual speed of the boom motor and the actual current of the brake valve are monitored in real time, and a speed feedback signal and a current feedback signal are calculated based on the real-time data and the respective original values, i.e., the original motor speed and the original brake valve current. Subsequently, the motor speed and the brake valve current are dynamically adjusted based on the feedback signals.

[0036] In one embodiment, the driving instruction is pre-processed by a filter to reduce high-frequency noise of the driving instruction, and the output signal of the filter is used as the processed driving instruction.

[0037] As shown in Figure 2 The embodiment of the present application also provides a coordinated control device for a boom of an electric excavator, which comprises:

[0038] at least one processor; and

[0039] a memory in communication connection with the at least one processor; wherein

[0040] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the coordinated control device for the boom of the electric excavator to perform:

[0041] determining a driving instruction of the excavator, filtering the driving instruction, and determining a required flow of the boom based on the filtered driving instruction;

[0042] determining an original motor speed of the boom based on the required flow, and determining an original current of a brake valve of the boom;

[0043] determining whether the excavator is in a continuous grading state based on the filtered driving instruction;

[0044] if the excavator is in the continuous grading state, determining an actual motor speed of the boom, determining a motor speed difference value based on the actual motor speed and the original motor speed, and determining a motor speed increment of the boom and a current increment of the brake valve based on the motor speed difference value;

[0045] changing the motor speed of the boom based on the motor speed increment, and changing the original current of the brake valve based on the current increment.

[0046] The embodiment of the present application further provides a nonvolatile computer storage medium, which stores computer executable instructions, and the computer executable instructions are configured to:

[0047] determine a driving instruction of the excavator, filter the driving instruction, and determine a required flow of the swing arm according to the filtered driving instruction;

[0048] determine an original rotating speed of a motor of the swing arm according to the required flow, and determine an original current of a brake valve of the swing arm;

[0049] determine whether the excavator is in a continuous grading state according to the filtered driving instruction;

[0050] if the excavator is in the continuous grading state, determine an actual rotating speed of the motor of the swing arm, determine a rotating speed difference of the motor according to the actual rotating speed and the original rotating speed of the motor, and determine a rotating speed increment of the motor and a current increment of the brake valve according to the rotating speed difference of the motor;

[0051] change the rotating speed of the motor of the swing arm according to the rotating speed increment of the motor, and change the original current of the brake valve according to the current increment of the brake valve.

[0052] In the 1990s, it was possible to distinguish whether an improvement in a technology was a hardware improvement (e.g., an improvement in the circuit structure of a diode, transistor, switch, etc.) or a software improvement (an improvement in a method flow). However, as technology has advanced, many improvements in method flows today can be considered as direct improvements in hardware circuit structures. Designers almost always obtain a corresponding hardware circuit structure by programming an improved method flow into a hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (e.g., a field programmable gate array (FPGA)) is an integrated circuit whose logic function is determined by user programming of the device. A digital system is "integrated" on a PLD by the designer programming it, rather than by asking a chip manufacturer to design and fabricate a custom integrated circuit chip. Moreover, instead of manually fabricating an integrated circuit chip, this programming is now mostly implemented using "logic compiler" software, which is similar to a software compiler used when developing a program, and the original code before compilation is also written in a specific programming language, which is called a hardware description language (HDL), and there are many types of HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., and the most commonly used are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should be aware that, as long as a method flow is logically programmed in the above-mentioned hardware description languages and programmed into an integrated circuit, a hardware circuit that implements the logical method flow can be easily obtained.

[0053] The controller can be implemented in any suitable way, for example, the controller can take the form of a microprocessor or processor and a computer readable medium storing computer readable program code, such as software or firmware, executable by the microprocessor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller and an embedded microcontroller, examples of which include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320, the memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that, in addition to implementing the controller in pure computer readable program code, it is also possible to implement the controller in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers, etc. to achieve the same function by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can even be considered as both a software module implementing a method and a structure within a hardware component.

[0054] The systems, apparatuses, modules or units illustrated by the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0055] For the convenience of description, the above apparatuses are described in various units respectively according to their functions. Of course, the functions of the units can be implemented in one or more software and / or hardware in the implementation of the present specification.

[0056] Each of the embodiments in the present application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment mainly explains the difference from other embodiments. Especially, the device and medium embodiments are described simply because they are basically similar to the method embodiments, and the relevant parts can be referred to the part of the method embodiments.

[0057] The device and medium provided by the embodiments of the present application are one-to-one corresponding, and therefore the device and medium also have similar beneficial technical effects to the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the device and medium will not be described here again.

[0058] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. In addition, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0059] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device implemented in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for performing the function specified by one or more blocks.

[0060] These computer program instructions can also be stored in a computer-readable memory capable of directing the computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction means, which implements the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0061] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are performed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide a process for implementing the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0062] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memories.

[0063] Memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, etc. in the form of a computer-readable medium, read only memory (ROM), or flash memory, etc. Memory is an example of computer-readable media.

[0064] Computer-readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

[0065] It should also be noted that the terms "comprising", "containing", or any other variant thereof, are intended to encompass a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not include only those elements recited, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without further limitation, an element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0066] The above only is an embodiment of the present application, and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A method of cooperative control of a swing boom of an electric shovel, characterized by, The method comprises: determining a driving instruction of the excavator, filtering the driving instruction, determining a required flow of the swing arm according to the filtered driving instruction; determining an original rotating speed of a motor of the swing arm according to the required flow, and determining an original current of a brake valve of the swing arm; determining whether the excavator is in a continuous grading state according to the filtered driving instruction; if the excavator is in the continuous grading state, determining an actual rotating speed of the motor of the swing arm, determining a rotating speed difference of the motor according to the actual rotating speed and the original rotating speed, and determining a rotating speed increment of the motor and a current increment of the brake valve according to the rotating speed difference of the motor; changing the rotating speed of the motor of the swing arm according to the rotating speed increment, and changing the original current of the brake valve according to the current increment; determining a required flow of the swing arm according to the filtered driving instruction, specifically comprising: determining a preset rated voltage, determining a signal voltage according to the driving instruction, and determining an instruction percentage according to the rated voltage and the signal voltage; determining a main valve opening degree of a cylinder of the swing arm according to the instruction percentage and the driving instruction, and determining the required flow according to the main valve opening degree; determining an original rotating speed of a motor of the swing arm according to the required flow, and determining an original current of a brake valve of the swing arm, specifically comprising: determining a hydraulic pump of the excavator, determining a pump displacement of the hydraulic pump, and determining the original rotating speed of the motor according to the pump displacement and the required flow; determining a maximum cross-sectional area of the brake valve, and determining a current threshold corresponding to the maximum cross-sectional area according to the original rotating speed of the motor, so as to take the current threshold as the original current.

2. The method of claim 1, wherein, determining whether the excavator is in a continuous grading state according to the filtered driving instruction, specifically comprising: determining a swing arm lifting and arm retracting instruction of the excavator, and determining a first instruction percentage of the swing arm lifting and arm retracting instruction; determining other instructions of the excavator, and determining a second instruction percentage of the other instructions, the other instructions including swing arm lowering, arm turning out, bucket retracting, bucket turning out, slewing, and traveling; determining a preset percentage threshold, and comparing the first instruction percentage and the second instruction percentage with the percentage threshold respectively; if the first instruction percentage is greater than the percentage threshold and the second instruction percentage is less than the percentage threshold, it is determined that the excavator is in a grading state.

3. The method of claim 2, wherein, After it is determined that the excavator is in the grading state, the method further comprises: determining an interval time of multiple grading states, and determining a preset time threshold, comparing the interval time with the time threshold; if the interval time is less than the time threshold, it is determined that the excavator is in a continuous grading state.

4. The method of claim 1, wherein, After it is determined whether the excavator is in a continuous grading state according to the filtered driving instruction, the method further comprises: if the excavator is not in the continuous grading state, setting the rotating speed increment of the motor to zero, and setting the current increment to zero.

5. The method of claim 1, wherein, The method further comprises: Real-time monitoring of the motor actual speed of the boom, and real-time monitoring of the actual current of the brake valve; According to the motor actual speed and the motor original speed to determine the speed feedback signal, and according to the actual current of the brake valve and the original current of the brake valve to determine the current feedback signal; According to the speed feedback signal and the current feedback signal to dynamically adjust the motor and the current.

6. The method of claim 1, wherein, The driving instruction is filtered, specifically including: The driving instruction is preprocessed by a filter to reduce the high-frequency noise of the driving instruction, and the output signal of the filter is taken as the processed driving instruction.

7. A coordinated control device for an electric excavator boom, characterized in that: Including: At least one processor; And, The memory is in communication connection with the at least one processor; wherein The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the cooperative control device of the electric excavator boom to perform: Determine the driving instruction of the excavator, filter the driving instruction, and determine the demand flow of the boom according to the filtered driving instruction; According to the demand flow to determine the motor original speed of the boom, and determine the original current of the brake valve of the boom; According to the filtered driving instruction to determine whether the excavator is in continuous flat ground state; If the excavator is in continuous flat ground state, determine the motor actual speed of the boom, determine the motor speed difference value according to the motor actual speed and the motor original speed, and determine the motor speed increment of the boom and the current increment of the brake valve according to the motor speed difference value; According to the motor speed increment to change the motor speed of the boom, and according to the current increment to change the original current of the brake valve; According to the filtered driving instruction to determine the demand flow of the boom, specifically including: Determine the rated voltage set in advance, determine the signal voltage according to the driving instruction, and determine the instruction percentage according to the rated voltage and the signal voltage; According to the instruction percentage and the driving instruction to determine the main valve opening degree of the boom cylinder, and according to the main valve opening degree to determine the demand flow; According to the demand flow to determine the motor original speed of the boom, and determine the original current of the brake valve of the boom, specifically including: Determine the hydraulic pump of the excavator, determine the pump displacement of the hydraulic pump, and determine the motor original speed according to the pump displacement and the demand flow; Determine the maximum cross-sectional area of the brake valve, and determine the current threshold corresponding to the maximum cross-sectional area according to the motor original speed, so as to take the current threshold as the original current.

8. A non-volatile computer storage medium storing computer-executable instructions, characterized in that: The computer executable instructions are set as: Determine the driving instruction of the excavator, filter the driving instruction, and determine the demand flow of the boom according to the filtered driving instruction; According to the demand flow to determine the motor original speed of the boom, and determine the original current of the brake valve of the boom; According to the filtered driving instruction to determine whether the excavator is in continuous flat ground state; If the excavator is in a continuous flat state, the actual motor speed of the swing arm is determined, the motor speed difference value is determined according to the actual motor speed and the original motor speed, and the motor speed increment of the swing arm and the current increment of the brake valve are determined according to the motor speed difference value; The motor speed of the swing arm is changed according to the motor speed increment, and the original current of the brake valve is changed according to the current increment; The demand flow of the swing arm is determined according to the filtered driving instruction, specifically including: The rated voltage is determined, the signal voltage is determined according to the driving instruction, and the instruction percentage is determined according to the rated voltage and the signal voltage; The cylinder main valve opening degree of the swing arm is determined according to the instruction percentage and the driving instruction, and the demand flow is determined according to the cylinder main valve opening degree; The original motor speed of the swing arm is determined according to the demand flow, and the original current of the brake valve is determined, specifically including: The hydraulic pump of the excavator is determined, the pump displacement of the hydraulic pump is determined, and the original motor speed is determined according to the pump displacement and the demand flow; The maximum cross-sectional area of the brake valve is determined, and the current threshold corresponding to the maximum cross-sectional area is determined according to the original motor speed, so as to take the current threshold as the original current.

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